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fix(v15): IMU axis orientation and function switch handling #7890

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Merged
pfeerick merged 3 commits into from
Oct 10, 2026
Merged

fix(v15): IMU axis orientation and function switch handling #7890

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2c9876a
fix(v15): correct IMU axis orientation
pfeerick Oct 9, 2026
1ad9926
fix(v15): read function switches on press, drop phantom S3 multipos
pfeerick Oct 9, 2026
d374b8d
chore(web): regenerate radio list for V15 RAW1 change
pfeerick Oct 9, 2026
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9 changes: 3 additions & 6 deletions radio/src/boards/hw_defs/v15.json
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Original file line number Diff line number Diff line change
Expand Up @@ -87,15 +87,12 @@
"default": "POT_CENTER"
},
{
"name": "P3",
"type": "FLEX",
"name": "RAW1",
"type": "RAW",
"adc": "MAIN",
"gpio": "GPIOC",
"pin": "LL_GPIO_PIN_5",
"channel": "LL_ADC_CHANNEL_8",
"label": "S3",
"short_label": "3",
"default": "MULTIPOS"
"channel": "LL_ADC_CHANNEL_8"
},
{
"name": "VBAT",
Expand Down
151 changes: 77 additions & 74 deletions radio/src/targets/hrs/v15/board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,24 +84,94 @@ static const etx_imu_t _imu_candidates[] = {
#endif
};

// The IMU is mounted upside down and rotated, so its X/Y axes are swapped
// (and both reversed, see imu_invert_x/y in hw_defs). Swap them here, before
// the generic inversion/calibration, so that TltX/TltY and their settings
// line up
static imu_read_fn _imuRead = nullptr;

static int imuReadSwapXY(etx_imu_data_t* data)
{
int ret = _imuRead(data);
if (ret >= 0) {
float t = data->accel_x;
data->accel_x = data->accel_y;
data->accel_y = t;
t = data->gyro_x;
data->gyro_x = data->gyro_y;
data->gyro_y = t;
}
return ret;
}

static void gyroInit()
{
gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
_imuRead = imuDetect(_imu_candidates, DIM(_imu_candidates));
gyroStart(_imuRead ? imuReadSwapXY : nullptr);
}

#if defined(SIXPOS_SWITCH_INDEX)

#if defined(FUNCTION_SWITCHES)

extern const stm32_switch_t* boardGetSwitchDef(uint8_t idx);
extern SwitchHwPos stm32_switch_get_position(const stm32_switch_t* sw);

extern uint8_t isSwitch3Pos(uint8_t idx);
struct _adckey_switches_expander {
uint8_t state;
};
const uint8_t _adckeyidx[8] = {
0, 1,2,4,8,0x10, 0x20,0
};
static _adckey_switches_expander _adckey_switches;
// Bitmask of all 6 function switch bits
#define FS_ALL_BITS 0x3F

// For each 6POS position (0=none, 1-6=SW1-SW6): bit of the active switch,
// inverted so active switch pin reads low (DOWN) like real PCA95xx hardware.
// position 0 (none): all bits set = all UP
// position N: all bits set except SW_N's bit = SW_N is DOWN
static uint8_t _pos_to_state(uint8_t pos)
{
if (pos == 0) return FS_ALL_BITS;
uint8_t active_bit = (1 << (pos - 1));
return FS_ALL_BITS & ~active_bit;
}
static _adckey_switches_expander _adckey_switches = { FS_ALL_BITS };

// Called whenever the sticky 6POS position changes. Boards that need to
// map position to a switch-expander state (e.g. FUNCTION_SWITCHES) can
// override this to react to position changes without polling adcValues[].
void sixPosUpdateFromAdc()
{
uint16_t* values = getAnalogValues();
uint16_t adcValue = values[SIXPOS_SWITCH_INDEX];

uint8_t current = 0;
if (adcValue > 3800) current = 1;
else if (adcValue > 3100) current = 2;
else if (adcValue > 2300) current = 3;
else if (adcValue > 1500) current = 4;
else if (adcValue > 1000) current = 5;
else if (adcValue > 400) current = 6;

static uint8_t lastSeen = 0;
static uint8_t debounce = 0;
static uint8_t sixPosState = 0;

if (current != lastSeen) {
lastSeen = current;
debounce = 2; // require this many more stable samples before committing
} else if (debounce > 0) {
if (--debounce == 0) {
// Switch state always reflects the true debounced position
_adckey_switches.state = _pos_to_state(current);
if (current != 0) {
// Indicator value stays sticky on the last active position
sixPosState = current;
}
}
}

values[SIXPOS_SWITCH_INDEX] = sixPosState ? (4096 / 5) * (7 - sixPosState) : 0;
}

static SwitchHwPos _get_switch_pos(uint8_t idx)
{
Expand All @@ -110,10 +180,6 @@ static SwitchHwPos _get_switch_pos(uint8_t idx)
const stm32_switch_t* def = boardGetSwitchDef(idx);
uint8_t state = _adckey_switches.state;

if (def->GPIOx_high != nullptr) { // hardware-backed switches (SA-SF)
return stm32_switch_get_position(def);
}
//get adc key switch position
if (def->isCustomSwitch) {
if ((state & def->Pin_high) == 0) {
return SWITCH_HW_DOWN;
Expand Down Expand Up @@ -162,78 +228,15 @@ SwitchHwPos boardSwitchGetPosition(uint8_t idx)
{
if (boardIsCustomSwitch(idx)) {
return _get_fs_switch_pos(idx);
} else if (boardGetSwitchDef(idx)->GPIOx_high != nullptr) {
return stm32_switch_get_position(boardGetSwitchDef(idx));
} else {
return _get_switch_pos(idx);
}
}
#endif

uint8_t lastADCState = 0;
uint8_t sixPosState = 0;

uint8_t uploadPosState = 5;

bool dirty = true;
uint16_t getSixPosAnalogValue(uint16_t adcValue)
{
uint8_t currentADCState = 0;
if(uploadPosState){
uploadPosState--;
goto __retposadc__;
}
else if (adcValue > 3800)
currentADCState = 1;
else if (adcValue > 3100)
currentADCState = 2;
else if (adcValue > 2300)
currentADCState = 3;
else if (adcValue > 1500)
currentADCState = 4;
else if (adcValue > 1000)
currentADCState = 5;
else if (adcValue > 400)
currentADCState = 6;
if (lastADCState != currentADCState) {
lastADCState = currentADCState;
uploadPosState=10;
}
#if defined(FUNCTION_SWITCHES)
else if (lastADCState != sixPosState) {
sixPosState = lastADCState ;
dirty = true;
}
#else
else if (lastADCState != 0 && lastADCState - 1 != sixPosState) {
sixPosState = lastADCState - 1;
dirty = true;
}
#endif
if (dirty) {
#if !defined(FUNCTION_SWITCHES)
for (uint8_t i = 0; i < 6; i++) {
if (i == sixPosState) {
rgbSetLedColor(i, SIXPOS_LED_RED, SIXPOS_LED_GREEN, SIXPOS_LED_BLUE);
} else {
rgbSetLedColor(i, 0, 160, 0);
}
}
rgbLedColorApply();
#else
_adckey_switches.state=_adckeyidx[sixPosState];
#endif
dirty = false;
}
__retposadc__:

return (4096/5)*(sixPosState);
}

void sixPosUpdateFromAdc()
{
uint16_t* values = getAnalogValues();
values[SIXPOS_SWITCH_INDEX] =
getSixPosAnalogValue(values[SIXPOS_SWITCH_INDEX]);
}
#endif

static void led_strip_off()
Expand Down
2 changes: 0 additions & 2 deletions radio/src/targets/hrs/v15/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -170,8 +170,6 @@ void ledBlue();
void ledGreen();
void ledBoot();

uint16_t getSixPosAnalogValue(uint16_t adcValue);

// LCD driver
void lcdSetInitalFrameBuffer(void* fbAddress);
void lcdInit();
Expand Down
6 changes: 3 additions & 3 deletions radio/src/targets/hrs/v15/hal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,11 +183,11 @@ USART6: EXTMODULE_USART

#define ADC_GPIO_PIN_POT1 LL_GPIO_PIN_3 // PC.03 POT2 ADC12_INP13
#define ADC_GPIO_PIN_POT2 LL_GPIO_PIN_2 // PC.02 POT1 ADC123_INP12
#define ADC_GPIO_PIN_POT3 LL_GPIO_PIN_5 // PC.05 POT3 ADC12_INP8
#define ADC_GPIO_PIN_RAW1 LL_GPIO_PIN_5 // PC.05 6POS ADC12_INP8
#define ADC_GPIO_PIN_BATT LL_GPIO_PIN_4 // PC.04 ADC12_INP4

#define ADC_GPIOA_PINS (ADC_GPIO_PIN_STICK_LH | ADC_GPIO_PIN_STICK_LV | ADC_GPIO_PIN_STICK_RH | ADC_GPIO_PIN_STICK_RV)
#define ADC_GPIOC_PINS (ADC_GPIO_PIN_POT1 | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_POT3 | ADC_GPIO_PIN_BATT)
#define ADC_GPIOC_PINS (ADC_GPIO_PIN_POT1 | ADC_GPIO_PIN_POT2 | ADC_GPIO_PIN_RAW1 | ADC_GPIO_PIN_BATT)

#define ADC_CHANNEL_STICK_LH LL_ADC_CHANNEL_16
#define ADC_CHANNEL_STICK_LV LL_ADC_CHANNEL_17
Expand All @@ -196,7 +196,7 @@ USART6: EXTMODULE_USART

#define ADC_CHANNEL_POT1 LL_ADC_CHANNEL_12
#define ADC_CHANNEL_POT2 LL_ADC_CHANNEL_13
#define ADC_CHANNEL_POT3 LL_ADC_CHANNEL_8
#define ADC_CHANNEL_RAW1 LL_ADC_CHANNEL_8
#define ADC_CHANNEL_BATT LL_ADC_CHANNEL_4
#define ADC_CHANNEL_RTC_BAT LL_ADC_CHANNEL_VBAT // ADC3 IMP17

Expand Down
6 changes: 0 additions & 6 deletions web/public/radios.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2664,12 +2664,6 @@
"type": "FLEX",
"label": "S2",
"default": "POT_CENTER"
},
{
"name": "P3",
"type": "FLEX",
"label": "S3",
"default": "MULTIPOS"
}
],
"switches": [
Expand Down
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