static void cmsUpdate(uint32_t currentTimeUs)
{
static int16_t rcDelayMs = BUTTON_TIME;
static int holdCount = 1;
static int repeatCount = 1;
static int repeatBase = 0;
static uint32_t lastCalledMs = 0;
static uint32_t lastCmsHeartBeatMs = 0;
const uint32_t currentTimeMs = currentTimeUs / 1000;
if (!cmsInMenu) {
// Detect menu invocation
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
cmsMenuOpen();
rcDelayMs = BUTTON_PAUSE; // Tends to overshoot if BUTTON_TIME
}
} else {
//
// Scan 'key' first
//
uint8_t key = KEY_NONE;
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
key = KEY_MENU;
}
else if (IS_HI(PITCH)) {
key = KEY_UP;
}
else if (IS_LO(PITCH)) {
key = KEY_DOWN;
}
else if (IS_LO(ROLL)) {
key = KEY_LEFT;
}
else if (IS_HI(ROLL)) {
key = KEY_RIGHT;
}
else if (IS_HI(YAW) || IS_LO(YAW))
{
key = KEY_ESC;
}
if (key == KEY_NONE) {
// No 'key' pressed, reset repeat control
holdCount = 1;
repeatCount = 1;
repeatBase = 0;
} else {
// The 'key' is being pressed; keep counting
++holdCount;
}
if (rcDelayMs > 0) {
rcDelayMs -= (currentTimeMs - lastCalledMs);
} else if (key) {
rcDelayMs = cmsHandleKeyWithRepeat(pCurrentDisplay, key, repeatCount);
// Key repeat effect is implemented in two phases.
// First phldase is to decrease rcDelayMs reciprocal to hold time.
// When rcDelayMs reached a certain limit (scheduling interval),
// repeat rate will not raise anymore, so we call key handler
// multiple times (repeatCount).
//
// XXX Caveat: Most constants are adjusted pragmatically.
// XXX Rewrite this someday, so it uses actual hold time instead
// of holdCount, which depends on the scheduling interval.
if (((key == KEY_LEFT) || (key == KEY_RIGHT)) && (holdCount > 20)) {
// Decrease rcDelayMs reciprocally
rcDelayMs /= (holdCount - 20);
// When we reach the scheduling limit,
if (rcDelayMs <= 50) {
// start calling handler multiple times.
if (repeatBase == 0)
repeatBase = holdCount;
repeatCount = repeatCount + (holdCount - repeatBase) / 5;
if (repeatCount > 5) {
repeatCount= 5;
}
}
}
}
cmsDrawMenu(pCurrentDisplay, currentTimeUs);
if (currentTimeMs > lastCmsHeartBeatMs + 500) {
// Heart beat for external CMS display device @ 500msec
// (Timeout @ 1000msec)
displayHeartbeat(pCurrentDisplay);
lastCmsHeartBeatMs = currentTimeMs;
}
}
lastCalledMs = currentTimeMs;
}
void osdUpdate(uint32_t currentTime)
{
static uint8_t rcDelay = BUTTON_TIME;
static uint8_t lastSec = 0;
uint8_t key = 0, sec;
// detect enter to menu
if (IS_MID(THROTTLE) && IS_HI(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED))
osdOpenMenu();
// detect arm/disarm
if (armState != ARMING_FLAG(ARMED)) {
if (ARMING_FLAG(ARMED))
osdArmMotors(); // reset statistic etc
else
osdShowStats(); // show statistic
armState = ARMING_FLAG(ARMED);
}
osdUpdateStats();
sec = currentTime / 1000000;
if (ARMING_FLAG(ARMED) && sec != lastSec) {
flyTime++;
lastSec = sec;
}
if (refreshTimeout) {
if (IS_HI(THROTTLE) || IS_HI(PITCH)) // hide statistics
refreshTimeout = 1;
refreshTimeout--;
if (!refreshTimeout)
max7456ClearScreen();
return;
}
blinkState = (millis() / 200) % 2;
if (inMenu) {
if (rcDelay) {
rcDelay--;
}
else if (IS_HI(PITCH)) {
key = KEY_UP;
rcDelay = BUTTON_TIME;
}
else if (IS_LO(PITCH)) {
key = KEY_DOWN;
rcDelay = BUTTON_TIME;
}
else if (IS_LO(ROLL)) {
key = KEY_LEFT;
rcDelay = BUTTON_TIME;
}
else if (IS_HI(ROLL)) {
key = KEY_RIGHT;
rcDelay = BUTTON_TIME;
}
else if ((IS_HI(YAW) || IS_LO(YAW)) && currentMenu != menuRc) // this menu is used to check transmitter signals so can exit using YAW
{
key = KEY_ESC;
rcDelay = BUTTON_TIME;
}
if (key && !currentElement) {
rcDelay = osdHandleKey(key);
return;
}
if (currentElement) // edit position of element
{
if (key) {
if (key == KEY_ESC) {
// exit
osdMenuBack();
rcDelay = BUTTON_PAUSE;
*currentElement &= ~BLINK_FLAG;
currentElement = NULL;
return;
}
else {
uint8_t x, y;
x = OSD_X(*currentElement);
y = OSD_Y(*currentElement);
switch (key) {
case KEY_UP:
y--;
break;
case KEY_DOWN:
y++;
break;
case KEY_RIGHT:
x++;
break;
case KEY_LEFT:
x--;
break;
}
*currentElement &= 0xFC00;
*currentElement |= OSD_POS(x, y);
max7456ClearScreen();
}
}
osdDrawElements();
}
else
osdDrawMenu();
}
else {
osdUpdateAlarms();
osdDrawElements();
}
}
static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
#ifdef USE_CMS
if (cmsInMenu) {
return;
}
#endif
if (ARMING_FLAG(ARMED) || getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF) {
return;
}
rcdeviceCamSimulationKeyEvent_e key = RCDEVICE_CAM_KEY_NONE;
if (needRelease) {
if (IS_MID(YAW) && IS_MID(PITCH) && IS_MID(ROLL)) {
if ((camDevice->serialPort != NULL || reInitializeDevice()) && rcdeviceIs5KeyEnabled()) {
key = RCDEVICE_CAM_KEY_RELEASE;
if (rcdeviceSend5KeyOSDCableSimualtionEvent(key)) {
needRelease = false;
} else {
rcdeviceInMenu = false;
}
}
}
return;
} else {
if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_LO(YAW)) { // Disconnect HI YAW
if (rcdeviceInMenu) {
key = RCDEVICE_CAM_KEY_CONNECTION_CLOSE;
}
} else {
if (rcdeviceInMenu) {
if (IS_LO(ROLL)) { // Left LO ROLL
key = RCDEVICE_CAM_KEY_LEFT;
} else if (IS_HI(PITCH)) { // Up HI PITCH
key = RCDEVICE_CAM_KEY_UP;
} else if (IS_HI(ROLL)) { // Right HI ROLL
key = RCDEVICE_CAM_KEY_RIGHT;
} else if (IS_LO(PITCH)) { // Down LO PITCH
key = RCDEVICE_CAM_KEY_DOWN;
} else if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
key = RCDEVICE_CAM_KEY_ENTER;
}
} else {
if (IS_MID(THROTTLE) && IS_MID(ROLL) && IS_MID(PITCH) && IS_HI(YAW)) { // Enter HI YAW
key = RCDEVICE_CAM_KEY_CONNECTION_OPEN;
}
}
}
}
if (key != RCDEVICE_CAM_KEY_NONE) {
if ((camDevice->serialPort != NULL || reInitializeDevice()) && rcdeviceIs5KeyEnabled()) {
if (rcdeviceSend5KeyOSDCableSimualtionEvent(key)) {
needRelease = true;
} else {
rcdeviceInMenu = false;
}
}
}
}