Merge branch 'next' into kilrah/antennaselection

Conflicts:
	radio/src/myeeprom.h

radio/src/CMakeLists.txt

@@ -19,7 +19,7 @@ option(AUTOSOURCE "Automatic source detection in menus" ON)
 option(AUTOSWITCH "Automatic switch detection in menus" ON)
 option(JITTER_MEASURE "Enable ADC jitter measurement" OFF)
 option(JITTER_FILTER "Enable ADC jitter filtering" ON)
-option(WATCHDOG_DISABLED "Disable hardware Watchdog on Horus" ON)  # TODO remove it when it's OK
+option(WATCHDOG_DISABLED "Disable hardware Watchdog on Horus" OFF)  # TODO remove it when it's OK
 
 enable_language(ASM)
 set(OPT s)
@@ -441,6 +441,7 @@ if(CPU_FAMILY STREQUAL STM32)
   foreach(FILE ${STM32USB_SRC})
     set(FIRMWARE_SRC ${FIRMWARE_SRC} ${STM32USB_DIR}/${FILE})
   endforeach()
+  set(SRC ${SRC} sbus.cpp)
 endif()
 
 if(ARCH STREQUAL ARM)
@@ -510,7 +511,6 @@ if(ARCH STREQUAL ARM)
     main_arm.cpp
     tasks_arm.cpp
     audio_arm.cpp
-    sbus.cpp
     telemetry/telemetry.cpp
     telemetry/frsky.cpp
     telemetry/frsky_d_arm.cpp

radio/src/cli.cpp

@@ -498,11 +498,13 @@ int cliDebugVars(const char ** argv)
 #if defined(PCBHORUS)
   extern uint32_t ioMutexReq, ioMutexRel;
   extern uint32_t sdReadRetries;
-
   serialPrint("ioMutexReq=%d", ioMutexReq);
   serialPrint("ioMutexRel=%d", ioMutexRel);
   serialPrint("sdReadRetries=%d", sdReadRetries);
+#elif defined(PCBTARANIS)
+  serialPrint("telemetryErrors=%d", telemetryErrors);
 #endif
+
   return 0;
 }
 

radio/src/dataconstants.h

@@ -150,49 +150,53 @@ enum CurveType {
 #define MAX_POINTS             17
 
 #if defined(PCBHORUS)
-  #define LEN_MODEL_NAME       15
+  #define LEN_MODEL_NAME               15
-  #define LEN_TIMER_NAME       8
+  #define LEN_TIMER_NAME               8
-  #define LEN_FLIGHT_MODE_NAME 10
+  #define LEN_FLIGHT_MODE_NAME         10
-  #define LEN_BITMAP_NAME      10
+  #define LEN_BITMAP_NAME              10
-  #define LEN_EXPOMIX_NAME     6
+  #define LEN_EXPOMIX_NAME             6
-  #define LEN_CHANNEL_NAME     6
+  #define LEN_CHANNEL_NAME             6
-  #define LEN_INPUT_NAME       4
+  #define LEN_INPUT_NAME               4
-  #define LEN_CURVE_NAME       3
+  #define LEN_CURVE_NAME               3
-  #define MAX_CURVES           32
+  #define LEN_CFN_NAME                 10
-  #define NUM_POINTS           512
+  #define MAX_CURVES                   32
+  #define NUM_POINTS                   512
 #elif defined(PCBFLAMENCO)
-  #define LEN_MODEL_NAME       12
+  #define LEN_MODEL_NAME               12
-  #define LEN_TIMER_NAME       8
+  #define LEN_TIMER_NAME               8
-  #define LEN_FLIGHT_MODE_NAME 10
+  #define LEN_FLIGHT_MODE_NAME         10
-  #define LEN_EXPOMIX_NAME     6
+  #define LEN_EXPOMIX_NAME             6
-  #define LEN_CHANNEL_NAME     6
+  #define LEN_CHANNEL_NAME             6
-  #define LEN_INPUT_NAME       4
+  #define LEN_INPUT_NAME               4
-  #define LEN_CURVE_NAME       3
+  #define LEN_CURVE_NAME               3
-  #define MAX_CURVES           32
+  #define LEN_CFN_NAME                 8
-  #define NUM_POINTS           512
+  #define MAX_CURVES                   32
+  #define NUM_POINTS                   512
 #elif defined(PCBTARANIS)
-  #define LEN_MODEL_NAME       12
+  #define LEN_MODEL_NAME               12
-  #define LEN_TIMER_NAME       8
+  #define LEN_TIMER_NAME               8
-  #define LEN_FLIGHT_MODE_NAME 10
+  #define LEN_FLIGHT_MODE_NAME         10
-  #define LEN_BITMAP_NAME      10
+  #define LEN_BITMAP_NAME              10
-  #define LEN_EXPOMIX_NAME     8
+  #define LEN_EXPOMIX_NAME             8
-  #define LEN_CHANNEL_NAME     6
+  #define LEN_CHANNEL_NAME             6
-  #define LEN_INPUT_NAME       4
+  #define LEN_INPUT_NAME               4
-  #define LEN_CURVE_NAME       3
+  #define LEN_CURVE_NAME               3
-  #define MAX_CURVES           32
+  #define LEN_CFN_NAME                 8
-  #define NUM_POINTS           512
+  #define MAX_CURVES                   32
+  #define NUM_POINTS                   512
 #elif defined(CPUARM)
-  #define LEN_MODEL_NAME       10
+  #define LEN_MODEL_NAME               10
-  #define LEN_TIMER_NAME       3
+  #define LEN_TIMER_NAME               3
-  #define LEN_FLIGHT_MODE_NAME 6
+  #define LEN_FLIGHT_MODE_NAME         6
-  #define LEN_EXPOMIX_NAME     6
+  #define LEN_EXPOMIX_NAME             6
-  #define MAX_CURVES           16
+  #define LEN_CFN_NAME                 6
-  #define NUM_POINTS           512
+  #define MAX_CURVES                   16
+  #define NUM_POINTS                   512
 #else
-  #define LEN_MODEL_NAME       10
+  #define LEN_MODEL_NAME               10
-  #define LEN_FLIGHT_MODE_NAME 6
+  #define LEN_FLIGHT_MODE_NAME         6
-  #define MAX_CURVES           8
+  #define MAX_CURVES                   8
-  #define NUM_POINTS           (112-MAX_CURVES)
+  #define NUM_POINTS                   (112-MAX_CURVES)
 #endif
 
 #if defined(PCBTARANIS) || defined(PCBSKY9X) || defined(PCBHORUS)
@@ -265,6 +269,36 @@ enum BeeperMode {
   e_mode_all
 };
 
+#if defined(PCBFLAMENCO)
+  enum ModuleIndex {
+    EXTERNAL_MODULE,
+    TRAINER_MODULE,
+  };
+  enum TrainerMode {
+    TRAINER_MODE_MASTER,
+    TRAINER_MODE_SLAVE
+  };
+#elif defined(PCBTARANIS) || defined(PCBHORUS)
+  enum ModuleIndex {
+    INTERNAL_MODULE,
+    EXTERNAL_MODULE,
+    TRAINER_MODULE
+  };
+  enum TrainerMode {
+    TRAINER_MODE_MASTER_TRAINER_JACK,
+    TRAINER_MODE_SLAVE,
+    TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE,
+    TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE,
+    TRAINER_MODE_MASTER_BATTERY_COMPARTMENT,
+  };
+#elif defined(PCBSKY9X)
+  enum ModuleIndex {
+    EXTERNAL_MODULE,
+    EXTRA_MODULE,
+    TRAINER_MODULE
+  };
+#endif
+
 enum UartModes {
 #if defined(CLI) || defined(DEBUG)
   UART_MODE_DEBUG,
@@ -498,7 +532,7 @@ enum PotsWarnMode {
   #define GVAR_MIN                     -GVAR_MAX
 #endif
 
-#define RESERVE_RANGE_FOR_GVARS 10
+#define RESERVE_RANGE_FOR_GVARS        10
 // even we do not spend space in EEPROM for 10 GVARS, we reserve the space inside the range of values, like offset, weight, etc.
 
 #if defined(PCBSTD) && defined(GVARS)
@@ -513,12 +547,6 @@ enum PotsWarnMode {
   #endif
 #endif
 
-#if defined(PCBTARANIS)
-  #define LEN_CFN_NAME                 8
-#elif defined(CPUARM)
-  #define LEN_CFN_NAME                 6
-#endif
-
 enum SwitchSources {
   SWSRC_NONE = 0,
 

radio/src/definitions.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _DEFINITIONS_H_
+#define _DEFINITIONS_H_
+
+#if defined(SIMU)
+  #define __ALIGNED
+#else
+  #define __ALIGNED __attribute__((aligned(32)))
+#endif
+
+#if defined(SIMU)
+  #define __DMA
+#elif defined(STM32F4) && !defined(BOOT)
+  #define __DMA __attribute__((section(".ram"), aligned(32)))
+#else
+  #define __DMA __ALIGNED
+#endif
+
+#if defined(PCBHORUS) && !defined(SIMU)
+  #define __SDRAM __attribute__((section(".sdram"), aligned(32)))
+#else
+  #define __SDRAM __DMA
+#endif
+
+#if defined(SIMU) || defined(CPUARM) || GCC_VERSION < 472
+  typedef int32_t int24_t;
+#else
+  typedef __int24 int24_t;
+#endif
+
+#endif // _DEFINITIONS_H_

radio/src/dmafifo.h

@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _DMA_FIFO_H_
+#define _DMA_FIFO_H_
+
+#include "definitions.h"
+
+template <int N>
+class DMAFifo
+{
+  public:
+    DMAFifo(DMA_Stream_TypeDef * stream):
+      stream(stream),
+      ridx(0)
+    {
+    }
+
+    void clear()
+    {
+      ridx = 0;
+    }
+
+    uint32_t size()
+    {
+      return N;
+    }
+
+    bool isEmpty()
+    {
+#if defined(SIMU)
+      return true;
+#endif
+      return (ridx == N - stream->NDTR);
+    }
+
+    bool pop(uint8_t & element)
+    {
+      if (isEmpty()) {
+        return false;
+      }
+      else {
+        element = fifo[ridx];
+        ridx = (ridx+1) & (N-1);
+        return true;
+      }
+    }
+
+    uint8_t * buffer()
+    {
+      return fifo;
+    }
+
+  protected:
+    uint8_t fifo[N];
+    DMA_Stream_TypeDef * stream;
+    volatile uint32_t ridx;
+};
+
+#endif // _DMA_FIFO_H_

radio/src/fifo.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -36,7 +36,8 @@ class Fifo
       widx = ridx = 0;
     }
 
-    void push(T element) {
+    void push(T element)
+    {
       uint32_t next = (widx+1) & (N-1);
       if (next != ridx) {
         fifo[widx] = element;
@@ -44,7 +45,8 @@ class Fifo
       }
     }
 
-    bool pop(T & element) {
+    bool pop(T & element)
+    {
       if (isEmpty()) {
         return false;
       }
@@ -55,16 +57,19 @@ class Fifo
       }
     }
 
-    bool isEmpty() {
+    bool isEmpty()
+    {
       return (ridx == widx);
     }
 
-    bool isFull() {
+    bool isFull()
+    {
       uint32_t next = (widx+1) & (N-1);
       return (next == ridx);
     }
 
-    void flush() {
+    void flush()
+    {
       while (!isEmpty()) {};
     }
 

radio/src/gui/gui_helpers.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -157,7 +157,7 @@ bool isSourceAvailable(int source)
   if (source>=MIXSRC_FIRST_SWITCH && source<=MIXSRC_LAST_SWITCH) {
      return SWITCH_EXISTS(source-MIXSRC_FIRST_SWITCH);
   }
-    
+
 #if !defined(HELI)
   if (source>=MIXSRC_CYC1 && source<=MIXSRC_CYC3)
     return false;
@@ -227,7 +227,7 @@ bool isInputSourceAvailable(int source)
 
   if (source>=MIXSRC_FIRST_SWITCH && source<=MIXSRC_LAST_SWITCH)
      return SWITCH_EXISTS(source-MIXSRC_FIRST_SWITCH);
-  
+
   if (source>=MIXSRC_FIRST_CH && source<=MIXSRC_LAST_CH)
     return true;
 
@@ -470,6 +470,16 @@ bool isRfProtocolAvailable(int protocol)
   return true;
 }
 
+#if defined(PCBHORUS) || defined(PCBTARANIS)
+bool isTrainerModeAvailable(int mode)
+{
+  if (IS_EXTERNAL_MODULE_PRESENT() && (mode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE || mode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE))
+    return false;
+  else
+    return true;
+}
+#endif
+
 bool modelHasNotes()
 {
   char filename[sizeof(MODELS_PATH)+1+sizeof(g_model.header.name)+sizeof(TEXT_EXT)] = MODELS_PATH "/";

radio/src/gui/gui_helpers.h

@@ -46,6 +46,7 @@ bool isSwitchAvailableInMixes(int swtch);
 bool isSwitchAvailableInTimers(int swtch);
 bool isModuleAvailable(int module);
 bool isRfProtocolAvailable(int protocol);
+bool isTrainerModeAvailable(int mode);
 
 bool isSensorUnit(int sensor, uint8_t unit);
 bool isCellsSensor(int sensor);

radio/src/gui/horus/bitmapbuffer.cpp

@@ -274,9 +274,9 @@ void BitmapBuffer::drawSizedText(coord_t x, coord_t y, const pm_char * s, uint8_
     if (FONTSIZE(flags) == TINSIZE)
       drawSolidFilledRect(x-INVERT_HORZ_MARGIN+2, y-INVERT_VERT_MARGIN+2, width+2*INVERT_HORZ_MARGIN-5, INVERT_LINE_HEIGHT-7, TEXT_INVERTED_BGCOLOR);
     else if (FONTSIZE(flags) == SMLSIZE)
-      drawSolidFilledRect(x-INVERT_HORZ_MARGIN+1, y-INVERT_VERT_MARGIN, width+2*INVERT_HORZ_MARGIN-2, INVERT_LINE_HEIGHT, TEXT_INVERTED_BGCOLOR);
+      drawSolidFilledRect(x-INVERT_HORZ_MARGIN, y+1, width+2*INVERT_HORZ_MARGIN-2, INVERT_LINE_HEIGHT-5, TEXT_INVERTED_BGCOLOR);
     else
-      drawSolidFilledRect(x-INVERT_HORZ_MARGIN, y/*-INVERT_VERT_MARGIN*/, width+2*INVERT_HORZ_MARGIN, INVERT_LINE_HEIGHT, TEXT_INVERTED_BGCOLOR);
+      drawSolidFilledRect(x-INVERT_HORZ_MARGIN, y, width+2*INVERT_HORZ_MARGIN, INVERT_LINE_HEIGHT, TEXT_INVERTED_BGCOLOR);
   }
 
   char str[256];

radio/src/gui/horus/bitmaps.cpp

@@ -96,10 +96,15 @@ const uint8_t LBM_STATS_DEBUG_ICON[] = {
 #include "mask_stats_debug.lbm"
 };
 
+const uint8_t LBM_STATS_ANALOGS_ICON[] = {
+#include "mask_analogs.lbm"
+};
+
 const uint8_t * const LBM_STATS_ICONS[] = {
   LBM_STATS_ICON,
   LBM_STATS_GRAPH_ICON,
   LBM_STATS_TIME_ICON,
+  LBM_STATS_ANALOGS_ICON,
 #if defined(DEBUG_TRACE_BUFFER)
   LBM_STATS_DEBUG_ICON
 #endif  

radio/src/gui/horus/bitmaps.h

@@ -51,6 +51,7 @@ extern const uint8_t LBM_MIXER_ICON[];
 extern const uint8_t LBM_CURVES_ICON[];
 extern const uint8_t LBM_LUA_SCRIPTS_ICON[];
 extern const uint8_t LBM_TELEMETRY_ICON[];
+extern const uint8_t LBM_STATS_ANALOGS_ICON[];
 
 // UI (theme / layout / widgets bitmaps
 extern const uint8_t LBM_MAINVIEWS_ICON[];

radio/src/gui/horus/lcd.cpp

@@ -20,7 +20,7 @@
 
 #include <math.h>
 #include <stdio.h>
-#include "../../opentx.h"
+#include "opentx.h"
 
 #if defined(SIMU)
 display_t displayBuf[DISPLAY_BUFFER_SIZE];

radio/src/gui/horus/menu_general_hardware.cpp

@@ -46,6 +46,7 @@ enum menuGeneralHwItems {
   ITEM_SETUP_HW_SH,
   ITEM_SETUP_HW_BLUETOOTH,
   // ITEM_SETUP_HW_UART3_MODE,
+  ITEM_SETUP_HW_BAT_CAL,
   ITEM_SETUP_HW_MAX
 };
 
@@ -175,6 +176,12 @@ bool menuGeneralHardware(evt_t event)
         }
         break;
 #endif
+
+      case ITEM_SETUP_HW_BAT_CAL:
+        lcdDrawText(MENUS_MARGIN_LEFT, y, "Battery cal.");
+        lcdDrawNumber(HW_SETTINGS_COLUMN, y, getBatteryVoltage(), attr|LEFT|PREC2, 0, NULL, "V");
+        if (attr) CHECK_INCDEC_GENVAR(event, g_eeGeneral.txVoltageCalibration, -127, 127);
+        break;
     }
   }
 

radio/src/gui/horus/menu_general_setup.cpp

@@ -329,7 +329,7 @@ bool menuGeneralSetup(evt_t event)
       case ITEM_SETUP_BATTERY_WARNING:
         lcdDrawText(MENUS_MARGIN_LEFT, y, STR_BATTERYWARNING);
         putsValueWithUnit(RADIO_SETUP_2ND_COLUMN, y, g_eeGeneral.vBatWarn, UNIT_VOLTS, attr|PREC1|LEFT);
-        if (attr) CHECK_INCDEC_GENVAR(event, g_eeGeneral.vBatWarn, 27, 42); // 2.7-4.2V
+        if (attr) CHECK_INCDEC_GENVAR(event, g_eeGeneral.vBatWarn, 40, 120); //4-12V
         break;
 
 #if 0

radio/src/gui/horus/menu_model_curves.cpp

@@ -19,7 +19,7 @@
  */
 
 #include <stdio.h>
-#include "../../opentx.h"
+#include "opentx.h"
 
 uint8_t s_curveChan;
 

radio/src/gui/horus/menu_model_custom_functions.cpp

@@ -18,12 +18,12 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-#define MODEL_CUSTOM_FUNC_1ST_COLUMN          50
+#define MODEL_CUSTOM_FUNC_1ST_COLUMN          60
-#define MODEL_CUSTOM_FUNC_2ND_COLUMN          100
+#define MODEL_CUSTOM_FUNC_2ND_COLUMN          120
-#define MODEL_CUSTOM_FUNC_2ND_COLUMN_EXT      180
+#define MODEL_CUSTOM_FUNC_2ND_COLUMN_EXT      (lcdNextPos + 5)
-#define MODEL_CUSTOM_FUNC_3RD_COLUMN          300
+#define MODEL_CUSTOM_FUNC_3RD_COLUMN          295
 #define MODEL_CUSTOM_FUNC_4TH_COLUMN          440
 #define MODEL_CUSTOM_FUNC_4TH_COLUMN_ONOFF    450
 

radio/src/gui/horus/menu_model_logical_switches.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -19,7 +19,7 @@
  */
 
 #include <stdio.h>
-#include "../../opentx.h"
+#include "opentx.h"
 
 enum LogicalSwitchFields {
   LS_FIELD_FUNCTION,
@@ -33,28 +33,25 @@ enum LogicalSwitchFields {
   LS_FIELD_LAST = LS_FIELD_COUNT-1
 };
 
-#define CSW_1ST_COLUMN  42
+#define CSW_1ST_COLUMN  50
-#define CSW_2ND_COLUMN  90
+#define CSW_2ND_COLUMN  120
-#define CSW_3RD_COLUMN  140
+#define CSW_3RD_COLUMN  200
-#define CSW_4TH_COLUMN  200
+#define CSW_4TH_COLUMN  280
-#define CSW_5TH_COLUMN  245
+#define CSW_5TH_COLUMN  340
-#define CSW_6TH_COLUMN  300
+#define CSW_6TH_COLUMN  390
 
 void putsEdgeDelayParam(coord_t x, coord_t y, LogicalSwitchData *cs, uint8_t lattr, uint8_t rattr)
 {
-  char s[32];
+  lcdDrawChar(x, y, '[');
-  div_t left = div(lswTimerValue(cs->v2), 10);
+  lcdDrawNumber(lcdNextPos+3, y, lswTimerValue(cs->v2), LEFT|PREC1|lattr);
-  char sleft[10];
+  lcdDrawChar(lcdNextPos+3, y, ':');
-  sprintf(sleft, "%d.%d", left.quot, left.rem);
+  if (cs->v3 < 0)
-  div_t right = div(lswTimerValue(cs->v2+cs->v3), 10);
+    lcdDrawText(lcdNextPos+3, y, "<<", rattr);
-  char sright[10];
-  sprintf(sright, "%d.%d", right.quot, right.rem);
-  sprintf(s, "[%s:%s]", sleft, sright);
-  lcdDrawText(x-4, y, s);
-  /* if (cs->v3 < 0)
-    lcdDrawText(lcdLastPos+3, y, "<<", rattr);
   else if (cs->v3 == 0)
-    lcdDrawText(lcdLastPos+3, y, "--", rattr); */
+    lcdDrawText(lcdNextPos+3, y, "--", rattr);
+  else
+    lcdDrawNumber(lcdNextPos+3, y, lswTimerValue(cs->v2+cs->v3), LEFT|PREC1|rattr);
+  lcdDrawChar(lcdNextPos+3, y, ']');
 }
 
 void onLogicalSwitchesMenu(const char *result)
@@ -173,7 +170,7 @@ bool menuModelLogicalSwitches(evt_t event)
         INCDEC_ENABLE_CHECK(NULL);
       }
       v2_max = getMaximumValue(v1_val);
-      v2_min = - v2_min;
+      v2_min = - v2_max;
       putsChannelValue(CSW_3RD_COLUMN, y, v1_val, v1_val <= MIXSRC_LAST_CH ? calc100toRESX(cs->v2) : cs->v2, LEFT|attr2);
     }
 

radio/src/gui/horus/menu_model_setup.cpp

@@ -730,88 +730,114 @@ bool menuModelSetup(evt_t event)
 
 bool menuModelFailsafe(evt_t event)
 {
-  static bool longNames = false;
-  bool newLongNames = false;
   uint8_t ch = 0;
+  uint8_t channelStart = g_model.moduleData[g_moduleIdx].channelsStart;
 
-  if (event == EVT_KEY_LONG(KEY_ENTER) && s_editMode) {
+  if (event == EVT_KEY_LONG(KEY_ENTER)) {
-    START_NO_HIGHLIGHT();
+    killEvents(event);
-    g_model.moduleData[g_moduleIdx].failsafeChannels[menuVerticalPosition] = channelOutputs[menuVerticalPosition];
+    event = 0;
-    storageDirty(EE_MODEL);
+    if (s_editMode) {
-    AUDIO_WARNING1();
+      g_model.moduleData[g_moduleIdx].failsafeChannels[menuVerticalPosition] = channelOutputs[menuVerticalPosition+channelStart];
-    SEND_FAILSAFE_NOW(g_moduleIdx);
+      storageDirty(EE_MODEL);
+      AUDIO_WARNING1();
+      s_editMode = 0;
+      SEND_FAILSAFE_NOW(g_moduleIdx);
+    }
+    else {
+      int16_t & failsafe = g_model.moduleData[g_moduleIdx].failsafeChannels[menuVerticalPosition];
+      if (failsafe < FAILSAFE_CHANNEL_HOLD)
+        failsafe = FAILSAFE_CHANNEL_HOLD;
+      else if (failsafe == FAILSAFE_CHANNEL_HOLD)
+        failsafe = FAILSAFE_CHANNEL_NOPULSE;
+      else
+        failsafe = 0;
+      storageDirty(EE_MODEL);
+      AUDIO_WARNING1();
+      SEND_FAILSAFE_NOW(g_moduleIdx);
+    }
   }
 
-  SIMPLE_SUBMENU_NOTITLE(NUM_CHNOUT);
+  SIMPLE_SUBMENU_WITH_OPTIONS("FAILSAFE", LBM_STATS_ANALOGS_ICON, NUM_CHANNELS(g_moduleIdx), OPTION_MENU_NO_SCROLLBAR);
+  drawStringWithIndex(50, 3+FH, "Module", g_moduleIdx+1, MENU_TITLE_COLOR);
 
   #define COL_W   (LCD_W/2)
-  const uint8_t SLIDER_W = 64;
+  const uint8_t SLIDER_W = 128;
-  // Column separator
-  // TODO lcdDrawSolidVerticalLine(LCD_W/2, FH, LCD_H-FH);
 
-  if (menuVerticalPosition >= 16) {
+  unsigned int lim = g_model.extendedLimits ? 640*2 : 512*2;
-    ch = 16;
-  }
 
-  // TODO lcd_putsCenter(0, FAILSAFESET);
+  for (uint8_t col=0; col<2; col++) {
-  // TODO lcdInvertLine(0);
+    for (uint8_t line=0; line<8; line++) {
+      coord_t x = col*(LCD_W/2);
+      coord_t y = MENU_CONTENT_TOP - FH + line*(FH+4);
+      int32_t channelValue = channelOutputs[ch+channelStart];
+      int32_t failsafeValue = 0;
+      bool failsafeEditable = false;
 
-  for (int col=0; col<2; col++) {
+      if (ch < NUM_CHANNELS(g_moduleIdx)) {
-    coord_t x = col*COL_W+1;
+        failsafeValue = g_model.moduleData[g_moduleIdx].failsafeChannels[8*col+line];
-
+        failsafeEditable = true;
-    // Channels
-    for (int line=0; line<8; line++) {
-      coord_t y = 9+line*7;
-      int32_t val;
-      int ofs = (col ? 0 : 1);
-
-      if (ch < g_model.moduleData[g_moduleIdx].channelsStart || ch >= NUM_CHANNELS(g_moduleIdx) + g_model.moduleData[g_moduleIdx].channelsStart)
-        val = 0;
-      else if (s_editMode && menuVerticalPosition == ch)
-        val = channelOutputs[ch];
-      else
-        val = g_model.moduleData[g_moduleIdx].failsafeChannels[8*col+line];
-
-      // Channel name if present, number if not
-      uint8_t lenLabel = ZLEN(g_model.limitData[ch].name);
-      if (lenLabel > 4) {
-        newLongNames = longNames = true;
       }
 
-      if (lenLabel > 0)
+      if (failsafeEditable) {
-        lcdDrawSizedText(x+1-ofs, y, g_model.limitData[ch].name, sizeof(g_model.limitData[ch].name), ZCHAR | SMLSIZE);
+        // Channel name if present, number if not
-      else
+        uint8_t lenLabel = ZLEN(g_model.limitData[ch+channelStart].name);
-        putsChn(x+1-ofs, y, ch+1, SMLSIZE);
+        if (lenLabel > 0) {
+          putsChn(x+MENUS_MARGIN_LEFT, y-3, ch+1, TINSIZE);
+          lcdDrawSizedText(x+MENUS_MARGIN_LEFT, y+5, g_model.limitData[ch+channelStart].name, sizeof(g_model.limitData[ch+channelStart].name), ZCHAR|SMLSIZE);
+        }
+        else {
+          putsChn(x+MENUS_MARGIN_LEFT, y, ch+1, 0);
+        }
 
-      // Value
+        // Value
-      LcdFlags flags = TINSIZE;
+        LcdFlags flags = RIGHT;
-      if (menuVerticalPosition == ch && !NO_HIGHLIGHT()) {
+        if (menuVerticalPosition == ch) {
-        flags |= INVERS;
+          flags |= INVERS;
-        if (s_editMode)
+          if (s_editMode) {
-          flags |= BLINK;
+            if (failsafeValue == FAILSAFE_CHANNEL_HOLD || failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
-      }
+              s_editMode = 0;
+            }
+            else {
+              flags |= BLINK;
+              CHECK_INCDEC_MODELVAR(event, g_model.moduleData[g_moduleIdx].failsafeChannels[8*col+line], -lim, +lim);
+            }
+          }
+        }
+
+        x += COL_W-4-MENUS_MARGIN_LEFT-SLIDER_W;
+
+        if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
+          lcdDrawText(x, y+2, "HOLD", flags|SMLSIZE);
+          failsafeValue = 0;
+        }
+        else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
+          lcdDrawText(x, y+2, "NONE", flags|SMLSIZE);
+          failsafeValue = 0;
+        }
+        else {
 #if defined(PPM_UNIT_US)
-      uint8_t wbar = (longNames ? SLIDER_W-10 : SLIDER_W);
+          lcdDrawNumber(x, y, PPM_CH_CENTER(ch)+failsafeValue/2, flags);
-      lcdDrawNumber(x+COL_W-4-wbar-ofs, y, PPM_CH_CENTER(ch)+val/2, flags|RIGHT);
 #elif defined(PPM_UNIT_PERCENT_PREC1)
-      uint8_t wbar = (longNames ? SLIDER_W-16 : SLIDER_W-6);
+          lcdDrawNumber(x, y, calcRESXto1000(failsafeValue), PREC1|flags);
-      lcdDrawNumber(x+COL_W-4-wbar-ofs, y, calcRESXto1000(val), PREC1|flags|RIGHT);
 #else
-      uint8_t wbar = (longNames ? SLIDER_W-10 : SLIDER_W);
+          lcdDrawNumber(x, y, calcRESXto1000(failsafeValue)/10, flags);
-      lcdDrawNumber(x+COL_W-4-wbar-ofs, y, calcRESXto1000(val)/10, flags|RIGHT);
 #endif
+        }
 
-      // Gauge
+        // Gauge
-      lcdDrawRect(x+COL_W-3-wbar-ofs, y, wbar+1, 6);
+        x += 4;
-      uint16_t lim = g_model.extendedLimits ? 640*2 : 512*2;
+        lcdDrawRect(x, y+3, SLIDER_W+1, 12);
-      uint8_t len = limit((uint8_t)1, uint8_t((abs(val) * wbar/2 + lim/2) / lim), uint8_t(wbar/2));
+        unsigned int lenChannel = limit((uint8_t)1, uint8_t((abs(channelValue) * SLIDER_W/2 + lim/2) / lim), uint8_t(SLIDER_W/2));
-      coord_t x0 = (val>0) ? x+COL_W-ofs-3-wbar/2 : x+COL_W-ofs-2-wbar/2-len;
+        unsigned int lenFailsafe = limit((uint8_t)1, uint8_t((abs(failsafeValue) * SLIDER_W/2 + lim/2) / lim), uint8_t(SLIDER_W/2));
-      lcdDrawSolidFilledRect(x0, y+1, len, 4, LINE_COLOR);
+        x += SLIDER_W/2;
+        coord_t xChannel = (channelValue>0) ? x : x+1-lenChannel;
+        coord_t xFailsafe = (failsafeValue>0) ? x : x+1-lenFailsafe;
+        lcdDrawSolidFilledRect(xChannel, y+4, lenChannel, 5, TEXT_COLOR);
+        lcdDrawSolidFilledRect(xFailsafe, y+9, lenFailsafe, 5, ALARM_COLOR);
+      }
       ch++;
     }
   }
 
-  longNames = newLongNames;
-
   return true;
 }

radio/src/gui/horus/menu_model_telemetry.cpp

@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 enum menuModelTelemetryItems {
   ITEM_TELEMETRY_PROTOCOL_TYPE,

radio/src/gui/horus/menus.cpp

@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 MenuHandlerFunc menuHandlers[5];
 evt_t menuEvent = 0;

radio/src/gui/horus/menus.h

@@ -148,6 +148,7 @@ enum EnumTabDiag
 {
   e_StatsGraph,
   e_StatsDebug,
+  e_StatsAnalogs,
 #if defined(DEBUG_TRACE_BUFFER)
   e_StatsTraces,
 #endif
@@ -155,11 +156,13 @@ enum EnumTabDiag
 
 bool menuStatsGraph(evt_t event);
 bool menuStatsDebug(evt_t event);
+bool menuStatsAnalogs(evt_t event);
 bool menuStatsTraces(evt_t event);
 
 static const MenuHandlerFunc menuTabStats[] PROGMEM = {
   menuStatsGraph,
   menuStatsDebug,
+  menuStatsAnalogs,
 #if defined(DEBUG_TRACE_BUFFER)
   menuStatsTraces,
 #endif
@@ -316,13 +319,14 @@ bool check_submenu_simple(check_event_t event, uint8_t maxrow);
   if (!check(event, 0, NULL, 0, mstate_tab, DIM(mstate_tab)-1, lines_count)) return false; \
   drawScreenTemplate(title, icon, options);
 
-#define SIMPLE_SUBMENU_NOTITLE(lines_count) \
-  if (!check_submenu_simple(event, lines_count)) return false
-
 #define SIMPLE_SUBMENU(title, icon, lines_count) \
-  SIMPLE_SUBMENU_NOTITLE(lines_count); \
+  if (!check_submenu_simple(event, lines_count)) return false; \
   drawScreenTemplate(title, icon)
 
+#define SIMPLE_SUBMENU_WITH_OPTIONS(title, icon, lines_count, options) \
+  if (!check_submenu_simple(event, lines_count)) return false; \
+  drawScreenTemplate(title, icon, options)
+
 typedef int select_menu_value_t;
 
 select_menu_value_t selectMenuItem(coord_t x, coord_t y, const pm_char * values, select_menu_value_t value, select_menu_value_t min, select_menu_value_t max, LcdFlags attr, evt_t event);

radio/src/gui/horus/view_statistics.cpp

@@ -47,18 +47,18 @@ bool menuStatsGraph(evt_t event)
   putsTimer(MENU_STATS_COLUMN3, MENU_CONTENT_TOP, g_eeGeneral.globalTimer+sessionTimer, TIMEHOUR);
 
   lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+FH, "Throttle");
-  putsTimer(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+FH, s_timeCumThr);
+  putsTimer(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+FH, s_timeCumThr, TIMEHOUR);
-  lcdDrawText(MENU_STATS_COLUMN2, MENU_CONTENT_TOP+FH, "Throttle %");
+  lcdDrawText(MENU_STATS_COLUMN2, MENU_CONTENT_TOP+FH, "Throttle %", TIMEHOUR);
-  putsTimer(MENU_STATS_COLUMN3, MENU_CONTENT_TOP+FH, s_timeCum16ThrP/16);
+  putsTimer(MENU_STATS_COLUMN3, MENU_CONTENT_TOP+FH, s_timeCum16ThrP/16, TIMEHOUR);
 
   lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+2*FH, "Timers");
   lcdDrawText(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+2*FH, "[1]", HEADER_COLOR);
-  putsTimer(lcdNextPos+5, MENU_CONTENT_TOP+2*FH, timersStates[0].val);
+  putsTimer(lcdNextPos+5, MENU_CONTENT_TOP+2*FH, timersStates[0].val, TIMEHOUR);
   lcdDrawText(MENU_STATS_COLUMN2, MENU_CONTENT_TOP+2*FH, "[2]", HEADER_COLOR);
-  putsTimer(lcdNextPos+10, MENU_CONTENT_TOP+2*FH, timersStates[1].val);
+  putsTimer(lcdNextPos+5, MENU_CONTENT_TOP+2*FH, timersStates[1].val, TIMEHOUR);
 #if TIMERS > 2
   lcdDrawText(MENU_STATS_COLUMN3, MENU_CONTENT_TOP+2*FH, "[3]", HEADER_COLOR);
-  putsTimer(lcdNextPos+10, MENU_CONTENT_TOP+2*FH, timersStates[2].val);
+  putsTimer(lcdNextPos+5, MENU_CONTENT_TOP+2*FH, timersStates[2].val, TIMEHOUR);
 #endif
 
   const coord_t x = 10;
@@ -129,10 +129,10 @@ bool menuStatsDebug(evt_t event)
 
 #if defined(LUA)
   lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+3*FH, "Lua duration");
-  lcdDrawNumber(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+4*FH, 10*maxLuaDuration, LEFT, 0, NULL, "ms");
+  lcdDrawNumber(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+3*FH, 10*maxLuaDuration, LEFT, 0, NULL, "ms");
 
   lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+4*FH, "Lua interval");
-  lcdDrawNumber(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+5*FH, 10*maxLuaInterval, LEFT, 0, NULL, "ms");
+  lcdDrawNumber(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+4*FH, 10*maxLuaInterval, LEFT, 0, NULL, "ms");
 #endif
 
   lcdDrawText(LCD_W/2, MENU_FOOTER_TOP+2, STR_MENUTORESET, CENTERED);
@@ -140,6 +140,28 @@ bool menuStatsDebug(evt_t event)
   return true;
 }
 
+bool menuStatsAnalogs(evt_t event)
+{
+  MENU("Analogs", LBM_STATS_ICONS, menuTabStats, e_StatsAnalogs, 0, { 0 });
+
+  for (int i=0; i<NUM_STICKS+NUM_POTS; i++) {
+    coord_t y = MENU_CONTENT_TOP + (i/2)*FH;
+    coord_t x = MENUS_MARGIN_LEFT + (i & 1 ? LCD_W/2 : 0);
+    lcdDrawNumber(x, y, i+1, LEADING0|LEFT, 2, NULL, ":");
+    lcdDrawHexNumber(x+40, y, anaIn(i));
+#if defined(JITTER_MEASURE)
+    lcdDrawNumber(x+100, y, rawJitter[i].get());
+    lcdDrawNumber(x+140, y, avgJitter[i].get());
+    lcdDrawNumber(x+180, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
+#else
+    lcdDrawNumber(x+100, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
+#endif
+  }
+
+  return true;
+}
+
+
 #if defined(DEBUG_TRACE_BUFFER)
 #define STATS_TRACES_INDEX_POS         MENUS_MARGIN_LEFT
 #define STATS_TRACES_TIME_POS          MENUS_MARGIN_LEFT + 4*10

radio/src/gui/horus/widgets.cpp

@@ -257,7 +257,7 @@ void drawVerticalSlider(coord_t x, coord_t y, int len, int val, int min, int max
       }
     } */
   }
-  y += len - (val - min) * len / (max - min) - 5;
+  y += len - divRoundClosest(len * (val - min), max - min) - 5;
   if (options & OPTION_SLIDER_TRIM_BUTTON) {
     drawVerticalTrimPosition(x, y - 2, val);
   }
@@ -272,7 +272,7 @@ void drawVerticalSlider(coord_t x, coord_t y, int len, int val, int min, int max
 
 void drawHorizontalSlider(coord_t x, coord_t y, int len, int val, int min, int max, uint8_t steps, uint32_t options)
 {
-  int w = (val - min) * len / (max - min);
+  int w = divRoundClosest(len * (val - min), max - min);
   if (options & OPTION_SLIDER_TICKS) {
     if (steps) {
       int delta = len / steps;

radio/src/gui/horus/widgets/modelbmp.cpp

@@ -66,9 +66,11 @@ class ModelBitmapWidget: public Widget
 
     virtual void refresh()
     {
-      if (memcmp(bitmapFilename, g_model.header.bitmap, sizeof(g_model.header.bitmap)) != 0) {
+      if (memcmp(bitmapFilename, g_model.header.bitmap, sizeof(g_model.header.bitmap)) != 0 ||
+          memcmp(modelName, g_model.header.name, sizeof(g_model.header.name)) != 0) {
         refreshBuffer();
         memcpy(bitmapFilename, g_model.header.bitmap, sizeof(g_model.header.bitmap));
+        memcpy(modelName, g_model.header.name, sizeof(g_model.header.name));
       }
 
       if (buffer) {
@@ -78,6 +80,7 @@ class ModelBitmapWidget: public Widget
 
   protected:
     char bitmapFilename[sizeof(g_model.header.bitmap)];
+    char modelName[sizeof(g_model.header.name)];
     BitmapBuffer * buffer;
 };
 

radio/src/gui/horus/widgets/timer.cpp

@@ -55,7 +55,12 @@ void TimerWidget::refresh()
     else {
       lcdDrawBitmapPattern(zone.x + 3, zone.y + 4, LBM_TIMER, MAINVIEW_GRAPHICS_COLOR);
     }
-    putsTimer(zone.x + 76, zone.y + 31, abs(timerState.val), TEXT_COLOR | DBLSIZE | LEFT);
+    if (abs(timerState.val) >= 3600) {
+      putsTimer(zone.x + 70, zone.y + 31, abs(timerState.val), TEXT_COLOR | MIDSIZE | LEFT | TIMEHOUR);
+    }
+    else {
+      putsTimer(zone.x + 76, zone.y + 31, abs(timerState.val), TEXT_COLOR | DBLSIZE | LEFT);
+    }
     if (ZLEN(timerData.name) > 0) {
       lcdDrawSizedText(zone.x + 78, zone.y + 20, timerData.name, LEN_TIMER_NAME, ZCHAR | SMLSIZE | TEXT_COLOR);
     }
@@ -64,10 +69,20 @@ void TimerWidget::refresh()
   else {
     drawStringWithIndex(zone.x, zone.y, "TMR", index + 1, SMLSIZE | TEXT_INVERTED_COLOR);
     if (zone.w > 100 && zone.h > 40) {
-      putsTimer(zone.x, zone.y + 16, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT | MIDSIZE);
+      if (abs(timerState.val) >= 3600) {
+        putsTimer(zone.x, zone.y + 16, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT | TIMEHOUR);
+      }
+      else {
+        putsTimer(zone.x, zone.y + 16, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT | MIDSIZE);
+      }
     }
     else {
-      putsTimer(zone.x, zone.y + 14, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT);
+      if (abs(timerState.val) >= 3600) {
+        putsTimer(zone.x, zone.y + 14, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT | SMLSIZE | TIMEHOUR);
+      }
+      else {
+        putsTimer(zone.x, zone.y + 14, abs(timerState.val), TEXT_INVERTED_COLOR | LEFT);
+      }
     }
   }
 }

radio/src/gui/taranis/lcd.cpp

@@ -295,11 +295,6 @@ void lcdDrawHexNumber(coord_t x, coord_t y, uint32_t val, LcdFlags flags)
   }
 }
 
-void lcdDraw8bitsNumber(coord_t x, coord_t y, int8_t val)
-{
-  lcdDrawNumber(x, y, val);
-}
-
 void lcdDrawNumber(coord_t x, coord_t y, int32_t val, LcdFlags flags)
 {
   lcdDrawNumber(x, y, val, flags, 0);

radio/src/gui/taranis/lcd.h

@@ -140,7 +140,6 @@ void lcdDrawHexNumber(coord_t x, coord_t y, uint32_t val, LcdFlags mode=0);
 
 void lcdDrawNumber(coord_t x, coord_t y, int32_t val, LcdFlags mode, uint8_t len);
 void lcdDrawNumber(coord_t x, coord_t y, int32_t val, LcdFlags mode=0);
-void lcdDraw8bitsNumber(coord_t x, coord_t y, int8_t val);
 
 void drawStringWithIndex(coord_t x, coord_t y, const pm_char *str, uint8_t idx, LcdFlags att=0);
 void putsModelName(coord_t x, coord_t y, char *name, uint8_t id, LcdFlags att);

radio/src/gui/taranis/menu_general_diaganas.cpp

@@ -35,18 +35,13 @@ void menuGeneralDiagAna(uint8_t event)
 #if defined(JITTER_MEASURE)
     lcdDrawNumber(x+10*FW-1, y, rawJitter[i].get());
     lcdDrawNumber(x+13*FW-1, y, avgJitter[i].get());
-    lcdDraw8bitsNumber(x+17*FW-1, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
+    lcdDrawNumber(x+17*FW-1, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
 #else
-    lcdDraw8bitsNumber(x+10*FW-1, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
+    lcdDrawNumber(x+10*FW-1, y, (int16_t)calibratedStick[CONVERT_MODE(i)]*25/256);
 #endif
   }
 
   lcd_putsLeft(MENU_HEADER_HEIGHT+1+6*FH, STR_BATT_CALIB);
-  static int32_t adcBatt;
+  putsVolts(LEN_CALIB_FIELDS*FW+4*FW, MENU_HEADER_HEIGHT+1+6*FH, getBatteryVoltage(), (s_editMode > 0 ? BLINK : 0) | INVERS | PREC2);
-  adcBatt = ((adcBatt * 7) + anaIn(TX_VOLTAGE)) / 8;
-  uint32_t batCalV = (adcBatt + (adcBatt*g_eeGeneral.txVoltageCalibration)/128) * BATT_SCALE;
-  batCalV >>= 11;
-  batCalV += 2; // because of the diode
-  putsVolts(LEN_CALIB_FIELDS*FW+4*FW, MENU_HEADER_HEIGHT+1+6*FH, batCalV, s_editMode > 0 ? BLINK|INVERS : INVERS);
   if (s_editMode > 0) CHECK_INCDEC_GENVAR(event, g_eeGeneral.txVoltageCalibration, -127, 127);
 }

radio/src/gui/taranis/menu_general_version.cpp

@@ -77,10 +77,16 @@ void menuGeneralVersion(uint8_t event)
     exit(0);
 #endif
   }
+
+  if (event == EVT_ENTRY) {
+    getCPUUniqueID(reusableBuffer.version.id);
+  }
   
   SIMPLE_MENU(STR_MENUVERSION, menuTabGeneral, e_Vers, 1);
 
   lcd_putsLeft(MENU_HEADER_HEIGHT+1, vers_stamp);
+  lcd_putsLeft(MENU_HEADER_HEIGHT+4*FH+1, "UID\037\033:");
+  lcdDrawText(5*FW+3, MENU_HEADER_HEIGHT+4*FH+1, reusableBuffer.version.id);
 
   lcd_putsLeft(MENU_HEADER_HEIGHT+5*FH+1, STR_EEBACKUP);
   lcd_putsLeft(MENU_HEADER_HEIGHT+6*FH+1, STR_FACTORYRESET);

radio/src/gui/taranis/menu_model_logical_switches.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 enum LogicalSwitchFields {
   LS_FIELD_FUNCTION,

radio/src/gui/taranis/menu_model_setup.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 uint8_t g_moduleIdx;
 void menuModelFailsafe(uint8_t event);
@@ -219,16 +219,16 @@ void menuModelSetup(uint8_t event)
   MENU_TAB({ 0, 0, TIMERS_ROWS, TOPLCD_ROWS 0, 1, 0, 0,
     LABEL(Throttle), 0, 0, 0,
     LABEL(PreflightCheck), 0, 0, SW_WARN_ITEMS(), POT_WARN_ITEMS(), NAVIGATION_LINE_BY_LINE|(NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS-1), 0,
-    LABEL(InternalModule), 
+    LABEL(InternalModule),
-    INTERNAL_MODULE_MODE_ROWS, 
+    INTERNAL_MODULE_MODE_ROWS,
     INTERNAL_MODULE_CHANNELS_ROWS,
     IF_INTERNAL_MODULE_ON(IS_MODULE_XJT(INTERNAL_MODULE) ? (HAS_RF_PROTOCOL_MODELINDEX(g_model.moduleData[INTERNAL_MODULE].rfProtocol) ? (uint8_t)2 : (uint8_t)1) : (IS_MODULE_PPM(INTERNAL_MODULE) ? (uint8_t)1 : HIDDEN_ROW)),
-    IF_INTERNAL_MODULE_ON((IS_MODULE_XJT(INTERNAL_MODULE)) ? FAILSAFE_ROWS(INTERNAL_MODULE) : HIDDEN_ROW), 
+    IF_INTERNAL_MODULE_ON((IS_MODULE_XJT(INTERNAL_MODULE)) ? FAILSAFE_ROWS(INTERNAL_MODULE) : HIDDEN_ROW),
-    LABEL(ExternalModule), 
+    LABEL(ExternalModule),
-    (IS_MODULE_XJT(EXTERNAL_MODULE) || IS_MODULE_DSM2(EXTERNAL_MODULE)) ? (uint8_t)1 : (uint8_t)0, 
+    (IS_MODULE_XJT(EXTERNAL_MODULE) || IS_MODULE_DSM2(EXTERNAL_MODULE)) ? (uint8_t)1 : (uint8_t)0,
     EXTERNAL_MODULE_CHANNELS_ROWS,
     (IS_MODULE_XJT(EXTERNAL_MODULE) && !HAS_RF_PROTOCOL_MODELINDEX(g_model.moduleData[EXTERNAL_MODULE].rfProtocol)) ? (uint8_t)1 : (IS_MODULE_PPM(EXTERNAL_MODULE) || IS_MODULE_XJT(EXTERNAL_MODULE) || IS_MODULE_DSM2(EXTERNAL_MODULE)) ? (uint8_t)2 : HIDDEN_ROW,
-    IF_EXTERNAL_MODULE_XJT(FAILSAFE_ROWS(EXTERNAL_MODULE)), 
+    IF_EXTERNAL_MODULE_XJT(FAILSAFE_ROWS(EXTERNAL_MODULE)),
     LABEL(Trainer), 0, TRAINER_CHANNELS_ROWS(), IF_TRAINER_ON(2)});
 #else
   MENU_TAB({ 0, 0, TIMERS_ROWS, TOPLCD_ROWS 0, 1, 0, 0, LABEL(Throttle), 0, 0, 0, LABEL(PreflightCheck), 0, 0, SW_WARN_ITEMS(), POT_WARN_ITEMS(),
@@ -613,7 +613,7 @@ void menuModelSetup(uint8_t event)
       case ITEM_MODEL_INTERNAL_MODULE_MODE:
         lcd_putsLeft(y, STR_MODE);
         lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, STR_TARANIS_PROTOCOLS, g_model.moduleData[INTERNAL_MODULE].type, menuHorizontalPosition==0 ? attr : 0);
-        if (IS_MODULE_XJT(INTERNAL_MODULE)) 
+        if (IS_MODULE_XJT(INTERNAL_MODULE))
           lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN+5*FW, y, STR_XJT_PROTOCOLS, 1+g_model.moduleData[INTERNAL_MODULE].rfProtocol, menuHorizontalPosition==1 ? attr : 0);
         if (attr && s_editMode>0) {
           switch (menuHorizontalPosition) {
@@ -625,7 +625,7 @@ void menuModelSetup(uint8_t event)
                  g_model.moduleData[INTERNAL_MODULE].channelsCount = 0;
               }
               break;
-            case 1:              
+            case 1:
               g_model.moduleData[INTERNAL_MODULE].rfProtocol = checkIncDec(event, g_model.moduleData[INTERNAL_MODULE].rfProtocol, RF_PROTO_X16, RF_PROTO_LAST, EE_MODEL, isRfProtocolAvailable);
               if (checkIncDec_Ret) {
                 g_model.moduleData[INTERNAL_MODULE].channelsStart = 0;
@@ -649,7 +649,9 @@ void menuModelSetup(uint8_t event)
         break;
 #endif
       case ITEM_MODEL_TRAINER_MODE:
-        g_model.trainerMode = selectMenuItem(MODEL_SETUP_2ND_COLUMN, y, STR_MODE, STR_VTRAINERMODES, g_model.trainerMode, 0, HAS_WIRELESS_TRAINER_HARDWARE() ? TRAINER_MODE_MASTER_BATTERY_COMPARTMENT : TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE, attr, event);
+        lcd_putsLeft(y, STR_MODE);
+        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, STR_VTRAINERMODES, g_model.trainerMode, attr);
+        if (attr) g_model.trainerMode = checkIncDec(event, g_model.trainerMode, 0, HAS_WIRELESS_TRAINER_HARDWARE() ? TRAINER_MODE_MASTER_BATTERY_COMPARTMENT : TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE, EE_MODEL, isTrainerModeAvailable);
         break;
 
       case ITEM_MODEL_EXTERNAL_MODULE_LABEL:
@@ -666,7 +668,7 @@ void menuModelSetup(uint8_t event)
         if (attr && s_editMode>0) {
           switch (menuHorizontalPosition) {
             case 0:
-              g_model.moduleData[EXTERNAL_MODULE].type = checkIncDec(event, g_model.moduleData[EXTERNAL_MODULE].type, MODULE_TYPE_NONE, MODULE_TYPE_COUNT-1, EE_MODEL, isModuleAvailable);
+              g_model.moduleData[EXTERNAL_MODULE].type = checkIncDec(event, g_model.moduleData[EXTERNAL_MODULE].type, MODULE_TYPE_NONE, IS_TRAINER_EXTERNAL_MODULE() ? 0 : MODULE_TYPE_COUNT-1, EE_MODEL, isModuleAvailable);
               if (checkIncDec_Ret) {
                 g_model.moduleData[EXTERNAL_MODULE].rfProtocol = 0;
                 g_model.moduleData[EXTERNAL_MODULE].channelsStart = 0;
@@ -709,7 +711,7 @@ void menuModelSetup(uint8_t event)
                 break;
               case 1:
                 CHECK_INCDEC_MODELVAR(event, moduleData.channelsCount, -4, min<int8_t>(MAX_CHANNELS(moduleIdx), 32-8-moduleData.channelsStart));
-                
+
 #if defined(TARANIS_INTERNAL_PPM)
                 if ((k == ITEM_MODEL_EXTERNAL_MODULE_CHANNELS && g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_PPM) || (k == ITEM_MODEL_INTERNAL_MODULE_CHANNELS && g_model.moduleData[INTERNAL_MODULE].type == MODULE_TYPE_PPM) || (k == ITEM_MODEL_TRAINER_CHANNELS)) {
                   SET_DEFAULT_PPM_FRAME_LENGTH(moduleIdx);
@@ -875,8 +877,11 @@ void menuModelFailsafe(uint8_t event)
 
   #define COL_W   (LCD_W/2)
   const uint8_t SLIDER_W = 64;
-  // Column separator
+
-  lcdDrawSolidVerticalLine(LCD_W/2, FH, LCD_H-FH);
+  if (NUM_CHANNELS(g_moduleIdx) > 8) {
+    // Column separator
+    lcdDrawSolidVerticalLine(LCD_W/2, FH, LCD_H-FH);
+  }
 
   lcd_putsCenter(0*FH, FAILSAFESET);
   lcdInvertLine(0);
@@ -949,7 +954,7 @@ void menuModelFailsafe(uint8_t event)
           lcdDrawNumber(x+COL_W-4-wbar-ofs, y, calcRESXto1000(failsafeValue)/10, flags);
 #endif
         }
-  
+
         // Gauge
         lcdDrawRect(x+COL_W-3-wbar-ofs, y, wbar+1, 6);
         unsigned int lenChannel = limit((uint8_t)1, uint8_t((abs(channelValue) * wbar/2 + lim/2) / lim), uint8_t(wbar/2));
@@ -960,7 +965,7 @@ void menuModelFailsafe(uint8_t event)
         lcdDrawHorizontalLine(xChannel, y+2, lenChannel, DOTTED, 0);
         lcdDrawSolidHorizontalLine(xFailsafe, y+3, lenFailsafe);
         lcdDrawSolidHorizontalLine(xFailsafe, y+4, lenFailsafe);
-      }     
+      }
       ch++;
     }
   }

radio/src/gui/taranis/menus.h

@@ -333,7 +333,7 @@ swsrc_t switchMenuItem(coord_t x, coord_t y, swsrc_t value, LcdFlags attr, uint8
 #else
   #define GVAR_MENU_ITEM(x, y, v, min, max, lcdattr, editflags, event) editGVarFieldValue(x, y, v, min, max, lcdattr, event)
   int16_t editGVarFieldValue(coord_t x, coord_t y, int16_t value, int16_t min, int16_t max, LcdFlags attr, uint8_t event);
-  #define displayGVar(x, y, v, min, max) lcdDraw8bitsNumber(x, y, v)
+  #define displayGVar(x, y, v, min, max) lcdDrawNumber(x, y, v)
 #endif
 
 extern uint8_t s_curveChan;

radio/src/main_arm.cpp

@@ -98,6 +98,71 @@ void checkEeprom()
 }
 #endif
 
+#define BAT_AVG_SAMPLES       8
+
+void checkBatteryAlarms()
+{
+  // TRACE("checkBatteryAlarms()");
+  if (IS_TXBATT_WARNING() && g_vbat100mV>50) {
+    AUDIO_TX_BATTERY_LOW();
+    // TRACE("checkBatteryAlarms(): battery low");
+  }
+#if defined(PCBSKY9X)
+  else if (g_eeGeneral.temperatureWarn && getTemperature() >= g_eeGeneral.temperatureWarn) {
+    AUDIO_TX_TEMP_HIGH();
+  }
+  else if (g_eeGeneral.mAhWarn && (g_eeGeneral.mAhUsed + Current_used * (488 + g_eeGeneral.txCurrentCalibration)/8192/36) / 500 >= g_eeGeneral.mAhWarn) { // TODO move calculation into board file
+    AUDIO_TX_MAH_HIGH();
+  }
+#endif
+}
+
+void checkBattery()
+{
+  static uint32_t batSum;
+  static uint8_t sampleCount;
+  // filter battery voltage by averaging it
+  if (g_vbat100mV == 0) {
+    g_vbat100mV = (getBatteryVoltage() + 5) / 10;
+    batSum = 0;
+    sampleCount = 0;
+  }
+  else {
+    batSum += getBatteryVoltage();
+    // TRACE("checkBattery(): sampled = %d", getBatteryVoltage());
+    if (++sampleCount >= BAT_AVG_SAMPLES) {
+      g_vbat100mV = (batSum + BAT_AVG_SAMPLES * 5 ) / (BAT_AVG_SAMPLES * 10);
+      batSum = 0;
+      sampleCount = 0;
+      // TRACE("checkBattery(): g_vbat100mV = %d", g_vbat100mV);
+    }
+  }
+}
+
+void periodicTick_1s()
+{
+  checkBattery();
+}
+
+void periodicTick_10s()
+{
+  checkBatteryAlarms();
+}
+
+void periodicTick()
+{
+  static uint8_t count10s;
+  static uint32_t lastTime;
+  if ( (get_tmr10ms() - lastTime) >= 100 ) {
+    lastTime += 100;
+    periodicTick_1s();
+    if (++count10s >= 10) {
+      count10s = 0;
+      periodicTick_10s();
+    }
+  }
+}
+
 #if defined(GUI) && defined(COLORLCD)
 void guiMain(evt_t evt)
 {
@@ -328,7 +393,7 @@ void perMain()
   writeLogs();
   handleUsbConnection();
   checkTrainerSettings();
-  checkBattery();
+  periodicTick();
 
   evt_t evt = getEvent(false);
   if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on

radio/src/myeeprom.h

@@ -55,39 +55,11 @@
 
 #define SET_DEFAULT_PPM_FRAME_LENGTH(idx) g_model.moduleData[idx].ppmFrameLength = 4 * max((int8_t)0, g_model.moduleData[idx].channelsCount)
 
-#if defined(PCBFLAMENCO)
+#if defined(PCBTARANIS) || defined(PCBHORUS)
-  enum ModuleIndex {
-    EXTERNAL_MODULE,
-    TRAINER_MODULE,
-  };
-  enum TrainerMode {
-    TRAINER_MODE_MASTER,
-    TRAINER_MODE_SLAVE
-  };
-#elif defined(PCBTARANIS) || defined(PCBHORUS)
-  enum ModuleIndex {
-    INTERNAL_MODULE,
-    EXTERNAL_MODULE,
-    TRAINER_MODULE
-  };
-  enum TrainerMode {
-    TRAINER_MODE_MASTER_TRAINER_JACK,
-    TRAINER_MODE_SLAVE,
-    TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE,
-    TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE,
-    TRAINER_MODE_MASTER_BATTERY_COMPARTMENT,
-  };
   #define IS_TRAINER_EXTERNAL_MODULE() (g_model.trainerMode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE || g_model.trainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE)
   #define HAS_WIRELESS_TRAINER_HARDWARE() (g_eeGeneral.serial2Mode==UART_MODE_SBUS_TRAINER/* || g_eeGeneral.serial2Mode==UART_MODE_CPPM_TRAINER*/)
-#elif defined(PCBSKY9X)
-  enum ModuleIndex {
-    EXTERNAL_MODULE,
-    EXTRA_MODULE,
-    TRAINER_MODULE
-  };
 #endif
 
-
 #if defined(VOICE)
   #define IS_PLAY_FUNC(func)           ((func) >= FUNC_PLAY_SOUND && func <= FUNC_PLAY_VALUE)
 #else
@@ -539,7 +511,7 @@ enum AntennaTypes {
   XJT_EXTERNAL_ANTENNA
 };
 
-#define IS_PULSES_EXTERNAL_MODULE() (g_model.moduleData[EXTERNAL_MODULE].type != MODULE_TYPE_NONE)
+#define IS_EXTERNAL_MODULE_PRESENT()   (g_model.moduleData[EXTERNAL_MODULE].type != MODULE_TYPE_NONE)
 
 enum FailsafeModes {
   FAILSAFE_NOT_SET,

radio/src/opentx.cpp

@@ -1509,10 +1509,14 @@ uint16_t BandGap ;
   JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
   JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
   tmr10ms_t jitterResetTime = 0;
-  #if defined(PCBTARANIS)
+  #if defined(PCBHORUS)
+    #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuStatsAnalogs)
+  #elif defined(PCBTARANIS)
     #define JITTER_MEASURE_ACTIVE()   (menuHandlers[menuLevel] == menuGeneralDiagAna)
   #elif defined(CLI)
     #define JITTER_MEASURE_ACTIVE()   (1)
+  #else
+    #define JITTER_MEASURE_ACTIVE()   (0)
   #endif
 #endif
 
@@ -1765,10 +1769,7 @@ void doMixerCalculations()
   // handle tick10ms overrun
   // correct overflow handling costs a lot of code; happens only each 11 min;
   // therefore forget the exact calculation and use only 1 instead; good compromise
-
-#if !defined(CPUARM)
   lastTMR = tmr10ms;
-#endif
 
   getADC();
 
@@ -1778,10 +1779,6 @@ void doMixerCalculations()
 
   getSwitchesPosition(!s_mixer_first_run_done);
 
-#if defined(CPUARM)
-  lastTMR = tmr10ms;
-#endif
-
 #if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
   Current_analogue = (Current_analogue*31 + s_anaFilt[8] ) >> 5 ;
   if (Current_analogue > Current_max)
@@ -2160,6 +2157,7 @@ uint8_t getSticksNavigationEvent()
 }
 #endif
 
+#if !defined(CPUARM)
 void checkBattery()
 {
   static uint8_t counter = 0;
@@ -2173,14 +2171,7 @@ void checkBattery()
   if (counter-- == 0) {
     counter = 10;
     int32_t instant_vbat = anaIn(TX_VOLTAGE);
-#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
+#if defined(CPUM2560)
-    instant_vbat = (instant_vbat + instant_vbat*(g_eeGeneral.txVoltageCalibration)/128) * BATT_SCALE;
-    instant_vbat >>= 11;
-    instant_vbat += 2; // because of the diode
-#elif defined(PCBSKY9X)
-    instant_vbat = (instant_vbat + instant_vbat*(g_eeGeneral.txVoltageCalibration)/128) * 4191;
-    instant_vbat /= 55296;
-#elif defined(CPUM2560)
     instant_vbat = (instant_vbat*1112 + instant_vbat*g_eeGeneral.txVoltageCalibration + (BandGap<<2)) / (BandGap<<3);
 #else
     instant_vbat = (instant_vbat*16 + instant_vbat*g_eeGeneral.txVoltageCalibration/8) / BandGap;
@@ -2218,17 +2209,11 @@ void checkBattery()
       if (IS_TXBATT_WARNING() && g_vbat100mV>50) {
         AUDIO_TX_BATTERY_LOW();
       }
-#if defined(PCBSKY9X)
-      else if (g_eeGeneral.temperatureWarn && getTemperature() >= g_eeGeneral.temperatureWarn) {
-        AUDIO_TX_TEMP_HIGH();
-      }
-      else if (g_eeGeneral.mAhWarn && (g_eeGeneral.mAhUsed + Current_used * (488 + g_eeGeneral.txCurrentCalibration)/8192/36) / 500 >= g_eeGeneral.mAhWarn) {
-        AUDIO_TX_MAH_HIGH();
-      }
-#endif
     }
   }
 }
+#endif // #if !defined(CPUARM)
+
 
 #if !defined(SIMU) && !defined(CPUARM)
 
@@ -2678,9 +2663,13 @@ int main()
 #if defined(CPUM2560) || defined(CPUM2561)
   uint8_t mcusr = MCUSR; // save the WDT (etc) flags
   MCUSR = 0; // must be zeroed before disabling the WDT
+  MCUCR = 0x80 ;   // Disable JTAG port that can interfere with POT3
+  MCUCR = 0x80 ;   // Must be done twice
 #elif defined(PCBSTD)
   uint8_t mcusr = MCUCSR;
   MCUCSR = 0;
+  MCUCSR = 0x80 ;   // Disable JTAG port that can interfere with POT3
+  MCUCSR = 0x80 ;   // Must be done twice
 #endif
 #if defined(PCBTARANIS)
   g_eeGeneral.contrast = 30;
@@ -2753,6 +2742,11 @@ int main()
     if ((shutdown_state=pwrCheck()) > e_power_trainer)
       break;
 #endif
+#if defined(SIMU)
+    sleep(5/*ms*/);
+    if (main_thread_running == 0)
+      return 0;
+#endif
 
     perMain();
 

radio/src/opentx.h

@@ -25,6 +25,7 @@
 #include <string.h>
 #include <stddef.h>
 #include <stdlib.h>
+#include "definitions.h"
 
 #if defined(SIMU)
   #define SWITCH_SIMU(a, b)  (a)
@@ -203,32 +204,6 @@
   #define ROTARY_ENCODER_NAVIGATION
 #endif
 
-#if defined(SIMU)
-  #define __ALIGNED
-#else
-  #define __ALIGNED __attribute__((aligned(32)))
-#endif
-
-#if defined(SIMU)
-  #define __DMA
-#elif defined(STM32F4) && !defined(BOOT)
-  #define __DMA __attribute__((section(".ram"), aligned(32)))
-#else
-  #define __DMA __ALIGNED
-#endif
-
-#if defined(PCBHORUS) && !defined(SIMU)
-  #define __SDRAM __attribute__((section(".sdram"), aligned(32)))
-#else
-  #define __SDRAM __DMA
-#endif
-
-#if defined(SIMU) || defined(CPUARM) || GCC_VERSION < 472
-  typedef int32_t int24_t;
-#else
-  typedef __int24 int24_t;
-#endif
-
 #if defined(FAI)
   #define IS_FAI_ENABLED() true
   #define IF_FAI_CHOICE(x)
@@ -1559,6 +1534,13 @@ union ReusableBuffer
         char originalName[SD_SCREEN_FILE_LENGTH+1];
     } sdmanager;
 #endif
+
+#if defined(PCBTARANIS)
+    struct
+    {
+        char id[27];
+    } version;
+#endif
 };
 
 extern union ReusableBuffer reusableBuffer;

radio/src/pulses/pulses_arm.h

@@ -68,7 +68,7 @@ PACK(struct Dsm2PulsesData {
 });
 #endif
 
-#define CROSSFIRE_BAUDRATE             400000
+#define CROSSFIRE_BAUDRATE             921600
 #define CROSSFIRE_FRAME_LEN            25
 #define CROSSFIRE_CHANNELS_COUNT       16
 PACK(struct CrossfirePulsesData {

radio/src/sbus.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -33,7 +33,6 @@
 
 #define SBUS_CH_CENTER        0x3E0
 
-Fifo<uint8_t, 32> sbusFifo;
 uint8_t SbusFrame[SBUS_MAX_FRAME_SIZE];
 uint16_t SbusTimer ;
 uint8_t SbusIndex = 0 ;
@@ -74,9 +73,10 @@ void processSbusFrame(uint8_t * sbus, int16_t * pulses, uint32_t size)
 
 void processSbusInput()
 {
+#if !defined(SIMU)
   uint8_t rxchar;
   uint32_t active = 0;
-  while (sbusFifo.pop(rxchar)) {
+  while (sbusGetByte(&rxchar)) {
     active = 1;
     SbusFrame[SbusIndex++] = rxchar;
     if (SbusIndex > SBUS_MAX_FRAME_SIZE-1) {
@@ -95,4 +95,5 @@ void processSbusInput()
       }
     }
   }
+#endif
 }

radio/src/sbus.h

@@ -26,6 +26,5 @@
 #define SBUS_MAX_FRAME_SIZE   28
 
 void processSbusInput();
-void processSbusFrame(uint8_t * sbus, int16_t * pulses, uint32_t size);
 
 #endif // _SBUS_H_

radio/src/simu.cpp

@@ -544,9 +544,15 @@ uint16_t anaIn(uint8_t chan)
     return th9xSim->sliders[chan]->getValue();
   else if (chan<NUM_STICKS+NUM_POTS)
     return th9xSim->knobs[chan-NUM_STICKS]->getValue();
-#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
+#if defined(PCBHORUS)
   else if (chan == TX_VOLTAGE)
-    return 1000;
+    return 1737;      //~10.6V
+#elif (defined(PCBTARANIS) && defined(REV9E))
+  else if (chan == TX_VOLTAGE)
+    return 1420;      //~10.6V
+#elif defined(PCBTARANIS) || defined(PCBFLAMENCO)
+  else if (chan == TX_VOLTAGE)
+    return 1000;      //~7.4V
 #elif defined(PCBSKY9X)
   else if (chan == TX_VOLTAGE)
     return 5.1*1500/11.3;

radio/src/stamp.cpp

@@ -41,6 +41,8 @@
   const pm_char date_stamp[] PROGMEM =   "DATE" TAB ": " DATE;
   const pm_char time_stamp[] PROGMEM =   "TIME" TAB ": " TIME;
   const pm_char eeprom_stamp[] PROGMEM = "EEPR" TAB ": " EEPROM_STR;
+#elif defined(PCBTARANIS)
+  const pm_char vers_stamp[] PROGMEM = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION "\036DATE\037\033: " DATE " " TIME "\036EEPR\037\033: " EEPROM_STR;
 #else
   const pm_char vers_stamp[] PROGMEM = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION "\036DATE\037\033: " DATE "\036TIME\037\033: " TIME "\036EEPR\037\033: " EEPROM_STR;
 #endif

radio/src/strhelpers.cpp

@@ -157,9 +157,9 @@ char * strAppendUnsigned(char * dest, uint32_t value, uint8_t digits, uint8_t ra
   }
   uint8_t idx = digits;
   while(idx > 0) {
-    div_t qr = div(value, radix);
+    uint32_t rem = value % radix;
-    dest[--idx] = (qr.rem >= 10 ? 'A'-10 : '0') + qr.rem;
+    dest[--idx] = (rem >= 10 ? 'A'-10 : '0') + rem;
-    value = qr.quot;
+    value /= radix;
   }
   dest[digits] = '\0';
   return &dest[digits];

radio/src/targets/horus/audio_driver.cpp

@@ -20,12 +20,6 @@
 
 #include "../../opentx.h"
 
-const uint8_t volumeScale[VOLUME_LEVEL_MAX+1] = {
-  254, 127, 110, 100, 90, 80, 70, 60, 50, 40,
-  30, 20, 19, 18, 17, 16, 15, 14, 13, 12,
-  11, 10, 5, 0
-};
-
 #if !defined(SIMU)
 
 #define VS_WRITE_COMMAND 	       0x02
@@ -414,13 +408,24 @@ bool audioPushBuffer(AudioBuffer * buffer)
   }
 }
 
+// adjust this value for a volume level just above the silence
+// values is attenuation in dB, higher value - less volume
+// max value is 126
+#define VOLUME_MIN_DB     40
+
 void setScaledVolume(uint8_t volume)
 {
   if (volume > VOLUME_LEVEL_MAX) {
     volume = VOLUME_LEVEL_MAX;
   }
-
+  // maximum volume is 0x00 and total silence is 0xFE
-  setVolume(volumeScale[volume]);
+  if (volume == 0) {
+    setVolume(0xFE);  // silence  
+  }
+  else {
+    uint32_t vol = (VOLUME_MIN_DB * 2) - ((uint32_t)volume * (VOLUME_MIN_DB * 2)) / VOLUME_LEVEL_MAX;
+    setVolume(vol);
+  }
 }
 
 void setVolume(uint8_t volume)

radio/src/targets/horus/board_horus.cpp

@@ -266,3 +266,9 @@ void checkTrainerSettings()
     }
   }
 }
+
+uint16_t getBatteryVoltage()
+{
+  int32_t instant_vbat = anaIn(TX_VOLTAGE);  // using filtered ADC value on purpose
+  return (uint16_t)((instant_vbat * (1000 + g_eeGeneral.txVoltageCalibration) ) / 1637);
+}

radio/src/targets/horus/board_horus.h

@@ -242,12 +242,7 @@ extern uint16_t adcValues[NUMBER_ANALOG];
 void adcInit(void);
 void adcRead(void);
 uint16_t getAnalogValue(uint8_t index);
-
+uint16_t getBatteryVoltage();   // returns current battery voltage in 10mV steps
-#if defined(REV3)
-  #define BATT_SCALE    120
-#else
-  #define BATT_SCALE    150
-#endif
 
 #if defined(__cplusplus) && !defined(SIMU)
 extern "C" {
@@ -308,6 +303,7 @@ int32_t getVolume(void);
 void telemetryPortInit(uint32_t baudrate);
 void telemetryPortSetDirectionOutput(void);
 void sportSendBuffer(uint8_t * buffer, uint32_t count);
+int telemetryGetByte(uint8_t * byte);
 
 // Haptic driver
 void hapticInit(void);
@@ -318,12 +314,14 @@ void hapticOn(uint32_t pwmPercent);
 
 // Second serial port driver
 #define DEBUG_BAUDRATE                 115200
+extern uint8_t serial2Mode;
 void serial2Init(unsigned int mode, unsigned int protocol);
 void serial2Putc(char c);
 #define serial2TelemetryInit(protocol) serial2Init(UART_MODE_TELEMETRY, protocol)
 void serial2SbusInit(void);
 void serial2Stop(void);
 #define USART_FLAG_ERRORS              (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
+int sbusGetByte(uint8_t * byte);
 
 #if defined(USB_JOYSTICK) && !defined(SIMU)
 void usbJoystickUpdate(void);
@@ -332,4 +330,12 @@ void usbJoystickUpdate(void);
 extern uint8_t currentTrainerMode;
 void checkTrainerSettings(void);
 
+#if defined(__cplusplus)
+#include "fifo.h"
+#include "dmafifo.h"
+extern DMAFifo<512> telemetryFifo;
+extern DMAFifo<32> serial2RxFifo;
+extern Fifo<uint8_t, 32> sbusFifo;
+#endif
+
 #endif // _BOARD_HORUS_H_

radio/src/targets/horus/hal.h

@@ -151,9 +151,11 @@
 #define SERIAL_USART                    USART3
 #define SERIAL_USART_IRQHandler         USART3_IRQHandler
 #define SERIAL_USART_IRQn               USART3_IRQn
+#define SERIAL_DMA_Stream_RX            DMA1_Stream1
+#define SERIAL_DMA_Channel_RX           DMA_Channel_4
 
 // Telemetry
-#define TELEMETRY_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD
+#define TELEMETRY_RCC_AHB1Periph        (RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_DMA1)
 #define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO_DIR              GPIOD
 #define TELEMETRY_DIR_GPIO_PIN          GPIO_Pin_4  // PD.04
@@ -164,8 +166,13 @@
 #define TELEMETRY_GPIO_PinSource_RX     GPIO_PinSource6
 #define TELEMETRY_GPIO_AF               GPIO_AF_USART2
 #define TELEMETRY_USART                 USART2
-#define TELEMETRY_USART_IRQHandler      USART2_IRQHandler
+#define TELEMETRY_DMA_Stream_RX         DMA1_Stream5
-#define TELEMETRY_USART_IRQn            USART2_IRQn
+#define TELEMETRY_DMA_Channel_RX        DMA_Channel_4
+#define TELEMETRY_DMA_Stream_TX         DMA1_Stream6
+#define TELEMETRY_DMA_Channel_TX        DMA_Channel_4
+#define TELEMETRY_DMA_TX_Stream_IRQ     DMA1_Stream6_IRQn
+#define TELEMETRY_DMA_TX_IRQHandler     DMA1_Stream6_IRQHandler
+#define TELEMETRY_DMA_TX_FLAG_TC        DMA_IT_TCIF6
 
 // Heartbeat
 #define HEARTBEAT_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD

radio/src/targets/horus/pulses_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,7 +18,7 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
 void setupPulses(unsigned int port);
 void setupPulsesPPM(unsigned int port);
@@ -188,7 +188,7 @@ extern "C" void TIM1_CC_IRQHandler()
     DMA_InitStructure.DMA_BufferSize = (uint8_t *)modulePulsesData[INTERNAL_MODULE].pxx.ptr - (uint8_t *)modulePulsesData[INTERNAL_MODULE].pxx.pulses;
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
-    DMA_InitStructure.DMA_PeripheralDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
     DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
     DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
     DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
@@ -309,35 +309,6 @@ void intmodulePxxStart()
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);
 
-#if 0
-  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
-  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIM_RF_PRIO;
-  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
-  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init( &NVIC_InitStructure );
-
-  // open heartbit ---------------------
-  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
-
-  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_12;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
-  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-  GPIO_Init(GPIOD, &GPIO_InitStructure);
-
-  /* Connect EXTI Line12 to PD12 pin */
-  EXTI_InitTypeDef EXTI_InitStructure;
-  SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOD, EXTI_PinSource12);
-  EXTI_InitStructure.EXTI_Line = EXTI_Line12;
-  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;///////
-  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
-  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
-  EXTI_Init(&EXTI_InitStructure);
-
-  EXTI15_10_Interrupt_Handler = EXTI15_10_IRQHandler_pxx;
-#endif
-
   // TX Pin
   GPIO_PinAFConfig(INTMODULE_TX_GPIO, INTMODULE_TX_GPIO_PinSource, INTMODULE_GPIO_AF);
   GPIO_InitStructure.GPIO_Pin = INTMODULE_TX_GPIO_PIN;
@@ -529,7 +500,7 @@ static void extmodulePpmStart()
   // Hardware timer in PWM mode is used for PPM generation
   // Output is OFF if CNT<CCR1(delay) and ON if bigger
   // CCR1 register defines duration of pulse length and is constant
-  // AAR register defines duration of each pulse, it is 
+  // AAR register defines duration of each pulse, it is
   // updated after every pulse in Update interrupt handler.
   // CCR2 register defines duration of no pulses (time between two pulse trains)
   // it is calculated every round to have PPM period constant.
@@ -622,7 +593,7 @@ extern "C" void TIM2_IRQHandler()
       EXTMODULE_TIMER->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ;
       if (*modulePulsesData[EXTERNAL_MODULE].ppm.ptr == 0) {
         // we reached the end of PPM pulses
-        // enable CC2 interrupt (which comes before Update in any case) 
+        // enable CC2 interrupt (which comes before Update in any case)
         // to start new PPM cycle and setup pulses
         EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ;    // Clear CC1 flag
         EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ;  // Enable CC1 interrupt

radio/src/targets/horus/pwr_driver.cpp

@@ -39,11 +39,6 @@ void pwrInit()
   GPIO_Init(AUDIO_SHUTDOWN_GPIO, &GPIO_InitStructure);
 
   // Init Module PWR
-  GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN);
-  GPIO_InitStructure.GPIO_Pin = EXTMODULE_PWR_GPIO_PIN;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-  GPIO_Init(EXTMODULE_PWR_GPIO, &GPIO_InitStructure);
-
   // TODO not here
   GPIO_ResetBits(INTMODULE_PWR_GPIO, INTMODULE_PWR_GPIO_PIN);
   GPIO_InitStructure.GPIO_Pin = INTMODULE_PWR_GPIO_PIN;
@@ -112,4 +107,4 @@ void pwrResetHandler()
 
     pwrOn();
   }
-}
+}

radio/src/targets/horus/serial2_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -22,10 +22,9 @@
 
 uint8_t serial2Mode = 0;
 Fifo<uint8_t, 512> serial2TxFifo;
-extern Fifo<uint8_t, 512> telemetryFifo;
+DMAFifo<32> serial2RxFifo __DMA (SERIAL_DMA_Stream_RX);
-extern Fifo<uint8_t, 32> sbusFifo;
 
-void uart3Setup(unsigned int baudrate)
+void uart3Setup(unsigned int baudrate, bool dma)
 {
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -39,42 +38,69 @@ void uart3Setup(unsigned int baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(SERIAL_GPIO, &GPIO_InitStructure);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
   USART_Init(SERIAL_USART, &USART_InitStructure);
-  USART_Cmd(SERIAL_USART, ENABLE);
 
-  USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+  if (dma) {
-  USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitTypeDef DMA_InitStructure;
-
+    serial2RxFifo.clear();
-  NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, DISABLE);
-  NVIC_EnableIRQ(SERIAL_USART_IRQn);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitStructure.DMA_Channel = SERIAL_DMA_Channel_RX;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&SERIAL_USART->DR);
+    DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(serial2RxFifo.buffer());
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+    DMA_InitStructure.DMA_BufferSize = serial2RxFifo.size();
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+    DMA_Init(SERIAL_DMA_Stream_RX, &DMA_InitStructure);
+    USART_DMACmd(SERIAL_USART, USART_DMAReq_Rx, ENABLE);
+    USART_Cmd(SERIAL_USART, ENABLE);
+    DMA_Cmd(SERIAL_DMA_Stream_RX, ENABLE);
+  }
+  else {
+#if !defined(USB_SERIAL) && defined(CLI)
+    USART_Cmd(SERIAL_USART, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    NVIC_EnableIRQ(SERIAL_USART_IRQn);
+#endif
+  }
 }
 
 void serial2Init(unsigned int mode, unsigned int protocol)
 {
-  USART_DeInit(SERIAL_USART);
+  serial2Stop();
 
   serial2Mode = mode;
 
   switch (mode) {
     case UART_MODE_TELEMETRY_MIRROR:
-      uart3Setup(FRSKY_SPORT_BAUDRATE);
+      uart3Setup(FRSKY_SPORT_BAUDRATE, false);
       break;
 #if !defined(USB_SERIAL) && (defined(DEBUG) || defined(CLI))
     case UART_MODE_DEBUG:
-      uart3Setup(DEBUG_BAUDRATE);
+      uart3Setup(DEBUG_BAUDRATE, false);
       break;
 #endif
     case UART_MODE_TELEMETRY:
       if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
-        uart3Setup(FRSKY_D_BAUDRATE);
+        uart3Setup(FRSKY_D_BAUDRATE, true);
       }
       break;
   }
@@ -89,18 +115,20 @@ void serial2Putc(char c)
 
 void serial2SbusInit()
 {
-  uart3Setup(100000);
+  // TODO is it possible on Horus?
+  uart3Setup(SBUS_BAUDRATE, true);
   SERIAL_USART->CR1 |= USART_CR1_M | USART_CR1_PCE ;
 }
 
 void serial2Stop()
 {
+  DMA_DeInit(SERIAL_DMA_Stream_RX);
   USART_DeInit(SERIAL_USART);
 }
 
 uint8_t serial2TracesEnabled()
 {
-  return 1; // (serial2Mode == 0);
+  return 1; // TODO (serial2Mode == 0);
 }
 
 #if !defined(SIMU)
@@ -118,29 +146,21 @@ extern "C" void SERIAL_USART_IRQHandler(void)
     }
   }
 
+#if !defined(USB_SERIAL) && defined(CLI)
   // Receive
   uint32_t status = SERIAL_USART->SR;
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
     uint8_t data = SERIAL_USART->DR;
-
     if (!(status & USART_FLAG_ERRORS)) {
       switch (serial2Mode) {
-        case UART_MODE_TELEMETRY:
-          telemetryFifo.push(data);
-          break;
-        case UART_MODE_SBUS_TRAINER:
-          sbusFifo.push(data);
-          break;
-#if defined(CLI)
         case UART_MODE_DEBUG:
           cliRxFifo.push(data);
           break;
-#endif
       }
     }
-
     status = SERIAL_USART->SR;
   }
-}
 #endif
 
+}
+#endif

radio/src/targets/horus/telemetry_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,9 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 512> telemetryFifo;
+DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
 
 void telemetryPortInit(uint32_t baudrate)
 {
@@ -29,6 +29,13 @@ void telemetryPortInit(uint32_t baudrate)
     return;
   }
 
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -47,32 +54,45 @@ void telemetryPortInit(uint32_t baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
   GPIO_Init(TELEMETRY_GPIO_DIR, &GPIO_InitStructure);
   GPIO_ResetBits(TELEMETRY_GPIO_DIR, TELEMETRY_DIR_GPIO_PIN);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(TELEMETRY_USART, &USART_InitStructure);
+
+  DMA_InitTypeDef DMA_InitStructure;
+  telemetryFifo.clear();
+  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
+  USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryFifo.buffer());
+  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+  DMA_InitStructure.DMA_BufferSize = telemetryFifo.size();
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
   USART_Cmd(TELEMETRY_USART, ENABLE);
-  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
+  DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
-
-  NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
-  NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
 }
 
-struct SportTxBuffer
-{
-  uint8_t *ptr;
-  uint32_t count;
-} sportTxBuffer;
-
 void telemetryPortSetDirectionOutput()
 {
   TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN;     // output enable
-  TELEMETRY_USART->CR1 &= ~USART_CR1_RE;           // turn off receiver
+  TELEMETRY_USART->CR1 &= ~USART_CR1_RE;                  // turn off receiver
 }
 
 void telemetryPortSetDirectionInput()
@@ -81,49 +101,64 @@ void telemetryPortSetDirectionInput()
   TELEMETRY_USART->CR1 |= USART_CR1_RE;                   // turn on receiver
 }
 
-void sportSendBuffer(uint8_t *buffer, uint32_t count)
+void sportSendBuffer(uint8_t * buffer, uint32_t count)
 {
-  sportTxBuffer.ptr = buffer ;
+  #if 0
-  sportTxBuffer.count = count ;
   telemetryPortSetDirectionOutput();
-  TELEMETRY_USART->CR1 |= USART_CR1_TXEIE ;
+
+  DMA_InitTypeDef DMA_InitStructure;
+  DMA_DeInit(TELEMETRY_DMA_Stream_TX);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
+  DMA_InitStructure.DMA_BufferSize = count;
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_TX, &DMA_InitStructure);
+  DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
+  DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
+
+  // enable interrupt and set it's priority
+  NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
+  NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
+    #endif
 }
 
-#if !defined(SIMU)
+extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
-#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
-
-extern "C" void TELEMETRY_USART_IRQHandler()
 {
-  uint32_t status;
+  if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
-  uint8_t data;
+    DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
-
-  status = TELEMETRY_USART->SR;
-
-  if (status & USART_SR_TXE) {
-    if (sportTxBuffer.count) {
-      TELEMETRY_USART->DR = *sportTxBuffer.ptr++;
-      if (--sportTxBuffer.count == 0) {
-        TELEMETRY_USART->CR1 &= ~USART_CR1_TXEIE;   // stop Tx interrupt
-        TELEMETRY_USART->CR1 |= USART_CR1_TCIE;     // enable complete interrupt
-      }
-    }
-  }
-	
-  if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
-    TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ;	// stop Complete interrupt
     telemetryPortSetDirectionInput();
-    while (status & (USART_FLAG_RXNE)) {
-      status = TELEMETRY_USART->DR;
-      status = TELEMETRY_USART->SR ;
-    }
-  }
-	
-  while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
-    data = TELEMETRY_USART->DR;
-    if (!(status & USART_FLAG_ERRORS)) {
-      telemetryFifo.push(data);
-    }
-    status = TELEMETRY_USART->SR;
   }
 }
+
+// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
+int telemetryGetByte(uint8_t * byte)
+{
+  // TODO I am not sure it's possible to have this cable on Horus ...
+#if 0
+  if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
+    if (serial2Mode == UART_MODE_TELEMETRY)
+      return serial2RxFifo.pop(*byte);
+    else
+      return 0;
+  }
+  else {
+    return telemetryFifo.pop(*byte);
+  }
+#else
+  return telemetryFifo.pop(*byte);
 #endif
+
+
+}

radio/src/targets/horus/trainer_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -177,7 +177,7 @@ void stop_cppm_on_heartbeat_capture(void)
   TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;                             // Stop counter
   NVIC_DisableIRQ(TRAINER_TIMER_IRQn);                            // Stop Interrupt
 
-  if (!IS_PULSES_EXTERNAL_MODULE()) {
+  if (!IS_EXTERNAL_MODULE_PRESENT()) {
     EXTERNAL_MODULE_OFF();
   }
 }
@@ -221,7 +221,7 @@ void stop_sbus_on_heartbeat_capture(void)
   configure_pins(HEARTBEAT_GPIO_PIN, PIN_INPUT | PIN_PORTC);
   NVIC_DisableIRQ(HEARTBEAT_USART_IRQn);
     #endif
-  if (!IS_PULSES_EXTERNAL_MODULE()) {
+  if (!IS_EXTERNAL_MODULE_PRESENT()) {
     EXTERNAL_MODULE_OFF();
   }
 }
@@ -246,3 +246,8 @@ extern "C" void HEARTBEAT_USART_IRQHandler()
   }
 }
 #endif
+
+int sbusGetByte(uint8_t * byte)
+{
+  return false;
+}

radio/src/targets/simu/simpgmspace.cpp

@@ -57,7 +57,7 @@ uint32_t Peri1_frequency, Peri2_frequency;
 GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog, gpioh, gpioi, gpioj;
 TIM_TypeDef tim1, tim2, tim3, tim4, tim5, tim6, tim7, tim8, tim9, tim10;
 RCC_TypeDef rcc;
-DMA_Stream_TypeDef dma2_stream2, dma2_stream6;
+DMA_Stream_TypeDef dma2_stream2, dma2_stream6, dma1_stream5;
 DMA_TypeDef dma2;
 USART_TypeDef Usart0, Usart1, Usart2, Usart3, Usart4;
 #elif defined(CPUARM)
@@ -1297,6 +1297,7 @@ FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG) { ret
 void GPIO_PinAFConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF) { }
 void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct) { }
 void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState) { }
+void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState) { }
 void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState) { }
 void RCC_PLLI2SConfig(uint32_t PLLI2SN, uint32_t PLLI2SR) { }
 void RCC_PLLI2SCmd(FunctionalState NewState) { }

radio/src/targets/simu/simpgmspace.h

@@ -93,7 +93,7 @@ extern GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog, gpioh, gpio
 extern TIM_TypeDef tim1, tim2, tim3, tim4, tim5, tim6, tim7, tim8, tim9, tim10;
 extern USART_TypeDef Usart0, Usart1, Usart2, Usart3, Usart4;
 extern RCC_TypeDef rcc;
-extern DMA_Stream_TypeDef dma2_stream2, dma2_stream6;
+extern DMA_Stream_TypeDef dma2_stream2, dma2_stream6, dma1_stream5;
 extern DMA_TypeDef dma2;
 #undef GPIOA
 #undef GPIOB
@@ -145,8 +145,10 @@ extern DMA_TypeDef dma2;
 #define USART3 (&Usart3)
 #undef RCC
 #define RCC (&rcc)
+#undef DMA1_Stream5
 #undef DMA2_Stream2
 #undef DMA2_Stream6
+#define DMA1_Stream5 (&dma1_stream5)
 #define DMA2_Stream2 (&dma2_stream2)
 #define DMA2_Stream6 (&dma2_stream6)
 #undef DMA2
@@ -427,7 +429,9 @@ OS_TID CoCreateTask(FUNCPtr task, void *argv, uint32_t parameter, void * stk, ui
 #if defined(CPUSTM32)
 inline void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) { }
 #define TIM_DeInit(...)
-#define TIM_TimeBaseInit(...)
+#if defined(PCBHORUS)
+inline void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) { }
+#endif
 #define TIM_SetCompare2(...)
 #define TIM_ClearFlag(...)
 #define TIM_Cmd(...)
@@ -449,6 +453,8 @@ inline void DMA_ITConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT, Func
 inline void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct) { }
 inline void DMA_Cmd(DMA_Stream_TypeDef* DMAy_Streamx, FunctionalState NewState) { }
 inline FlagStatus DMA_GetFlagStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FLAG) { return RESET; }
+inline ITStatus DMA_GetITStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { return RESET; }
+inline void DMA_ClearITPendingBit(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { }
 inline void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState) { }
 inline void UART3_Configure(uint32_t baudrate, uint32_t masterClock) { }
 inline void NVIC_Init(NVIC_InitTypeDef *) { }

radio/src/targets/sky9x/board_sky9x.cpp

@@ -590,3 +590,10 @@ void checkTrainerSettings()
   }
 }
 
+uint16_t getBatteryVoltage()
+{
+  int32_t instant_vbat = anaIn(TX_VOLTAGE);  // using filtered ADC value on purpose
+  instant_vbat = (instant_vbat + instant_vbat*(g_eeGeneral.txVoltageCalibration)/128) * 4191;
+  instant_vbat /= 5530;
+  return (uint16_t)instant_vbat;
+}

radio/src/targets/sky9x/board_sky9x.h

@@ -228,6 +228,7 @@ enum Analogs {
 void adcInit();
 void adcRead(void);
 uint16_t getAnalogValue(uint8_t index);
+uint16_t getBatteryVoltage();   // returns current battery voltage in 10mV steps
 void setSticksGain(uint8_t gains);
 
 // Buzzer driver

radio/src/targets/taranis/audio_driver.cpp

@@ -27,23 +27,20 @@ void setSampleRate(uint32_t frequency)
 {
   register uint32_t timer = (PERI1_FREQUENCY * TIMER_MULT_APB1) / frequency - 1 ;         // MCK/8 and 100 000 Hz
 
-  TIM6->CR1 &= ~TIM_CR1_CEN ;
+  AUDIO_TIMER->CR1 &= ~TIM_CR1_CEN ;
-  TIM6->CNT = 0 ;
+  AUDIO_TIMER->CNT = 0 ;
-  TIM6->ARR = limit<uint32_t>(2, timer, 65535) ;
+  AUDIO_TIMER->ARR = limit<uint32_t>(2, timer, 65535) ;
-  TIM6->CR1 |= TIM_CR1_CEN ;
+  AUDIO_TIMER->CR1 |= TIM_CR1_CEN ;
 }
 
 // Start TIMER6 at 100000Hz, used for DAC trigger
 void dacTimerInit()
 {
-  // Now for timer 6
+  AUDIO_TIMER->PSC = 0 ;                                                                                                 // Max speed
-  RCC->APB1ENR |= RCC_APB1ENR_TIM6EN ;            // Enable clock
+  AUDIO_TIMER->ARR = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 100000 - 1 ;        // 10 uS, 100 kHz
-
+  AUDIO_TIMER->CR2 = 0 ;
-  TIM6->PSC = 0 ;                                                                                                 // Max speed
+  AUDIO_TIMER->CR2 = 0x20 ;
-  TIM6->ARR = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 100000 - 1 ;        // 10 uS, 100 kHz
+  AUDIO_TIMER->CR1 = TIM_CR1_CEN ;
-  TIM6->CR2 = 0 ;
-  TIM6->CR2 = 0x20 ;
-  TIM6->CR1 = TIM_CR1_CEN ;
 }
 
 // Configure DAC0 (or DAC1 for REVA)
@@ -53,39 +50,36 @@ void dacInit()
 {
   dacTimerInit();
 
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN ;           // Enable portA clock
   configure_pins( GPIO_Pin_4, PIN_ANALOG | PIN_PORTA ) ;
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN ;                             // Enable clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN ;                    // Enable DMA1 clock
 
   // Chan 7, 16-bit wide, Medium priority, memory increments
-  DMA1_Stream5->CR &= ~DMA_SxCR_EN ;              // Disable DMA
+  AUDIO_DMA_Stream->CR &= ~DMA_SxCR_EN ;              // Disable DMA
-  DMA1->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
+  AUDIO_DMA->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
-  DMA1_Stream5->CR = DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_2 | DMA_SxCR_PL_0 |
+  AUDIO_DMA_Stream->CR = DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_2 | DMA_SxCR_PL_0 |
                      DMA_SxCR_MSIZE_0 | DMA_SxCR_PSIZE_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_CIRC ;
-  DMA1_Stream5->PAR = CONVERT_PTR_UINT(&DAC->DHR12R1);
+  AUDIO_DMA_Stream->PAR = CONVERT_PTR_UINT(&DAC->DHR12R1);
-  // DMA1_Stream5->M0AR = CONVERT_PTR_UINT(Sine_values);
+  // AUDIO_DMA_Stream->M0AR = CONVERT_PTR_UINT(Sine_values);
-  DMA1_Stream5->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
+  AUDIO_DMA_Stream->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ;
-  // DMA1_Stream5->NDTR = 100 ;
+  // AUDIO_DMA_Stream->NDTR = 100 ;
 
   DAC->DHR12R1 = 2010 ;
   DAC->SR = DAC_SR_DMAUDR1 ;              // Write 1 to clear flag
   DAC->CR = DAC_CR_TEN1 | DAC_CR_EN1 ;                    // Enable DAC
-  NVIC_EnableIRQ(TIM6_DAC_IRQn); // TODO needed?
+  NVIC_EnableIRQ(AUDIO_TIM_IRQn); // TODO needed?
-  NVIC_SetPriority(TIM6_DAC_IRQn, 7);
+  NVIC_SetPriority(AUDIO_TIM_IRQn, 7);
-  NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+  NVIC_EnableIRQ(AUDIO_DMA_Stream_IRQn);
-  NVIC_SetPriority(DMA1_Stream5_IRQn, 7);
+  NVIC_SetPriority(AUDIO_DMA_Stream_IRQn, 7);
 }
 
 bool audioPushBuffer(AudioBuffer * buffer)
 {
   if (dacIdle) {
     dacIdle = false;
-    DMA1_Stream5->CR &= ~DMA_SxCR_EN ;                              // Disable DMA channel
+    AUDIO_DMA_Stream->CR &= ~DMA_SxCR_EN ;                              // Disable DMA channel
-    DMA1->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
+    AUDIO_DMA->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
-    DMA1_Stream5->M0AR = CONVERT_PTR_UINT(buffer->data);
+    AUDIO_DMA_Stream->M0AR = CONVERT_PTR_UINT(buffer->data);
-    DMA1_Stream5->NDTR = buffer->size;
+    AUDIO_DMA_Stream->NDTR = buffer->size;
-    DMA1_Stream5->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE ;               // Enable DMA channel and interrupt
+    AUDIO_DMA_Stream->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE ;               // Enable DMA channel and interrupt
     DAC->SR = DAC_SR_DMAUDR1 ;                      // Write 1 to clear flag
     DAC->CR |= DAC_CR_EN1 | DAC_CR_DMAEN1 ;                 // Enable DAC
     return true;
@@ -97,15 +91,15 @@ bool audioPushBuffer(AudioBuffer * buffer)
 
 void dacStart()
 {
-  DMA1->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
+  AUDIO_DMA->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
-  DMA1_Stream5->CR |= DMA_SxCR_CIRC | DMA_SxCR_EN ;                               // Enable DMA channel
+  AUDIO_DMA_Stream->CR |= DMA_SxCR_CIRC | DMA_SxCR_EN ;                               // Enable DMA channel
   DAC->SR = DAC_SR_DMAUDR1 ;                      // Write 1 to clear flag
   DAC->CR |= DAC_CR_EN1 | DAC_CR_DMAEN1 ;                 // Enable DAC
 }
 
 void dacStop()
 {
-  DMA1_Stream5->CR &= ~DMA_SxCR_CIRC ;
+  AUDIO_DMA_Stream->CR &= ~DMA_SxCR_CIRC ;
 }
 
 
@@ -118,13 +112,13 @@ void audioInit()
 void audioEnd()
 {
   DAC->CR = 0 ;
-  TIM6->CR1 = 0 ;
+  AUDIO_TIMER->CR1 = 0 ;
   // Also need to turn off any possible interrupts
-  NVIC_DisableIRQ(TIM6_DAC_IRQn) ;
+  NVIC_DisableIRQ(AUDIO_TIM_IRQn) ;
-  NVIC_DisableIRQ(DMA1_Stream5_IRQn) ;
+  NVIC_DisableIRQ(AUDIO_DMA_Stream_IRQn) ;
 }
 
-extern "C" void TIM6_DAC_IRQHandler()
+extern "C" void AUDIO_TIM_IRQHandler()
 {
   DAC->CR &= ~DAC_CR_DMAEN1 ;     // Stop DMA requests
 #if !defined(REV9E)
@@ -133,18 +127,18 @@ extern "C" void TIM6_DAC_IRQHandler()
   DAC->SR = DAC_SR_DMAUDR1 ;      // Write 1 to clear flag
 }
 
-extern "C" void DMA1_Stream5_IRQHandler()
+extern "C" void AUDIO_DMA_Stream_IRQHandler()
 {
-  DMA1_Stream5->CR &= ~DMA_SxCR_TCIE ;            // Stop interrupt
+  AUDIO_DMA_Stream->CR &= ~DMA_SxCR_TCIE ;            // Stop interrupt
-  DMA1->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear flags
+  AUDIO_DMA->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear flags
-  DMA1_Stream5->CR &= ~DMA_SxCR_EN ;                              // Disable DMA channel
+  AUDIO_DMA_Stream->CR &= ~DMA_SxCR_EN ;                              // Disable DMA channel
 
   AudioBuffer * nextBuffer = audioQueue.getNextFilledBuffer();
   if (nextBuffer) {
-    DMA1_Stream5->M0AR = CONVERT_PTR_UINT(nextBuffer->data);
+    AUDIO_DMA_Stream->M0AR = CONVERT_PTR_UINT(nextBuffer->data);
-    DMA1_Stream5->NDTR = nextBuffer->size;
+    AUDIO_DMA_Stream->NDTR = nextBuffer->size;
-    DMA1->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
+    AUDIO_DMA->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5 | DMA_HIFCR_CTEIF5 | DMA_HIFCR_CDMEIF5 | DMA_HIFCR_CFEIF5 ; // Write ones to clear bits
-    DMA1_Stream5->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE ;       // Enable DMA channel
+    AUDIO_DMA_Stream->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE ;       // Enable DMA channel
     DAC->SR = DAC_SR_DMAUDR1;                      // Write 1 to clear flag
   }
   else {

radio/src/targets/taranis/board_taranis.cpp

@@ -41,7 +41,11 @@ void watchdogInit(unsigned int duration)
 
 void getCPUUniqueID(char * s)
 {
+#if defined(SIMU)
+  uint32_t cpu_uid[3] = { 0x12345678, 0x55AA55AA, 0x87654321};
+#else
   uint32_t * cpu_uid = (uint32_t *)0x1FFF7A10;
+#endif
   char * tmp = strAppendUnsigned(s, cpu_uid[0], 8, 16);
   *tmp = ' ';
   tmp = strAppendUnsigned(tmp+1, cpu_uid[1], 8, 16);
@@ -121,8 +125,8 @@ extern "C" void INTERRUPT_5MS_IRQHandler()
 
 void boardInit()
 {
-  RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | KEYS_RCC_AHB1Periph | LCD_RCC_AHB1Periph | BACKLIGHT_RCC_AHB1Periph | ADC_RCC_AHB1Periph | I2C_RCC_AHB1Periph | SD_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph | INTMODULE_RCC_AHB1Periph | EXTMODULE_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TRAINER_RCC_AHB1Periph | HEARTBEAT_RCC_AHB1Periph, ENABLE);
+  RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | KEYS_RCC_AHB1Periph | LCD_RCC_AHB1Periph | AUDIO_RCC_AHB1Periph | BACKLIGHT_RCC_AHB1Periph | ADC_RCC_AHB1Periph | I2C_RCC_AHB1Periph | SD_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph | INTMODULE_RCC_AHB1Periph | EXTMODULE_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TRAINER_RCC_AHB1Periph | HEARTBEAT_RCC_AHB1Periph, ENABLE);
-  RCC_APB1PeriphClockCmd(LCD_RCC_APB1Periph | BACKLIGHT_RCC_APB1Periph | INTERRUPT_5MS_APB1Periph | TIMER_2MHz_APB1Periph | I2C_RCC_APB1Periph | SD_RCC_APB1Periph | TRAINER_RCC_APB1Periph | TELEMETRY_RCC_APB1Periph | SERIAL_RCC_APB1Periph, ENABLE);
+  RCC_APB1PeriphClockCmd(LCD_RCC_APB1Periph | AUDIO_RCC_APB1Periph | BACKLIGHT_RCC_APB1Periph | INTERRUPT_5MS_APB1Periph | TIMER_2MHz_APB1Periph | I2C_RCC_APB1Periph | SD_RCC_APB1Periph | TRAINER_RCC_APB1Periph | TELEMETRY_RCC_APB1Periph | SERIAL_RCC_APB1Periph, ENABLE);
   RCC_APB2PeriphClockCmd(BACKLIGHT_RCC_APB2Periph | ADC_RCC_APB2Periph | HAPTIC_RCC_APB2Periph | INTMODULE_RCC_APB2Periph | EXTMODULE_RCC_APB2Periph | HEARTBEAT_RCC_APB2Periph, ENABLE);
 
 #if !defined(REV9E)
@@ -312,3 +316,11 @@ void checkTrainerSettings()
     }
   }
 }
+
+uint16_t getBatteryVoltage()
+{
+  int32_t instant_vbat = anaIn(TX_VOLTAGE);  // using filtered ADC value on purpose
+  instant_vbat = (instant_vbat * BATT_SCALE * (128 + g_eeGeneral.txVoltageCalibration) ) / 26214;
+  instant_vbat += 20;  // add 0.2V because of the diode TODO check if this is needed, but removal will beak existing calibrations!!!
+  return (uint16_t)instant_vbat;
+}

radio/src/targets/taranis/board_taranis.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -212,6 +212,7 @@ void stop_cppm_on_heartbeat_capture(void);
 void init_sbus_on_heartbeat_capture(void);
 void stop_sbus_on_heartbeat_capture(void);
 void set_trainer_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive);
+int sbusGetByte(uint8_t * byte);
 
 // Keys driver
 void keysInit(void);
@@ -267,6 +268,7 @@ void adcInit(void);
 void adcRead(void);
 extern uint16_t adcValues[NUMBER_ANALOG];
 uint16_t getAnalogValue(uint8_t index);
+uint16_t getBatteryVoltage();   // returns current battery voltage in 10mV steps
 
 #define BATT_SCALE    150
 
@@ -322,7 +324,9 @@ void debugPutc(const char c);
 // Telemetry driver
 void telemetryPortInit(uint32_t baudrate);
 void telemetryPortSetDirectionOutput(void);
-void sportSendBuffer(uint8_t *buffer, uint32_t count);
+void sportSendBuffer(uint8_t * buffer, uint32_t count);
+int telemetryGetByte(uint8_t * byte);
+extern uint32_t telemetryErrors;
 
 // Audio driver
 void audioInit(void) ;
@@ -348,6 +352,7 @@ void hapticOff(void);
 
 // Second serial port driver
 #define DEBUG_BAUDRATE                 115200
+extern uint8_t serial2Mode;
 void serial2Init(unsigned int mode, unsigned int protocol);
 void serial2Putc(char c);
 #define serial2TelemetryInit(protocol) serial2Init(UART_MODE_TELEMETRY, protocol)
@@ -391,4 +396,12 @@ void usbJoystickUpdate(void);
 extern uint8_t currentTrainerMode;
 void checkTrainerSettings(void);
 
+#if defined(__cplusplus)
+#include "fifo.h"
+#include "dmafifo.h"
+extern Fifo<uint8_t, 32> telemetryFifo;
+extern DMAFifo<32> serial2RxFifo;
+extern Fifo<uint8_t, 32> sbusFifo;
+#endif
+
 #endif // _BOARD_TARANIS_H_

radio/src/targets/taranis/hal.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -375,12 +375,14 @@
 #define SERIAL_USART                    USART3
 #define SERIAL_USART_IRQHandler         USART3_IRQHandler
 #define SERIAL_USART_IRQn               USART3_IRQn
+#define SERIAL_DMA_Stream_RX            DMA1_Stream1
+#define SERIAL_DMA_Channel_RX           DMA_Channel_4
 
 // Telemetry
-#define TELEMETRY_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD
+#define TELEMETRY_RCC_AHB1Periph        (RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_DMA1)
+#define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO_DIR              GPIOD
 #define TELEMETRY_DIR_GPIO_PIN          GPIO_Pin_4  // PD.04
-#define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO                  GPIOD
 #define TELEMETRY_TX_GPIO_PIN           GPIO_Pin_5  // PD.05
 #define TELEMETRY_RX_GPIO_PIN           GPIO_Pin_6  // PD.06
@@ -388,6 +390,11 @@
 #define TELEMETRY_GPIO_PinSource_RX     GPIO_PinSource6
 #define TELEMETRY_GPIO_AF               GPIO_AF_USART2
 #define TELEMETRY_USART                 USART2
+#define TELEMETRY_DMA_Stream_TX         DMA1_Stream6
+#define TELEMETRY_DMA_Channel_TX        DMA_Channel_4
+#define TELEMETRY_DMA_TX_Stream_IRQ     DMA1_Stream6_IRQn
+#define TELEMETRY_DMA_TX_IRQHandler     DMA1_Stream6_IRQHandler
+#define TELEMETRY_DMA_TX_FLAG_TC        DMA_IT_TCIF6
 #define TELEMETRY_USART_IRQHandler      USART2_IRQHandler
 #define TELEMETRY_USART_IRQn            USART2_IRQn
 
@@ -400,6 +407,8 @@
 #define HEARTBEAT_USART                 USART6
 #define HEARTBEAT_USART_IRQHandler      USART6_IRQHandler
 #define HEARTBEAT_USART_IRQn            USART6_IRQn
+#define HEARTBEAT_DMA_Stream            DMA2_Stream2
+#define HEARTBEAT_DMA_Channel           DMA_Channel_5
 
 // USB
 #define USB_RCC_AHB1Periph_GPIO         RCC_AHB1Periph_GPIOA
@@ -481,7 +490,7 @@
   #define LCD_GPIO_PIN_NCS              GPIO_Pin_14 // PD.14
   #define LCD_GPIO_PIN_A0               GPIO_Pin_13 // PD.13
   #define LCD_GPIO_PIN_RST              GPIO_Pin_12 // PD.12
-#endif 
+#endif
 
 // I2C Bus: EEPROM and CAT5137 digital pot for volume control
 #define I2C_RCC_AHB1Periph              RCC_AHB1Periph_GPIOB
@@ -530,6 +539,17 @@
   #define SD_DMA_Channel_SPI            DMA_Channel_0
 #endif
 
+// Audio
+#define AUDIO_RCC_AHB1Periph            (RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_DMA1)
+#define AUDIO_RCC_APB1Periph            (RCC_APB1Periph_TIM6 | RCC_APB1Periph_DAC)
+#define AUDIO_DMA_Stream                DMA1_Stream5
+#define AUDIO_DMA_Stream_IRQn           DMA1_Stream5_IRQn
+#define AUDIO_TIM_IRQn                  TIM6_DAC_IRQn
+#define AUDIO_TIM_IRQHandler            TIM6_DAC_IRQHandler
+#define AUDIO_DMA_Stream_IRQHandler     DMA1_Stream5_IRQHandler
+#define AUDIO_TIMER                     TIM6
+#define AUDIO_DMA                       DMA1
+
 // Haptic
 #if defined(REVPLUS)
   #define HAPTIC_RCC_AHB1Periph         RCC_AHB1Periph_GPIOB

radio/src/targets/taranis/serial2_driver.cpp

@@ -1,31 +1,30 @@
-/*
+/*
- * Copyright (C) OpenTX
+ * Copyright (C) OpenTX
- *
+ *
- * Based on code named
+ * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
+ *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
- *
+ *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
+ *
- * This program is free software; you can redistribute it and/or modify
+ * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
+ * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
+ * published by the Free Software Foundation.
- *
+ *
- * This program is distributed in the hope that it will be useful,
+ * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
+ * GNU General Public License for more details.
- */
+ */
-
+
-#include "../../opentx.h"
+#include "opentx.h"
 
 uint8_t serial2Mode = 0;
 Fifo<uint8_t, 512> serial2TxFifo;
-extern Fifo<uint8_t, 512> telemetryFifo;
+DMAFifo<32> serial2RxFifo __DMA (SERIAL_DMA_Stream_RX);
-extern Fifo<uint8_t, 32> sbusFifo;
 
-void uart3Setup(unsigned int baudrate)
+void uart3Setup(unsigned int baudrate, bool dma)
 {
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -39,42 +38,70 @@ void uart3Setup(unsigned int baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(SERIAL_GPIO, &GPIO_InitStructure);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(SERIAL_USART, &USART_InitStructure);
-  USART_Cmd(SERIAL_USART, ENABLE);
 
-  USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+  if (dma) {
-  USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitTypeDef DMA_InitStructure;
-
+    serial2RxFifo.clear();
-  NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, DISABLE);
-  NVIC_EnableIRQ(SERIAL_USART_IRQn);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitStructure.DMA_Channel = SERIAL_DMA_Channel_RX;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&SERIAL_USART->DR);
+    DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(serial2RxFifo.buffer());
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+    DMA_InitStructure.DMA_BufferSize = serial2RxFifo.size();
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+    DMA_Init(SERIAL_DMA_Stream_RX, &DMA_InitStructure);
+    USART_DMACmd(SERIAL_USART, USART_DMAReq_Rx, ENABLE);
+    USART_Cmd(SERIAL_USART, ENABLE);
+    DMA_Cmd(SERIAL_DMA_Stream_RX, ENABLE);
+  }
+  else {
+#if !defined(USB_SERIAL) && defined(CLI)
+    USART_Cmd(SERIAL_USART, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    NVIC_EnableIRQ(SERIAL_USART_IRQn);
+#endif
+  }
 }
 
 void serial2Init(unsigned int mode, unsigned int protocol)
 {
-  USART_DeInit(SERIAL_USART);
+  serial2Stop();
 
   serial2Mode = mode;
 
   switch (mode) {
     case UART_MODE_TELEMETRY_MIRROR:
-      uart3Setup(FRSKY_SPORT_BAUDRATE);
+      uart3Setup(FRSKY_SPORT_BAUDRATE, false);
       break;
 #if !defined(USB_SERIAL) && (defined(DEBUG) || defined(CLI))
     case UART_MODE_DEBUG:
-      uart3Setup(DEBUG_BAUDRATE);
+      uart3Setup(DEBUG_BAUDRATE, false);
       break;
 #endif
     case UART_MODE_TELEMETRY:
       if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
-        uart3Setup(FRSKY_D_BAUDRATE);
+        uart3Setup(FRSKY_D_BAUDRATE, true);
       }
       break;
   }
@@ -89,12 +116,13 @@ void serial2Putc(char c)
 
 void serial2SbusInit()
 {
-  uart3Setup(SBUS_BAUDRATE);
+  uart3Setup(SBUS_BAUDRATE, true);
   SERIAL_USART->CR1 |= USART_CR1_M | USART_CR1_PCE ;
 }
 
 void serial2Stop()
 {
+  DMA_DeInit(SERIAL_DMA_Stream_RX);
   USART_DeInit(SERIAL_USART);
 }
 
@@ -122,29 +150,21 @@ extern "C" void SERIAL_USART_IRQHandler(void)
     }
   }
 
+#if !defined(USB_SERIAL) && defined(CLI)
   // Receive
   uint32_t status = SERIAL_USART->SR;
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
     uint8_t data = SERIAL_USART->DR;
-
     if (!(status & USART_FLAG_ERRORS)) {
       switch (serial2Mode) {
-        case UART_MODE_TELEMETRY:
-          telemetryFifo.push(data);
-          break;
-        case UART_MODE_SBUS_TRAINER:
-          sbusFifo.push(data);
-          break;
-#if !defined(USB_SERIAL) && defined(CLI)
         case UART_MODE_DEBUG:
           cliRxFifo.push(data);
           break;
-#endif
       }
     }
-
     status = SERIAL_USART->SR;
   }
-}
 #endif
 
+}
+#endif

radio/src/targets/taranis/telemetry_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,10 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 512> telemetryFifo;
+Fifo<uint8_t, 32> telemetryFifo;
+uint32_t telemetryErrors = 0;
 
 void telemetryPortInit(uint32_t baudrate)
 {
@@ -29,6 +30,13 @@ void telemetryPortInit(uint32_t baudrate)
     return;
   }
 
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -41,7 +49,7 @@ void telemetryPortInit(uint32_t baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(TELEMETRY_GPIO, &GPIO_InitStructure);
-  
+
   GPIO_InitStructure.GPIO_Pin = TELEMETRY_DIR_GPIO_PIN;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
@@ -54,21 +62,13 @@ void telemetryPortInit(uint32_t baudrate)
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
   USART_Init(TELEMETRY_USART, &USART_InitStructure);
   USART_Cmd(TELEMETRY_USART, ENABLE);
   USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
-
   NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
   NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
 }
 
-struct SportTxBuffer
-{
-  uint8_t *ptr;
-  uint32_t count;
-} sportTxBuffer;
-
 void telemetryPortSetDirectionOutput()
 {
   TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN;     // output enable
@@ -83,47 +83,69 @@ void telemetryPortSetDirectionInput()
 
 void sportSendBuffer(uint8_t * buffer, uint32_t count)
 {
-  sportTxBuffer.ptr = buffer;
-  sportTxBuffer.count = count;
   telemetryPortSetDirectionOutput();
-  TELEMETRY_USART->CR1 |= USART_CR1_TXEIE;
+
+  DMA_InitTypeDef DMA_InitStructure;
+  DMA_DeInit(TELEMETRY_DMA_Stream_TX);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
+  DMA_InitStructure.DMA_BufferSize = count;
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_TX, &DMA_InitStructure);
+  DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
+  DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
+
+  // enable interrupt and set it's priority
+  NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
+  NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
 }
 
-#if !defined(SIMU)
+extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
-#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
-
-extern "C" void TELEMETRY_USART_IRQHandler()
 {
-  uint32_t status;
+  if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
-  uint8_t data;
+    DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
-
-  status = TELEMETRY_USART->SR;
-
-  if (status & USART_SR_TXE) {
-    if (sportTxBuffer.count) {
-      TELEMETRY_USART->DR = *sportTxBuffer.ptr++;
-      if (--sportTxBuffer.count == 0) {
-        TELEMETRY_USART->CR1 &= ~USART_CR1_TXEIE;   // stop Tx interrupt
-        TELEMETRY_USART->CR1 |= USART_CR1_TCIE;     // enable complete interrupt
-      }
-    }
-  }
-	
-  if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
-    TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ;	// stop Complete interrupt
     telemetryPortSetDirectionInput();
-    while (status & (USART_FLAG_RXNE)) {
-      status = TELEMETRY_USART->DR;
-      status = TELEMETRY_USART->SR;
-    }
   }
-	
+}
+
+#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
+extern "C" void TELEMETRY_USART_IRQHandler(void)
+{
+  uint32_t status = TELEMETRY_USART->SR;
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
-    data = TELEMETRY_USART->DR;
+    uint8_t data = TELEMETRY_USART->DR;
-    if (!(status & USART_FLAG_ERRORS)) {
+    if (status & USART_FLAG_ERRORS) {
+      telemetryErrors++;
+    }
+    else {
       telemetryFifo.push(data);
     }
     status = TELEMETRY_USART->SR;
   }
 }
-#endif
+
+// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
+int telemetryGetByte(uint8_t * byte)
+{
+  if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
+    if (serial2Mode == UART_MODE_TELEMETRY)
+      return serial2RxFifo.pop(*byte);
+    else
+      return 0;
+  }
+  else {
+    return telemetryFifo.pop(*byte);
+  }
+}

radio/src/targets/taranis/trainer_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,9 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 32> sbusFifo;
+DMAFifo<32> heartbeatFifo __DMA (HEARTBEAT_DMA_Stream);
 
 #define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)
 
@@ -177,7 +177,7 @@ void stop_cppm_on_heartbeat_capture(void)
   TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;                             // Stop counter
   NVIC_DisableIRQ(TRAINER_TIMER_IRQn);                            // Stop Interrupt
 
-  if (!IS_PULSES_EXTERNAL_MODULE()) {
+  if (!IS_EXTERNAL_MODULE_PRESENT()) {
     EXTERNAL_MODULE_OFF();
   }
 }
@@ -204,13 +204,31 @@ void init_sbus_on_heartbeat_capture()
   USART_InitStructure.USART_Parity = USART_Parity_Even;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Rx;
-
   USART_Init(HEARTBEAT_USART, &USART_InitStructure);
-  USART_Cmd(HEARTBEAT_USART, ENABLE);
-  USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, ENABLE);
 
-  NVIC_SetPriority(HEARTBEAT_USART_IRQn, 6);
+  DMA_InitTypeDef DMA_InitStructure;
-  NVIC_EnableIRQ(HEARTBEAT_USART_IRQn);
+  heartbeatFifo.clear();
+  USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, DISABLE);
+  USART_ITConfig(HEARTBEAT_USART, USART_IT_TXE, DISABLE);
+  DMA_InitStructure.DMA_Channel = HEARTBEAT_DMA_Channel;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&HEARTBEAT_USART->DR);
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(heartbeatFifo.buffer());
+  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+  DMA_InitStructure.DMA_BufferSize = heartbeatFifo.size();
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(HEARTBEAT_DMA_Stream, &DMA_InitStructure);
+  USART_DMACmd(HEARTBEAT_USART, USART_DMAReq_Rx, ENABLE);
+  USART_Cmd(HEARTBEAT_USART, ENABLE);
+  DMA_Cmd(HEARTBEAT_DMA_Stream, ENABLE);
 }
 
 void stop_sbus_on_heartbeat_capture(void)
@@ -218,28 +236,19 @@ void stop_sbus_on_heartbeat_capture(void)
   configure_pins(HEARTBEAT_GPIO_PIN, PIN_INPUT | PIN_PORTC);
   NVIC_DisableIRQ(HEARTBEAT_USART_IRQn);
 
-  if (!IS_PULSES_EXTERNAL_MODULE()) {
+  if (!IS_EXTERNAL_MODULE_PRESENT()) {
     EXTERNAL_MODULE_OFF();
   }
 }
 
-#if !defined(SIMU) && !defined(REV9E)
+int sbusGetByte(uint8_t * byte)
-extern "C" void HEARTBEAT_USART_IRQHandler()
 {
-  uint32_t status;
+  switch (currentTrainerMode) {
-  uint8_t data;
+    case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
-
+      return heartbeatFifo.pop(*byte);
-  status = HEARTBEAT_USART->SR;
+    case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
-
+      return serial2RxFifo.pop(*byte);
-  while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
+    default:
-    data = HEARTBEAT_USART->DR;
+      return false;
-
-    if (!(status & USART_FLAG_ERRORS)) {
-      if (currentTrainerMode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE)
-        sbusFifo.push(data);
-    }
-
-    status = HEARTBEAT_USART->SR;
   }
 }
-#endif

radio/src/telemetry/frsky.cpp

@@ -43,10 +43,6 @@ uint8_t frskyTxBufferCount = 0;
 uint8_t telemetryState = TELEMETRY_INIT;
 #endif
 
-#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
-Fifo<uint8_t, 512> telemetryFifo; // TODO should be in the driver
-#endif
-
 uint8_t frskyRxBufferCount = 0;
 
 FrskyData frskyData;

radio/src/telemetry/frsky_sport.cpp

@@ -337,9 +337,9 @@ bool sportWaitState(SportUpdateState state, int timeout)
     return true;
 #else
   for (int i=timeout/2; i>=0; i--) {
-    uint8_t data ;
+    uint8_t byte ;
-    while (telemetryFifo.pop(data)) {
+    while (telemetryGetByte(&byte)) {
-      processSerialData(data);
+      processSerialData(byte);
     }
     if (sportUpdateState == state) {
       return true;
@@ -358,7 +358,7 @@ void blankPacket(uint8_t *packet)
   memset(packet+2, 0, 6);
 }
 
-uint8_t sportUpdatePacket[16];
+uint8_t sportUpdatePacket[16] __DMA;
 
 void writePacket(uint8_t * packet)
 {

radio/src/telemetry/telemetry.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -21,8 +21,6 @@
 #ifndef _TELEMETRY_H_
 #define _TELEMETRY_H_
 
-extern Fifo<uint8_t, 512> telemetryFifo;
-
 enum TelemetryProtocol
 {
   TELEM_PROTO_FRSKY_D,

radio/src/tests/lcd.cpp

@@ -194,16 +194,6 @@ TEST(Lcd, vline_x_lt0)
 #endif
 
 #if defined(CPUARM)
-TEST(Lcd, SmlsizeDecimalPoint)
-{
-  lcdClear();
-  lcdDrawNumber(0, 1, 105, PREC1|SMLSIZE|LEFT);
-  lcdDrawNumber(0, LCD_H-7, 105, PREC1|SMLSIZE|LEFT|INVERS);
-  lcdDrawNumber(LCD_W, 1, 105, PREC2|SMLSIZE);
-  lcdDrawNumber(LCD_W, LCD_H-7, 105, PREC2|SMLSIZE|INVERS);
-  EXPECT_TRUE(checkScreenshot("SmlsizeDecimalPoint"));
-}
-
 TEST(Lcd, Smlsize)
 {
   lcdClear();