537 lines
19 KiB
JavaScript
537 lines
19 KiB
JavaScript
'use strict';
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TABS.motors = {
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allowTestMode: false,
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feature3DEnabled: false,
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feature3DSupported: false,
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escProtocolIsDshot: false
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};
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TABS.motors.initialize = function (callback) {
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var self = this;
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self.armed = false;
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self.feature3DSupported = false;
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self.allowTestMode = true;
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if (GUI.active_tab != 'motors') {
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GUI.active_tab = 'motors';
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}
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function get_arm_status() {
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MSP.send_message(MSPCodes.MSP_STATUS, false, false, load_config);
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}
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function load_config() {
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MSP.send_message(MSPCodes.MSP_BF_CONFIG, false, false, load_3d);
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}
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function load_3d() {
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var next_callback = esc_protocol;
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if (semver.gte(CONFIG.apiVersion, "1.14.0")) {
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self.feature3DSupported = true;
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MSP.send_message(MSPCodes.MSP_3D, false, false, next_callback);
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} else {
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next_callback();
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}
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}
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function esc_protocol() {
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var next_callback = get_motor_data;
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if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
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MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, next_callback);
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} else {
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next_callback();
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}
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}
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function get_motor_data() {
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update_arm_status();
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MSP.send_message(MSPCodes.MSP_MOTOR, false, false, load_html);
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}
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function load_html() {
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$('#content').load("./tabs/motors.html", process_html);
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}
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MSP.send_message(MSPCodes.MSP_MISC, false, false, get_arm_status);
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function update_arm_status() {
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self.armed = bit_check(CONFIG.mode, 0);
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}
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function initSensorData() {
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for (var i = 0; i < 3; i++) {
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SENSOR_DATA.gyroscope[i] = 0;
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}
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}
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function initDataArray(length) {
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var data = new Array(length);
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for (var i = 0; i < length; i++) {
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data[i] = [];
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data[i].min = -1;
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data[i].max = 1;
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}
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return data;
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}
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function addSampleToData(data, sampleNumber, sensorData) {
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for (var i = 0; i < data.length; i++) {
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var dataPoint = sensorData[i];
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data[i].push([sampleNumber, dataPoint]);
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if (dataPoint < data[i].min) {
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data[i].min = dataPoint;
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}
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if (dataPoint > data[i].max) {
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data[i].max = dataPoint;
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}
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}
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while (data[0].length > 300) {
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for (i = 0; i < data.length; i++) {
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data[i].shift();
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}
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}
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return sampleNumber + 1;
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}
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var margin = {top: 20, right: 30, bottom: 10, left: 20};
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function updateGraphHelperSize(helpers) {
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helpers.width = helpers.targetElement.width() - margin.left - margin.right;
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helpers.height = helpers.targetElement.height() - margin.top - margin.bottom;
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helpers.widthScale.range([0, helpers.width]);
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helpers.heightScale.range([helpers.height, 0]);
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helpers.xGrid.tickSize(-helpers.height, 0, 0);
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helpers.yGrid.tickSize(-helpers.width, 0, 0);
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}
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function initGraphHelpers(selector, sampleNumber, heightDomain) {
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var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain};
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helpers.widthScale = d3.scale.linear()
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.clamp(true)
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.domain([(sampleNumber - 299), sampleNumber]);
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helpers.heightScale = d3.scale.linear()
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.clamp(true)
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.domain(heightDomain || [1, -1]);
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helpers.xGrid = d3.svg.axis();
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helpers.yGrid = d3.svg.axis();
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updateGraphHelperSize(helpers);
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helpers.xGrid
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.scale(helpers.widthScale)
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.orient("bottom")
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.ticks(5)
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.tickFormat("");
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helpers.yGrid
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.scale(helpers.heightScale)
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.orient("left")
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.ticks(5)
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.tickFormat("");
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helpers.xAxis = d3.svg.axis()
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.scale(helpers.widthScale)
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.ticks(5)
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.orient("bottom")
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.tickFormat(function (d) {return d;});
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helpers.yAxis = d3.svg.axis()
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.scale(helpers.heightScale)
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.ticks(5)
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.orient("left")
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.tickFormat(function (d) {return d;});
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helpers.line = d3.svg.line()
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.x(function (d) { return helpers.widthScale(d[0]); })
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.y(function (d) { return helpers.heightScale(d[1]); });
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return helpers;
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}
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function drawGraph(graphHelpers, data, sampleNumber) {
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var svg = d3.select(graphHelpers.selector);
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if (graphHelpers.dynamicHeightDomain) {
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var limits = [];
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$.each(data, function (idx, datum) {
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limits.push(datum.min);
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limits.push(datum.max);
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});
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graphHelpers.heightScale.domain(d3.extent(limits));
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}
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graphHelpers.widthScale.domain([(sampleNumber - 299), sampleNumber]);
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svg.select(".x.grid").call(graphHelpers.xGrid);
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svg.select(".y.grid").call(graphHelpers.yGrid);
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svg.select(".x.axis").call(graphHelpers.xAxis);
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svg.select(".y.axis").call(graphHelpers.yAxis);
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var group = svg.select("g.data");
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var lines = group.selectAll("path").data(data, function (d, i) {return i;});
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lines.enter().append("path").attr("class", "line");
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lines.attr('d', graphHelpers.line);
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}
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function update_model(val) {
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$('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[val - 1].image + '.svg');
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}
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function process_html() {
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// translate to user-selected language
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localize();
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self.feature3DEnabled = BF_CONFIG.features.isEnabled('3D');
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if (self.feature3DEnabled && !self.feature3DSupported) {
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self.allowTestMode = false;
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}
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if (PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) {
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self.escProtocolIsDshot = true;
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} else {
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self.escProtocolIsDshot = false;
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}
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$('#motorsEnableTestMode').prop('checked', false)
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.prop('disabled', true);
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update_model(BF_CONFIG.mixerConfiguration);
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// Always start with default/empty sensor data array, clean slate all
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initSensorData();
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// Setup variables
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var samples_gyro_i = 0,
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gyro_data = initDataArray(3),
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gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2, 2]),
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gyro_max_read = [0, 0, 0];
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var raw_data_text_ements = {
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x: [],
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y: [],
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z: [],
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rms: []
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};
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$('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () {
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var el = $(this);
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if (el.hasClass('x')) {
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raw_data_text_ements.x.push(el);
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} else if (el.hasClass('y')) {
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raw_data_text_ements.y.push(el);
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} else if (el.hasClass('z')) {
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raw_data_text_ements.z.push(el);
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} else if (el.hasClass('rms')) {
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raw_data_text_ements.rms.push(el);
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}
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});
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// set refresh speeds according to configuration saved in storage
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chrome.storage.local.get('motors_tab_gyro_settings', function (result) {
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if (result.motors_tab_gyro_settings) {
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$('.tab-motors select[name="gyro_refresh_rate"]').val(result.motors_tab_gyro_settings.rate);
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$('.tab-motors select[name="gyro_scale"]').val(result.motors_tab_gyro_settings.scale);
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// start polling data by triggering refresh rate change event
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$('.tab-motors .rate select:first').change();
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} else {
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// start polling immediatly (as there is no configuration saved in the storage)
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$('.tab-motors .rate select:first').change();
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}
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});
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$('.tab-motors .rate select, .tab-motors .scale select').change(function () {
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var rate = parseInt($('.tab-motors select[name="gyro_refresh_rate"]').val(), 10);
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var scale = parseFloat($('.tab-motors select[name="gyro_scale"]').val());
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// store current/latest refresh rates in the storage
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chrome.storage.local.set({'motors_tab_gyro_settings': {'rate': rate, 'scale': scale}});
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gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-scale, scale]);
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// timer initialization
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GUI.interval_kill_all(['motor_and_status_pull']);
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GUI.interval_add('IMU_pull', function imu_data_pull() {
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MSP.send_message(MSPCodes.MSP_RAW_IMU, false, false, update_gyro_graph);
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}, rate, true);
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function update_gyro_graph() {
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var gyro = [
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SENSOR_DATA.gyroscope[0],
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SENSOR_DATA.gyroscope[1],
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SENSOR_DATA.gyroscope[2]
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];
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updateGraphHelperSize(gyroHelpers);
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samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, gyro);
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drawGraph(gyroHelpers, gyro_data, samples_gyro_i);
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// Compute RMS of gyroscope readings in displayed period of time
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// This is particularly useful for motor balancing as it
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// eliminates the need for external tools
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var sum = 0.0;
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for (var j = 0; j < gyro_data.length; j++)
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for (var k = 0; k < gyro_data[j].length; k++)
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sum += gyro_data[j][k][1]*gyro_data[j][k][1];
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var rms = Math.sqrt(sum/(gyro_data[0].length+gyro_data[1].length+gyro_data[2].length));
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raw_data_text_ements.x[0].text(gyro[0].toFixed(2) + ' (' + gyro_max_read[0].toFixed(2) + ')');
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raw_data_text_ements.y[0].text(gyro[1].toFixed(2) + ' (' + gyro_max_read[1].toFixed(2) + ')');
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raw_data_text_ements.z[0].text(gyro[2].toFixed(2) + ' (' + gyro_max_read[2].toFixed(2) + ')');
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raw_data_text_ements.rms[0].text(rms.toFixed(4));
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for (var i = 0; i < 3; i++) {
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if (Math.abs(gyro[i]) > Math.abs(gyro_max_read[i])) gyro_max_read[i] = gyro[i];
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}
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}
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});
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$('a.reset_accel_max').click(function () {
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gyro_max_read = [0, 0, 0];
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});
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var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8;
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var motors_wrapper = $('.motors .bar-wrapper'),
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servos_wrapper = $('.servos .bar-wrapper');
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for (var i = 0; i < 8; i++) {
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motors_wrapper.append('\
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<div class="m-block motor-' + i + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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<div class="indicator">\
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<div class="label">\
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<div class="label"></div>\
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</div>\
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</div>\
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</div>\
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</div>\
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');
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servos_wrapper.append('\
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<div class="m-block servo-' + (7 - i) + '">\
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<div class="meter-bar">\
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<div class="label"></div>\
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<div class="indicator">\
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<div class="label">\
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<div class="label"></div>\
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</div>\
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</div>\
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</div>\
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</div>\
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');
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}
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$('div.sliders input').prop('min', MISC.mincommand)
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.prop('max', MISC.maxthrottle);
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$('div.values li:not(:last)').text(MISC.mincommand);
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if(self.feature3DEnabled && self.feature3DSupported) {
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//Arbitrary sanity checks
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//Note: values may need to be revisited
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if(_3D.neutral3d > 1575 || _3D.neutral3d < 1425)
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_3D.neutral3d = 1500;
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$('div.sliders input').val(_3D.neutral3d);
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} else {
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$('div.sliders input').val(MISC.mincommand);
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}
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if(self.allowTestMode){
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// UI hooks
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var buffering_set_motor = [],
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buffer_delay = false;
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$('div.sliders input:not(.master)').on('input', function () {
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var index = $(this).index(),
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buffer = [],
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i;
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$('div.values li').eq(index).text($(this).val());
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for (i = 0; i < 8; i++) {
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var val = parseInt($('div.sliders input').eq(i).val());
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buffer.push16(val);
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}
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buffering_set_motor.push(buffer);
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if (!buffer_delay) {
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buffer_delay = setTimeout(function () {
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buffer = buffering_set_motor.pop();
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MSP.send_message(MSPCodes.MSP_SET_MOTOR, buffer);
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buffering_set_motor = [];
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buffer_delay = false;
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}, 10);
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}
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});
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}
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$('div.sliders input.master').on('input', function () {
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var val = $(this).val();
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$('div.sliders input:not(:disabled, :last)').val(val);
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$('div.values li:not(:last)').slice(0, number_of_valid_outputs).text(val);
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$('div.sliders input:not(:last):first').trigger('input');
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});
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$('#motorsEnableTestMode').change(function () {
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if ($(this).is(':checked')) {
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$('div.sliders input').slice(0, number_of_valid_outputs).prop('disabled', false);
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// unlock master slider
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$('div.sliders input:last').prop('disabled', false);
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} else {
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// disable sliders / min max
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$('div.sliders input').prop('disabled', true);
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// change all values to default
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if (self.feature3DEnabled && self.feature3DSupported) {
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$('div.sliders input').val(_3D.neutral3d);
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} else {
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$('div.sliders input').val(MISC.mincommand);
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}
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$('div.sliders input').trigger('input');
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}
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});
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// check if motors are already spinning
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var motors_running = false;
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for (var i = 0; i < number_of_valid_outputs; i++) {
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if (!self.feature3DEnabled) {
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if (MOTOR_DATA[i] > MISC.mincommand) {
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motors_running = true;
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}
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} else {
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if ((MOTOR_DATA[i] < _3D.deadband3d_low) || (MOTOR_DATA[i] > _3D.deadband3d_high)) {
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motors_running = true;
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}
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}
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}
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if (motors_running) {
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if (!self.armed && self.allowTestMode) {
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$('#motorsEnableTestMode').prop('checked', true);
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}
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// motors are running adjust sliders to current values
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var sliders = $('div.sliders input:not(.master)');
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var master_value = MOTOR_DATA[0];
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for (var i = 0; i < MOTOR_DATA.length; i++) {
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if (MOTOR_DATA[i] > 0) {
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sliders.eq(i).val(MOTOR_DATA[i]);
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if (master_value != MOTOR_DATA[i]) {
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master_value = false;
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}
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}
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}
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// only fire events when all values are set
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sliders.trigger('input');
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// slide master slider if condition is valid
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if (master_value) {
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$('div.sliders input.master').val(master_value)
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.trigger('input');
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}
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}
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$('#motorsEnableTestMode').change();
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// data pulling functions used inside interval timer
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function get_status() {
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// status needed for arming flag
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MSP.send_message(MSPCodes.MSP_STATUS, false, false, get_motor_data);
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}
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function get_motor_data() {
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MSP.send_message(MSPCodes.MSP_MOTOR, false, false, get_servo_data);
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}
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function get_servo_data() {
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MSP.send_message(MSPCodes.MSP_SERVO, false, false, update_ui);
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}
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var full_block_scale;
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var motorOffset;
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if (self.escProtocolIsDshot) {
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full_block_scale = 1000;
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motorOffset = 1000;
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} else {
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full_block_scale = MISC.maxthrottle - MISC.mincommand;
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motorOffset = MISC.mincommand;
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}
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function update_ui() {
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var previousArmState = self.armed;
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var block_height = $('div.m-block:first').height();
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for (var i = 0; i < MOTOR_DATA.length; i++) {
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var motorValue = MOTOR_DATA[i];
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var barHeight = motorValue - motorOffset,
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margin_top = block_height - (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
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height = (barHeight * (block_height / full_block_scale)).clamp(0, block_height),
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color = parseInt(barHeight * 0.009);
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$('.motor-' + i + ' .label', motors_wrapper).text(motorValue);
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$('.motor-' + i + ' .indicator', motors_wrapper).css({
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'margin-top' : margin_top + 'px',
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'height' : height + 'px',
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'background-color' : 'rgba(255,187,0,1.'+ color +')'
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});
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}
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// servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly
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for (var i = 0; i < SERVO_DATA.length; i++) {
|
|
var data = SERVO_DATA[i] - 1000,
|
|
margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height),
|
|
height = (data * (block_height / 1000)).clamp(0, block_height),
|
|
color = parseInt(data * 0.009);
|
|
|
|
$('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]);
|
|
$('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(255,187,0,1'+ color +')'});
|
|
}
|
|
//keep the following here so at least we get a visual cue of our motor setup
|
|
update_arm_status();
|
|
if (!self.allowTestMode) return;
|
|
|
|
if (self.armed) {
|
|
$('#motorsEnableTestMode').prop('disabled', true)
|
|
.prop('checked', false);
|
|
} else {
|
|
if (self.allowTestMode) {
|
|
$('#motorsEnableTestMode').prop('disabled', false);
|
|
}
|
|
}
|
|
|
|
if (previousArmState != self.armed) {
|
|
console.log('arm state change detected');
|
|
$('#motorsEnableTestMode').change();
|
|
}
|
|
}
|
|
|
|
// enable Status and Motor data pulling
|
|
GUI.interval_add('motor_and_status_pull', get_status, 50, true);
|
|
|
|
GUI.content_ready(callback);
|
|
}
|
|
};
|
|
|
|
TABS.motors.cleanup = function (callback) {
|
|
if (callback) callback();
|
|
}; |