/* Please don't take code in this file very seriously !!! I was "kinda" forced to write this implementation "this way" because the Servo code implementation from multiwii is so horrible, obstructive and non dynamic, not to mention it doesn't make any sense that there was just no other way around this then hardcoding/implementing each model separately. */ 'use strict'; TABS.servos = {}; TABS.servos.initialize = function (callback) { GUI.active_tab_ref = this; GUI.active_tab = 'servos'; googleAnalytics.sendAppView('Servos'); function get_servo_conf_data() { MSP.send_message(MSP_codes.MSP_SERVO_CONF, false, false, get_channel_forwarding_data); } function get_channel_forwarding_data() { MSP.send_message(MSP_codes.MSP_CHANNEL_FORWARDING, false, false, get_boxnames_data); } function get_boxnames_data() { MSP.send_message(MSP_codes.MSP_BOXNAMES, false, false, load_html); } function load_html() { $('#content').load("./tabs/servos.html", process_html); } MSP.send_message(MSP_codes.MSP_IDENT, false, false, get_servo_conf_data); function process_html() { // translate to user-selected language localize(); function process_directions(name, obj, bitpos) { $('div.direction_wrapper').show(); var val; $('div.tab-servos table.directions').append('\ \ ' + name + '\ \ \ \ \ '); if (bit_check(SERVO_CONFIG[obj].rate, bitpos)) val = 1; else val = 0; $('div.tab-servos table.directions tr:last select').val(val); $('div.tab-servos table.directions tr:last select').data('info', {'obj': obj, 'bitpos': bitpos}); } function process_servos(name, alternate, obj, directions) { $('div.supported_wrapper').show(); $('div.tab-servos table.fields').append('\ \ ' + name + '\ \ \ \ \ \ \ \ \ \ \ \ \ ' + name + '\ ' + alternate + '\ \ \ '); $('div.tab-servos table.fields tr:last td.channel input').eq(SERVO_CONFIG[obj].indexOfChannelToForward).prop('checked', true); if (directions == true) { $('div.tab-servos table.fields tr:last td.direction input:first').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 0)); $('div.tab-servos table.fields tr:last td.direction input:last').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 1)); } else if (directions == 2) { // removing checkboxes $('div.tab-servos table.fields tr:last td.direction').html(''); // adding select box and generating options $('div.tab-servos table.fields tr:last td.direction').append('\ \ '); var select = $('div.tab-servos table.fields tr:last td.direction select'); for (var i = 100; i > -101; i--) { select.append(''); } // select current rate select.val(SERVO_CONFIG[obj].rate); } else { // removing checkboxes $('div.tab-servos table.fields tr:last td.direction').html(''); } $('div.tab-servos table.fields tr:last').data('info', {'obj': obj}); // UI hooks // only one checkbox for indicating a channel to forward can be selected at a time, perhaps a radio group would be best here. $('div.tab-servos table.fields tr:last td.channel input').click(function () { if($(this).is(':checked')) { $(this).parent().parent().find('.channel input').not($(this)).prop('checked', false); } }); } function servos_update(save_to_eeprom) { // update bitfields $('div.tab-servos table.directions tr:not(".main")').each(function () { var info = $('select', this).data('info'); var val = parseInt($('select', this).val()); // in this stage we need to know which bitfield and which bitposition needs to be flipped if (val) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, info.bitpos); else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, info.bitpos); }); // update the rest $('div.tab-servos table.fields tr:not(".main")').each(function () { var info = $(this).data('info'); var selection = $('.channel input', this); var val = selection.index(selection.filter(':checked')); SERVO_CONFIG[info.obj].indexOfChannelToForward = parseInt(val); SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val()); SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val()); SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val()); // update rate if direction fields exist if ($('.direction input', this).length) { if ($('.direction input:first', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 0); else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 0); if ($('.direction input:last', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 1); else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 1); } else if ($('.direction select', this).length) { var val = parseInt($('.direction select', this).val()); SERVO_CONFIG[info.obj].rate = val; } }); // send settings over to mcu var buffer_out = []; var needle = 0; for (var i = 0; i < SERVO_CONFIG.length; i++) { buffer_out[needle++] = lowByte(SERVO_CONFIG[i].min); buffer_out[needle++] = highByte(SERVO_CONFIG[i].min); buffer_out[needle++] = lowByte(SERVO_CONFIG[i].max); buffer_out[needle++] = highByte(SERVO_CONFIG[i].max); buffer_out[needle++] = lowByte(SERVO_CONFIG[i].middle); buffer_out[needle++] = highByte(SERVO_CONFIG[i].middle); buffer_out[needle++] = lowByte(SERVO_CONFIG[i].rate); } MSP.send_message(MSP_codes.MSP_SET_SERVO_CONF, buffer_out); // send channel forwarding over to mcu buffer_out = []; var needle = 0; for (var i = 0; i < SERVO_CONFIG.length; i++) { buffer_out[needle++] = SERVO_CONFIG[i].indexOfChannelToForward; } MSP.send_message(MSP_codes.MSP_SET_CHANNEL_FORWARDING, buffer_out); if (save_to_eeprom) { // Save changes to EEPROM MSP.send_message(MSP_codes.MSP_EEPROM_WRITE, false, false, function () { GUI.log(chrome.i18n.getMessage('servosEepromSave')); }); } } // drop previous table $('div.tab-servos table.fields tr:not(:first)').remove(); var model = $('div.tab-servos strong.model'); var supported_models = [1, 4, 5, 8, 14, 20, 21]; switch (CONFIG.multiType) { case 1: // TRI // looking ok so far model.text('TRI'); process_directions('YAW', 5, 0); process_servos('Yaw Servo', '', 5, false); break; case 4: // BI // looking ok so far model.text('BI'); process_directions('L YAW', 4, 1); process_directions('R YAW', 5, 1); process_directions('L NICK', 4, 0); process_directions('R NICK', 5, 0); process_servos('Left Servo', '', 4, false); process_servos('Right Servo', '', 5, false); break; case 5: // Gimbal // needs to be verified model.text('Gimbal'); // rate process_servos('Pitch Servo', '', 0, 2); process_servos('Roll Servo', '', 1, 2); break; case 8: // Flying Wing // looking ok so far model.text('Flying Wing'); process_directions('L ROLL', 3, 1); process_directions('R ROLL', 4, 1); process_directions('L NICK', 3, 0); process_directions('R NICK', 4, 0); process_servos('Left Wing', '', 3, false); process_servos('Right Wing', '', 4, false); break; case 14: // Airplane model.text('Airplane'); // rate process_servos('Wing 1', '', 3, 2); process_servos('Wing 2', '', 4, 2); process_servos('Rudd', '', 5, 2); process_servos('Elev', '', 6, 2); break; case 20: // Dualcopter // looking ok so far model.text('Dualcopter'); process_directions('PITCH', 4, 0); process_directions('ROLL', 5, 0); process_servos('Roll', '', 5, false); process_servos('Nick', '', 4, false); break; case 21: // Singlecopter // looking ok so far model.text('Singlecopter'); process_servos('Right', 'R YAW', 3, true); process_servos('Left', 'L YAW', 4, true); process_servos('Front', 'F YAW', 5, true); process_servos('Rear', 'YAW', 6, true); break; default: model.text(chrome.i18n.getMessage('servosModelNoSupport')); // implementation of feature servo_tilt if (AUX_CONFIG.indexOf('CAMSTAB') > -1 || AUX_CONFIG.indexOf('CAMTRIG') > -1) { // Gimbal on // needs to be verified model.text('Gimbal / Tilt Servos'); // rate process_servos('Pitch Servo', '', 0, 2); process_servos('Roll Servo', '', 1, 2); } } // UI hooks for dynamically generated elements $('table.directions select, table.directions input, table.fields select, table.fields input').change(function () { if ($('div.live input').is(':checked')) { // apply small delay as there seems to be some funky update business going wrong GUI.timeout_add('servos_update', servos_update, 10); } }); $('a.update').click(function () { // standard check for supported_models + custom implementation for feature servo_tilt if (supported_models.indexOf(CONFIG.multiType) != -1 || AUX_CONFIG.indexOf('CAMSTAB') > -1 || AUX_CONFIG.indexOf('CAMTRIG') > -1) { servos_update(true); } }); // status data pulled via separate timer with static speed GUI.interval_add('status_pull', function () { MSP.send_message(MSP_codes.MSP_STATUS); }, 250, true); if (callback) callback(); } }; TABS.servos.cleanup = function (callback) { if (callback) callback(); };