294 lines
12 KiB
JavaScript
294 lines
12 KiB
JavaScript
/* 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) {
|
|
var self = this;
|
|
|
|
if (GUI.active_tab != 'servos') {
|
|
GUI.active_tab = 'servos';
|
|
googleAnalytics.sendAppView('Servos');
|
|
}
|
|
|
|
function get_servo_conf_data() {
|
|
MSP.send_message(MSP_codes.MSP_SERVO_CONF, 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('\
|
|
<tr>\
|
|
<td class="name" style="text-align: center">' + name + '</td>\
|
|
<td class="direction" style="text-align: right">\
|
|
<select name="direction">\
|
|
<option value="0">' + chrome.i18n.getMessage('servosNormal') + '</option>\
|
|
<option value="1">' + chrome.i18n.getMessage('servosReverse') + '</option>\
|
|
</select>\
|
|
</td>\
|
|
</tr>\
|
|
');
|
|
|
|
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('\
|
|
<tr> \
|
|
<td style="text-align: center">' + name + '</td>\
|
|
<td class="middle"><input type="number" min="1000" max="2000" value="' + ((SERVO_CONFIG[obj].middle <= 7) ? 1500 : SERVO_CONFIG[obj].middle) + '" /></td>\
|
|
<td class="min"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].min +'" /></td>\
|
|
<td class="max"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].max +'" /></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="channel"><input type="checkbox"/></td>\
|
|
<td class="direction">\
|
|
<input class="first" type="checkbox"/><span class="name">' + name + '</span>\
|
|
<input class="second" type="checkbox"/><span class="alternate">' + alternate + '</span>\
|
|
</td>\
|
|
</tr> \
|
|
');
|
|
|
|
if (SERVO_CONFIG[obj].middle <= 7) {
|
|
$('div.tab-servos table.fields tr:last td.middle input').prop('disabled', true);
|
|
$('div.tab-servos table.fields tr:last td.channel input').eq(SERVO_CONFIG[obj].middle).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('\
|
|
<select class="rate" name="rate"></select>\
|
|
');
|
|
|
|
var select = $('div.tab-servos table.fields tr:last td.direction select');
|
|
|
|
for (var i = 100; i > -101; i--) {
|
|
select.append('<option value="' + i + '">Rate: ' + i + '%</option>');
|
|
}
|
|
|
|
// 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
|
|
$('div.tab-servos table.fields tr:last td.channel input').click(function () {
|
|
if($(this).is(':checked')) {
|
|
$(this).parent().parent().find('td.middle input').prop('disabled', true);
|
|
$(this).parent().parent().find('.channel input').not($(this)).prop('checked', false);
|
|
} else {
|
|
$(this).parent().parent().find('td.middle input').prop('disabled', false).val(1500);
|
|
}
|
|
});
|
|
}
|
|
|
|
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 = $(this).data('info');
|
|
|
|
if ($('.middle input', this).is(':disabled')) {
|
|
var selection = $('.channel input', this);
|
|
var val = selection.index(selection.filter(':checked'));
|
|
|
|
SERVO_CONFIG[info.obj].middle = parseInt(val);
|
|
} else {
|
|
SERVO_CONFIG[info.obj].middle = parseInt($('.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;
|
|
}
|
|
});
|
|
|
|
MSP.send_message(MSP_codes.MSP_SET_SERVO_CONF, MSP.crunch(MSP_codes.MSP_SET_SERVO_CONF), false, function () {
|
|
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 status_pull() {
|
|
MSP.send_message(MSP_codes.MSP_STATUS);
|
|
}, 250, true);
|
|
|
|
if (callback) callback();
|
|
}
|
|
};
|
|
|
|
TABS.servos.cleanup = function (callback) {
|
|
if (callback) callback();
|
|
}; |