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Last changes to gruvin9x

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This commit is contained in:
bsongis 2011-11-17 21:35:33 +00:00
parent 3772179692
commit 2b4823ab84
12 changed files with 927 additions and 563 deletions
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53
src/Makefile
View file

@ -72,6 +72,22 @@ DECIMALS = NO
# Values = YES, NO # Values = YES, NO
TRANSLATIONS = YES TRANSLATIONS = YES
# DISPLAY_USER_DATA to display on screen data from FrSky module (testing/demo purpose)
# Values = YES, NO
DISPLAY_USER_DATA = NO
# PXX (FrSky PCM) protocol
PXX = NO
# DSM2 (Spektrum) protocol
DSM2 = YES
# Silver protocol
SILVER = NO
# CTP-1009 protocol
CTP1009 = NO
#------- END BUILD OPTIONS --------------------------- #------- END BUILD OPTIONS ---------------------------
# MCU name # MCU name
@ -98,16 +114,12 @@ TARGET = gruvin9x
OBJDIR = obj OBJDIR = obj
# List C++ source files here. (C dependencies are automatically generated.) # List C++ source files here. (C dependencies are automatically generated.)
CPPSRC = gruvin9x.cpp stamp.cpp menus.cpp model_menus.cpp general_menus.cpp main_views.cpp statistics_views.cpp pers.cpp file.cpp lcd.cpp drivers.cpp CPPSRC = gruvin9x.cpp pulses.cpp stamp.cpp menus.cpp model_menus.cpp general_menus.cpp main_views.cpp statistics_views.cpp pers.cpp file.cpp lcd.cpp drivers.cpp
ifeq ($(EXT), JETI) ifeq ($(EXT), JETI)
CPPSRC += jeti.cpp CPPSRC += jeti.cpp
endif endif
ifeq ($(EXT), FRSKY)
CPPSRC += frsky.cpp
endif
# Disk IO support (PCB V2+ only) # Disk IO support (PCB V2+ only)
ifneq ($(PCB), STD) ifneq ($(PCB), STD)
CPPSRC += time.cpp CPPSRC += time.cpp
@ -166,10 +178,13 @@ CPPDEFS = -DF_CPU=$(F_CPU)UL
# NOTE: PCB version now overrides all the earlier individual settings # NOTE: PCB version now overrides all the earlier individual settings
# These individual settings work only for PCB=STD # These individual settings work only for PCB=STD
CPPDEFS += -DEEPROM_ASYNC_WRITE
ifeq ($(PCB), STD) ifeq ($(PCB), STD)
# STD PCB, so ... # STD PCB, so ...
CPPDEFS += -DPCBSTD -DEEPROM_ASYNC_WRITE CPPDEFS += -DPCBSTD
# If Hardware PPM mode ( PB0<->BP7) switch the Backlight output with the original PPM to use hardware facility to generate precise PPM (hardware mods) # If Hardware PPM mode ( PB0<->BP7) switch the Backlight output with the original PPM to use hardware facility to generate precise PPM (hardware mods)
# G: TODO This prevents HARDPPM being used with FRSKY. HARDPPM needs its own option XXX # G: TODO This prevents HARDPPM being used with FRSKY. HARDPPM needs its own option XXX
ifeq ($(EXT), HARDPPM) ifeq ($(EXT), HARDPPM)
@ -184,11 +199,13 @@ ifeq ($(PCB), STD)
# If FRSKY-Support is enabled # If FRSKY-Support is enabled
ifeq ($(EXT), FRSKY) ifeq ($(EXT), FRSKY)
CPPDEFS += -DFRSKY -DFRSKY_HUB CPPDEFS += -DFRSKY -DFRSKY_HUB
CPPSRC += frsky.cpp
endif endif
# If FRSKY-Support is enabled # If FRSKY-Support is enabled
ifeq ($(EXT), FRSKY_NOHUB) ifeq ($(EXT), FRSKY_NOHUB)
CPPDEFS += -DFRSKY CPPDEFS += -DFRSKY
CPPSRC += frsky.cpp
endif endif
# gruvin: If buzzer speaker replacment supported # gruvin: If buzzer speaker replacment supported
@ -254,6 +271,25 @@ ifeq ($(TEMPLATES), YES)
CPPSRC += templates.cpp CPPSRC += templates.cpp
endif endif
ifeq ($(DISPLAY_USER_DATA), YES)
CPPDEFS += -DDISPLAY_USER_DATA
endif
ifeq ($(PXX), YES)
CPPDEFS += -DPXX
endif
ifeq ($(DSM2), YES)
CPPDEFS += -DDSM2
endif
ifeq ($(SILVER), YES)
CPPDEFS += -DSILVER
endif
ifeq ($(CTP1009), YES)
CPPDEFS += -DCTP1009
endif
#---------------- Compiler Options C ---------------- #---------------- Compiler Options C ----------------
# -g*: generate debugging information # -g*: generate debugging information
@ -661,7 +697,10 @@ else
endif endif
simu: $(CPPSRC) Makefile simu.cpp $(CPPSRC) simpgmspace.cpp *.h *.lbm eeprom.bin simu: $(CPPSRC) Makefile simu.cpp $(CPPSRC) simpgmspace.cpp *.h *.lbm eeprom.bin
g++ simu.cpp $(CPPFLAGS) $(CPPSRC) simpgmspace.cpp $(ARCH) -o simu $(FOXINC) $(FOXLIB) -MD -DSIMU g++ simu.cpp $(CPPFLAGS) $(CPPSRC) simpgmspace.cpp $(ARCH) -MD -DSIMU -o simu $(FOXINC) $(FOXLIB)
gruvin9x.so: $(CPPSRC) Makefile export.cpp $(CPPSRC) simpgmspace.cpp *.h *.lbm
g++ export.cpp $(CPPFLAGS) $(CPPSRC) simpgmspace.cpp $(ARCH) -g -MD -DSIMU -shared -fPIC -Wl,-soname,$@ -o $@
eeprom.bin: eeprom.bin:
dd if=/dev/zero of=$@ bs=1 count=2048 dd if=/dev/zero of=$@ bs=1 count=2048

61
src/export.cpp Normal file
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@ -0,0 +1,61 @@
/*
* Authors (alphabetical order)
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
*
* Original contributors
* - Philip Moss Adapted first frsky functions from jeti.cpp code by
* - Karl Szmutny <shadow@privy.de>
* 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.
*
*/
#include "simpgmspace.h"
#include "lcd.h"
#include "gruvin9x.h"
#include "menus.h"
int16_t g_anas[NUM_STICKS+NUM_POTS];
uint8_t *g_switches[MAX_PSWITCH];
extern uint8_t eeprom[EESIZE];
extern "C" void initGruvin9x(uint8_t *_eeprom)
{
eepromFile = NULL; // in memory
memcpy(eeprom, _eeprom, sizeof(eeprom));
g_menuStack[0] = menuMainView;
g_menuStack[1] = menuProcModelSelect;
eeReadAll(); //load general setup and selected model
// TODO
//checkLowEEPROM(); //enough eeprom free?
//checkTHR();
//checkSwitches(); //must be last
//state = 2;
}
extern "C" void runGruvin9x(int16_t *anas, uint8_t *switches, int16_t *chans, uint8_t *display)
{
memcpy(g_anas, anas, sizeof(uint16_t) * NUM_STICKS+NUM_POTS);
memcpy(g_switches, switches, sizeof(uint8_t) * MAX_PSWITCH);
g_tmr10ms++;
perMain();
memcpy(chans, g_chans512, sizeof(g_chans512));
memcpy(display, displayBuf, sizeof(displayBuf));
}
uint16_t anaIn(uint8_t chan)
{
// printf("anaIn(%d) => %d\n", chan, g_anas[chan]); fflush(stdout);
return g_anas[chan];
}

399
src/gruvin9x.cpp
View file

@ -55,6 +55,8 @@ uint8_t toneOn = false;
bool warble = false; bool warble = false;
uint8_t heartbeat;
const prog_char APM modi12x3[]= const prog_char APM modi12x3[]=
"RUD ELE THR AIL " "RUD ELE THR AIL "
"RUD THR ELE AIL " "RUD THR ELE AIL "
@ -295,8 +297,8 @@ void applyExpos(int16_t *anas)
} }
} }
static bool s_noStickInputs = false; bool s_noStickInputs = false;
inline int16_t getValue(uint8_t i) inline int16_t __attribute__ ((always_inline)) getValue(uint8_t i)
{ {
if(i<NUM_STICKS+NUM_POTS) return (s_noStickInputs ? 0 : calibratedStick[i]); if(i<NUM_STICKS+NUM_POTS) return (s_noStickInputs ? 0 : calibratedStick[i]);
else if(i<MIX_FULL/*srcRaw is shifted +1!*/) return 1024; //FULL/MAX else if(i<MIX_FULL/*srcRaw is shifted +1!*/) return 1024; //FULL/MAX
@ -309,6 +311,118 @@ inline int16_t getValue(uint8_t i)
else return 0; else return 0;
} }
volatile uint16_t s_last_switch_used;
volatile uint16_t s_last_switch_value;
bool __getSwitch(int8_t swtch)
{
bool result;
if (swtch == 0)
return s_last_switch_used & (1<<15);
uint8_t cs_idx = abs(swtch);
if (cs_idx == MAX_SWITCH) {
result = true;
}
else if (cs_idx < MAX_SWITCH-NUM_CSW) {
result = keyState((EnumKeys)(SW_BASE+cs_idx-1));
}
else {
cs_idx -= MAX_SWITCH-NUM_CSW;
volatile CustomSwData &cs = g_model.customSw[cs_idx];
if (cs.func == CS_OFF) return false;
uint8_t s = CS_STATE(cs.func);
if (s == CS_VBOOL) {
uint16_t mask = (1 << cs_idx);
if (s_last_switch_used & mask) {
result = (s_last_switch_value & mask);
}
else {
s_last_switch_used |= mask;
bool res1 = __getSwitch(cs.v1);
bool res2 = __getSwitch(cs.v2);
switch (cs.func) {
case CS_AND:
result = (res1 && res2);
break;
case CS_OR:
result = (res1 || res2);
break;
// case CS_XOR:
default:
result = (res1 ^ res2);
break;
}
}
if (result)
s_last_switch_value |= (1<<cs_idx);
else
s_last_switch_value &= ~(1<<cs_idx);
}
else {
int16_t x = getValue(cs.v1-1);
int16_t y;
if (s == CS_VOFS) {
#ifdef FRSKY
if (cs.v1 > CHOUT_BASE+NUM_CHNOUT)
y = 125+cs.v2;
else
#endif
y = calc100toRESX(cs.v2);
switch (cs.func) {
case CS_VPOS:
result = (x>y);
break;
case CS_VNEG:
result = (x<y);
break;
case CS_APOS:
result = (abs(x)>y);
break;
// case CS_ANEG:
default:
result = (abs(x)<y);
}
}
else {
y = getValue(cs.v2-1);
switch (cs.func) {
case CS_EQUAL:
result = (x==y);
break;
case CS_NEQUAL:
result = (x!=y);
break;
case CS_GREATER:
result = (x>y);
break;
case CS_LESS:
result = (x<y);
break;
case CS_EGREATER:
result = (x>=y);
break;
// case CS_ELESS:
default:
result = (x<=y);
}
}
}
}
return swtch > 0 ? result : !result;
}
bool getSwitch(int8_t swtch, bool nc)
{
s_last_switch_used = (nc<<15);
return __getSwitch(swtch);
}
uint8_t getFlightPhase() uint8_t getFlightPhase()
{ {
for (uint8_t i=1; i<MAX_PHASES; i++) { for (uint8_t i=1; i<MAX_PHASES; i++) {
@ -349,119 +463,6 @@ uint8_t getTrimFlightPhase(uint8_t idx, int8_t phase) // TODO uint8_t phase?
return 0; return 0;
} }
bool getSwitch(int8_t swtch, bool nc, uint8_t level)
{
if(level>5) return false; //prevent recursive loop going too deep
switch(swtch){
case 0: return nc;
case MAX_SWITCH: return true;
case -MAX_SWITCH: return false;
}
uint8_t dir = swtch>0;
if(abs(swtch)<(MAX_SWITCH-NUM_CSW)) {
if(!dir) return ! keyState((EnumKeys)(SW_BASE-swtch-1));
return keyState((EnumKeys)(SW_BASE+swtch-1));
}
//custom switch, Issue 78
//use putsChnRaw
//input -> 1..4 -> sticks, 5..8 pots
//MAX,FULL - disregard
//ppm
CustomSwData &cs = g_model.customSw[abs(swtch)-(MAX_SWITCH-NUM_CSW)];
if(!cs.func) return false;
int8_t a = cs.v1;
int8_t b = cs.v2;
int16_t x = 0;
int16_t y = 0;
// init values only if needed
uint8_t s = CS_STATE(cs.func);
if(s == CS_VOFS)
{
x = getValue(cs.v1-1);
#ifdef FRSKY
if (cs.v1 > CHOUT_BASE+NUM_CHNOUT)
y = 125+cs.v2;
else
#endif
y = calc100toRESX(cs.v2);
}
else if(s == CS_VCOMP)
{
x = getValue(cs.v1-1);
y = getValue(cs.v2-1);
}
switch (cs.func) {
case (CS_VPOS):
return swtch>0 ? (x>y) : !(x>y);
break;
case (CS_VNEG):
return swtch>0 ? (x<y) : !(x<y);
break;
case (CS_APOS):
{
bool res = (abs(x)>y) ;
return swtch>0 ? res : !res ;
}
break;
case (CS_ANEG):
{
bool res = (abs(x)<y) ;
return swtch>0 ? res : !res ;
}
break;
case (CS_AND):
case (CS_OR):
case (CS_XOR):
{
bool res1 = getSwitch(a,0,level+1) ;
bool res2 = getSwitch(b,0,level+1) ;
if ( cs.func == CS_AND )
{
return res1 && res2 ;
}
else if ( cs.func == CS_OR )
{
return res1 || res2 ;
}
else // CS_XOR
{
return res1 ^ res2 ;
}
}
break;
case (CS_EQUAL):
return (x==y);
case (CS_NEQUAL):
return (x!=y);
case (CS_GREATER):
return (x>y);
case (CS_LESS):
return (x<y);
case (CS_EGREATER):
return (x>=y);
case (CS_ELESS):
return (x<=y);
default:
return false;
}
}
//#define CS_EQUAL 8
//#define CS_NEQUAL 9
//#define CS_GREATER 10
//#define CS_LESS 11
//#define CS_EGREATER 12
//#define CS_ELESS 13
#if defined (PCBV3) && !defined (PCBV4) #if defined (PCBV3) && !defined (PCBV4)
// The ugly scanned keys thing should be gone for PCBV4+. In the meantime ... // The ugly scanned keys thing should be gone for PCBV4+. In the meantime ...
uint8_t keyDown() uint8_t keyDown()
@ -1084,7 +1085,6 @@ uint16_t isqrt32(uint32_t n)
// static variables used in perOut - moved here so they don't interfere with the stack // static variables used in perOut - moved here so they don't interfere with the stack
// It's also easier to initialize them here. // It's also easier to initialize them here.
uint16_t pulses2MHz[120] = {0};
int16_t anas [NUM_XCHNRAW] = {0}; int16_t anas [NUM_XCHNRAW] = {0};
int16_t trims[NUM_STICKS] = {0}; int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0}; int32_t chans[NUM_CHNOUT] = {0};
@ -1654,70 +1654,6 @@ uint8_t ppmInState = 0; //0=unsync 1..8= wait for value i-1
#ifndef SIMU #ifndef SIMU
#define HEART_TIMER2Mhz 1;
#define HEART_TIMER10ms 2;
uint8_t heartbeat;
ISR(TIMER1_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol;
static uint16_t *pulsePtr = pulses2MHz;
// TODO understand what Bryan did here
uint8_t i = 0;
while((TCNT1L < 10) && (++i < 50)) // Timer does not read too fast, so i
;
uint16_t dt=TCNT1;//-OCR1A;
//vinceofdrink@gmail harwared ppm
//Orginal bitbang for PPM
#ifndef DPPMPB7_HARDWARE
if(pulsePol)
{
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
pulsePol = 0;
}else{
PORTB &= ~(1<<OUT_B_PPM); // GCC optimisation should result in a single CBI instruction
pulsePol = 1;
}
g_tmr1Latency_max = max(dt,g_tmr1Latency_max); // max has leap, therefore vary in length
g_tmr1Latency_min = min(dt,g_tmr1Latency_min); // min has leap, therefore vary in length
#endif
OCR1A = *pulsePtr++;
//vinceofdrink@gmail harwared ppm
#if defined (DPPMPB7_HARDWARE)
OCR1C=OCR1A; //just copy the value of the OCR1A to OCR1C to test PPM out without to much change in the code not optimum but will not alter ppm precision
#endif
if( *pulsePtr == 0) {
//currpulse=0;
pulsePtr = pulses2MHz;
pulsePol = g_model.pulsePol;//0;
cli();
#if defined (PCBV3)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else
TIMSK &= ~(1<<OCIE1A); //stop reentrance
#endif
sei();
setupPulses();
cli();
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A);
#else
TIMSK |= (1<<OCIE1A);
#endif
sei();
}
heartbeat |= HEART_TIMER2Mhz;
}
volatile uint8_t g_tmr16KHz; //continuous timer 16ms (16MHz/1024/256) -- 8-bit counter overflow volatile uint8_t g_tmr16KHz; //continuous timer 16ms (16MHz/1024/256) -- 8-bit counter overflow
#if defined (PCBV3) #if defined (PCBV3)
ISR(TIMER2_OVF_vect) ISR(TIMER2_OVF_vect)
@ -1753,9 +1689,9 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#endif #endif
{ {
cli(); cli();
#if defined (PCBV3)
static uint8_t accuracyWarble = 4; // becasue 16M / 1024 / 100 = 156.25. So bump every 4. static uint8_t accuracyWarble = 4; // becasue 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156; uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
#if defined (PCBV3)
TIMSK2 &= ~(1<<OCIE2A); //stop reentrance TIMSK2 &= ~(1<<OCIE2A); //stop reentrance
OCR2A += bump; OCR2A += bump;
#else #else
@ -1763,6 +1699,8 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#if defined (BEEPSPKR) #if defined (BEEPSPKR)
OCR0 += 2; // run much faster, to generate speaker tones OCR0 += 2; // run much faster, to generate speaker tones
#else #else
static uint8_t accuracyWarble = 4; // becasue 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
OCR0 += bump; OCR0 += bump;
#endif #endif
#endif #endif
@ -2055,6 +1993,32 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
beepWarn1(); beepWarn1();
} }
#if defined (PCBV4)
// Rotary encoder interrupts
uint8_t volatile g_rotenc1, g_rotenc2 = 0;
ISR(INT2_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc1--;
}
ISR(INT3_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc1++;
}
ISR(INT5_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc2++;
}
ISR(INT6_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc2--;
}
#endif
#ifndef SIMU #ifndef SIMU
extern unsigned char __bss_end ; extern unsigned char __bss_end ;
@ -2077,13 +2041,13 @@ int main(void)
DDRA = 0xff; PORTA = 0x00; // LCD data DDRA = 0xff; PORTA = 0x00; // LCD data
#if defined (PCBV4) #if defined (PCBV4)
DDRB = 0b11000111; PORTB = 0b00111001; // 7:SPKR, 6:PPM_OUT, 5:TrainSW, 4:IDL2_SW, SDCARD[3:MISO 2:MOSI 1:SCK 0:CS] DDRB = 0b11000111; PORTB = 0b00111111; // 7:SPKR, 6:PPM_OUT, 5:TrainSW, 4:IDL2_SW, SDCARD[3:MISO 2:MOSI 1:SCK 0:CS]
DDRC = 0x3f; PORTC = 0xc0; // 7:AilDR, 6:EleDR, LCD[5,4,3,2,1[, 0:BackLight DDRC = 0x3f; PORTC = 0xc0; // 7:AilDR, 6:EleDR, LCD[5,4,3,2,1], 0:BackLight
DDRD = 0x00; PORTD = 0xfc; // 7/6:Spare3/4, 5:RENC2_PUSH, 4:RENC1_PUSH, 3:RENC2_B, 2:RENC2_A, 1:I2C_SDA, 0:I2C_SCL DDRD = 0x00; PORTD = 0b11111100; // 7/6:Spare3/4, 5:RENC2_PUSH, 4:RENC1_PUSH, 3:RENC2_B, 2:RENC2_A, 1:I2C_SDA, 0:I2C_SCL
DDRE = 0b00001010; PORTE = 0b11110101; // 7:PPM_IN, 6: RENC1_B, 5:RENC1_A, 4:USB_DNEG, 3:BUZZER, 2:USB_DPOS, 1:TELEM_TX, 0:TELEM_RX DDRE = 0b00001010; PORTE = 0b11110101; // 7:PPM_IN, 6: RENC1_B, 5:RENC1_A, 4:USB_DNEG, 3:BUZZER, 2:USB_DPOS, 1:TELEM_TX, 0:TELEM_RX
DDRF = 0x00; PORTF = 0x00; // 7-4:JTAG, 3:ADC_REF_1.2V input, 2-0:ADC_SPARE_2-0 DDRF = 0x00; PORTF = 0x00; // 7-4:JTAG, 3:ADC_REF_1.2V input, 2-0:ADC_SPARE_2-0
DDRG = 0b00010000; PORTG = 0xff; // 7-6:N/A, 5:GearSW, 4: Sim_Ctrl[out], 3:IDL1_Sw, 2:TCut_Sw, 1:RF_Power[in], 0: RudDr_Sw DDRG = 0b00010000; PORTG = 0xff; // 7-6:N/A, 5:GearSW, 4: Sim_Ctrl[out], 3:IDL1_Sw, 2:TCut_Sw, 1:RF_Power[in], 0: RudDr_Sw
DDRH = 0x00; PORTH = 0xff; // 7:0 Spare port -- all inputer for now [Bit 2:VIB_OPTION -- setting to input for now] DDRH = 0x00; PORTH = 0xff; // 7:0 Spare port -- all inputs for now [Bit 2:VIB_OPTION -- setting to input for now]
DDRJ = 0x00; PORTJ = 0xff; // 7-0:Trim switch inputs DDRJ = 0x00; PORTJ = 0xff; // 7-0:Trim switch inputs
DDRK = 0x00; PORTK = 0x00; // anain. No pull-ups! DDRK = 0x00; PORTK = 0x00; // anain. No pull-ups!
DDRL = 0x00; PORTL = 0xff; // 7-6:Spare6/5 (inputs), 5-0: User Button inputs DDRL = 0x00; PORTL = 0xff; // 7-6:Spare6/5 (inputs), 5-0: User Button inputs
@ -2218,15 +2182,6 @@ int main(void)
clearKeyEvents(); //make sure no keys are down before proceeding clearKeyEvents(); //make sure no keys are down before proceeding
//addon Vinceofdrink@gmail (hardware ppm)
#if defined (DPPMPB7_HARDWARE)
TCCR1A |=(1<<COM1C0); // (COM1C1=0 and COM1C0=1 in TCCR1A) toogle the state of PB7 on each TCNT1=OCR1C
#endif
setupPulses();
wdt_enable(WDTO_500MS);
perOut(g_chans512); perOut(g_chans512);
lcdSetRefVolt(g_eeGeneral.contrast); lcdSetRefVolt(g_eeGeneral.contrast);
@ -2234,14 +2189,6 @@ int main(void)
if(cModel!=g_eeGeneral.currModel) eeDirty(EE_GENERAL); // if model was quick-selected, make sure it sticks if(cModel!=g_eeGeneral.currModel) eeDirty(EE_GENERAL); // if model was quick-selected, make sure it sticks
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#endif
#if defined (PCBV3) #if defined (PCBV3)
// Initialise global unix timestamp with current time from RTC chip on SD card interface // Initialise global unix timestamp with current time from RTC chip on SD card interface
RTC rtc; RTC rtc;
@ -2257,6 +2204,54 @@ int main(void)
g_unixTime = mktime(&utm); g_unixTime = mktime(&utm);
#endif #endif
#if defined (PCBV4)
/***************************************************/
/* Rotary encoder interrupt set-up (V4 board only) */
// All external interrupts initialise to disabled. But maybe not after
// a WDT or BOD event? So to be safe ...
EIMSK = 0; // disable ALL external interrupts.
// encoder 1
EICRB = (1<<ISC60) | (1<<ISC50); // 01 = interrupt on any edge
EIFR = (3<<INTF5); // clear the int. flag in case it got set when changing modes
// encoder 2
EICRA = (1<<ISC30) | (1<<ISC20); // do the same for encoder 1
EIFR = (3<<INTF2);
EIMSK = (3<<INT5) | (3<<INT2); // enable the two rot. enc. ext. int. pairs.
/***************************************************/
#endif
/***********************************************************/
/*** Keep this code block directly before the main loop ****/
setupPulses();
#if defined (PCBV4)
OCR1B = 0xffff; /* Prevent any PPM_PUT pin toggle before the TCNT1 interrupt
fires for the first time and sets up the pulse period. */
// TCCR1A |= (1<<COM1B0); // (COM1B1=0 and COM1B0=1 in TCCR1A) toogle the state of PB6(OC1B) on each TCNT1==OCR1B
TCCR1A = (3<<COM1B0); // Connect OC1B to PPM_OUT pin (SET the state of PB6(OC1B) on next TCNT1==OCR1B)
#else
//addon Vinceofdrink@gmail (hardware ppm)
# if defined (DPPMPB7_HARDWARE)
OCR1C = 0xffff; // See comment for PCBV4, above
TCCR1A |= (1<<COM1C0); // (COM1C1=0 and COM1C0=1 in TCCR1A) toogle the state of PB7(OC1C) on each TCNT1==OCR1C
# endif
#endif
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#endif
wdt_enable(WDTO_500MS);
/*** Keep this code block directly before the main loop ****/
/***********************************************************/
while(1){ while(1){
uint16_t t0 = getTmr16KHz(); uint16_t t0 = getTmr16KHz();
getADC[g_eeGeneral.filterInput](); getADC[g_eeGeneral.filterInput]();

27
src/gruvin9x.h
View file

@ -393,6 +393,8 @@ enum EnumKeys {
#define EVT_ENTRY_UP (0xfe - _MSK_KEY_REPT) #define EVT_ENTRY_UP (0xfe - _MSK_KEY_REPT)
#define EVT_KEY_MASK 0x0f #define EVT_KEY_MASK 0x0f
#define HEART_TIMER2Mhz 1
#define HEART_TIMER10ms 2
#define TMRMODE_NONE 0 #define TMRMODE_NONE 0
#define TMRMODE_ABS 1 #define TMRMODE_ABS 1
@ -401,14 +403,18 @@ enum EnumKeys {
#define MAX_ALERT_TIME 60 #define MAX_ALERT_TIME 60
#define PROTO_PPM 0 #define PROTO_PPM 0
#define PROTO_SILV_A 1 #define PROTO_PXX 1
#define PROTO_SILV_B 2 #define PROTO_DSM2 2
#define PROTO_SILV_C 3 #define PROTO_SILV_A 3
#define PROTO_TRACER_CTP1009 4 #define PROTO_SILV_B 4
#define PROT_MAX 4 #define PROTO_SILV_C 5
#define PROT_STR "PPM SILV_ASILV_BSILV_CTRAC09" #define PROTO_CTP1009 6
#define PROT_MAX 6
#define PROT_STR "PPM PXX DSM2 SILV_ASILV_BSILV_CTRAC09"
#define PROT_STR_LEN 6 #define PROT_STR_LEN 6
extern uint8_t heartbeat;
typedef void (*getADCp)(); typedef void (*getADCp)();
#define ZCHAR_MAX 40 #define ZCHAR_MAX 40
@ -459,7 +465,7 @@ extern void perOut(int16_t *chanOut, uint8_t att);
/// 1.. MAX_SWITCH : SW_ON .. SW_Trainer /// 1.. MAX_SWITCH : SW_ON .. SW_Trainer
/// -1..-MAX_SWITCH : negierte Werte /// -1..-MAX_SWITCH : negierte Werte
/// \param nc Wert, der bei swtch==0 geliefert wird. /// \param nc Wert, der bei swtch==0 geliefert wird.
bool getSwitch(int8_t swtch, bool nc, uint8_t level=0); bool getSwitch(int8_t swtch, bool nc);
/// Zeigt den Namen des Switches 'swtch' im display an /// Zeigt den Namen des Switches 'swtch' im display an
/// \param x x-koordinate 0..127 /// \param x x-koordinate 0..127
/// \param y y-koordinate 0..63 (nur durch 8 teilbar) /// \param y y-koordinate 0..63 (nur durch 8 teilbar)
@ -542,12 +548,13 @@ extern uint8_t s_eeDirtyMsk;
#define DIM(arr) (sizeof((arr))/sizeof((arr)[0])) #define DIM(arr) (sizeof((arr))/sizeof((arr)[0]))
/// liefert Betrag des Arguments /// liefert Betrag des Arguments
template<class t> inline t abs(t a){ return a>0?a:-a; } template<class t> inline t __attribute__ ((always_inline)) abs(t a){ return a>0?a:-a; }
/// liefert das Minimum der Argumente /// liefert das Minimum der Argumente
template<class t> inline t min(t a, t b){ return a<b?a:b; } template<class t> inline t min(t a, t b){ return a<b?a:b; }
/// liefert das Maximum der Argumente /// liefert das Maximum der Argumente
template<class t> inline t max(t a, t b){ return a>b?a:b; } template<class t> inline t max(t a, t b){ return a>b?a:b; }
template<class t> inline int8_t sgn(t a){ return a>0 ? 1 : (a < 0 ? -1 : 0); } template<class t> inline int8_t sgn(t a){ return a>0 ? 1 : (a < 0 ? -1 : 0); }
template<class t> inline t limit(t mi, t x, t ma){ return min(max(mi,x),ma); }
/// Markiert einen EEPROM-Bereich als dirty. der Bereich wird dann in /// Markiert einen EEPROM-Bereich als dirty. der Bereich wird dann in
/// eeCheck ins EEPROM zurueckgeschrieben. /// eeCheck ins EEPROM zurueckgeschrieben.
@ -602,9 +609,6 @@ extern inline uint16_t get_tmr10ms()
#define SUB_MODE_H_DBL 3 #define SUB_MODE_H_DBL 3
void setupPulses(); void setupPulses();
void setupPulsesPPM();
void setupPulsesSilver();
void setupPulsesTracerCtp1009();
void initTemplates(); void initTemplates();
@ -638,7 +642,6 @@ extern volatile uint8_t g_blinkTmr10ms;
extern uint8_t g_beepCnt; extern uint8_t g_beepCnt;
extern uint8_t g_beepVal[5]; extern uint8_t g_beepVal[5];
extern const PROGMEM char modi12x3[]; extern const PROGMEM char modi12x3[];
extern uint16_t pulses2MHz[120];
extern int16_t g_ppmIns[8]; extern int16_t g_ppmIns[8];
extern int16_t g_chans512[NUM_CHNOUT]; extern int16_t g_chans512[NUM_CHNOUT];
extern volatile uint8_t tick10ms; extern volatile uint8_t tick10ms;

16
src/gtests.cpp
View file

@ -234,6 +234,22 @@ TEST(FrSky, dateNtime) {
EXPECT_EQ(frskyHubData.sec, 50); EXPECT_EQ(frskyHubData.sec, 50);
} }
TEST(getSwitch, undefCSW) {
memset(&g_model, 0, sizeof(g_model));
EXPECT_EQ(getSwitch(MAX_SWITCH-NUM_CSW, 0), false);
EXPECT_EQ(getSwitch(-(MAX_SWITCH-NUM_CSW), 0), false);
}
TEST(getSwitch, circularCSW) {
memset(&g_model, 0, sizeof(g_model));
g_model.customSw[0] = { MAX_SWITCH-NUM_CSW, MAX_SWITCH-NUM_CSW, CS_OR };
g_model.customSw[1] = { MAX_SWITCH-NUM_CSW, MAX_SWITCH-NUM_CSW, CS_AND };
EXPECT_EQ(getSwitch(MAX_SWITCH-NUM_CSW, 0), false);
EXPECT_EQ(getSwitch(-(MAX_SWITCH-NUM_CSW), 0), true);
EXPECT_EQ(getSwitch(1+MAX_SWITCH-NUM_CSW, 0), false);
EXPECT_EQ(getSwitch(-(1+MAX_SWITCH-NUM_CSW), 0), true);
}
int main(int argc, char **argv) { int main(int argc, char **argv) {
::testing::InitGoogleTest(&argc, argv); ::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();

15
src/lcd.cpp
View file

@ -275,7 +275,7 @@ void lcd_outdezNAtt(uint8_t x, uint8_t y, int16_t val, uint8_t flags, uint8_t le
void lcd_mask(uint8_t *p, uint8_t mask, uint8_t att) void lcd_mask(uint8_t *p, uint8_t mask, uint8_t att)
{ {
assert(p < DISPLAY_END); assert(p >= displayBuf && p < DISPLAY_END);
if (att & BLACK) if (att & BLACK)
*p |= mask; *p |= mask;
@ -326,13 +326,13 @@ void lcd_vlineStip(uint8_t x, int8_t y, int8_t h, uint8_t pat)
uint8_t *p = &displayBuf[ y / 8 * DISPLAY_W + x ]; uint8_t *p = &displayBuf[ y / 8 * DISPLAY_W + x ];
y = y % 8; y = y % 8;
if (y) { if (y) {
assert(p < DISPLAY_END); assert(p >= displayBuf && p < DISPLAY_END);
*p ^= ~(BITMASK(y)-1) & pat; *p ^= ~(BITMASK(y)-1) & pat;
p += DISPLAY_W; p += DISPLAY_W;
h -= 8-y; h -= 8-y;
} }
while (h>0) { while (h>0) {
assert(p < DISPLAY_END); assert(p >= displayBuf && p < DISPLAY_END);
*p ^= pat; *p ^= pat;
p += DISPLAY_W; p += DISPLAY_W;
h -= 8; h -= 8;
@ -340,7 +340,7 @@ void lcd_vlineStip(uint8_t x, int8_t y, int8_t h, uint8_t pat)
h = (h+8) % 8; h = (h+8) % 8;
if (h) { if (h) {
p -= DISPLAY_W; p -= DISPLAY_W;
assert(p < DISPLAY_END); assert(p >= displayBuf && p < DISPLAY_END);
*p ^= ~(BITMASK(h)-1) & pat; *p ^= ~(BITMASK(h)-1) & pat;
} }
} }
@ -360,10 +360,11 @@ void lcd_rect(uint8_t x, uint8_t y, uint8_t w, uint8_t h, uint8_t pat, uint8_t a
} }
} }
void lcd_filled_rect(uint8_t x, uint8_t y, uint8_t w, uint8_t h, uint8_t att) void lcd_filled_rect(uint8_t x, int8_t y, uint8_t w, uint8_t h, uint8_t att)
{ {
for (uint8_t i=y; i<y+h; i++) for (int8_t i=y; i<y+h; i++) {
lcd_hline(x, i, w, att); if (i>=0 && i<64) lcd_hline(x, i, w, att);
}
} }
void putsTime(uint8_t x,uint8_t y,int16_t tme,uint8_t att,uint8_t att2) void putsTime(uint8_t x,uint8_t y,int16_t tme,uint8_t att,uint8_t att2)

4
src/lcd.h
View file

@ -81,6 +81,8 @@ extern void lcd_outdezAtt(uint8_t x, uint8_t y, int16_t val, uint8_t mode=0);
extern void lcd_outdezNAtt(uint8_t x, uint8_t y, int16_t val, uint8_t mode=0, uint8_t len=0); extern void lcd_outdezNAtt(uint8_t x, uint8_t y, int16_t val, uint8_t mode=0, uint8_t len=0);
extern void lcd_outdez8(uint8_t x, uint8_t y, int8_t val); extern void lcd_outdez8(uint8_t x, uint8_t y, int8_t val);
extern void putsStrIdx(uint8_t x, uint8_t y, const prog_char *str, uint8_t idx, uint8_t att=0);
extern void putsModelName(uint8_t x, uint8_t y, char *name, uint8_t id, uint8_t att); extern void putsModelName(uint8_t x, uint8_t y, char *name, uint8_t id, uint8_t att);
extern void putsSwitches(uint8_t x, uint8_t y, int8_t swtch, uint8_t att=0); extern void putsSwitches(uint8_t x, uint8_t y, int8_t swtch, uint8_t att=0);
extern void putsFlightPhase(uint8_t x, uint8_t y, int8_t idx, uint8_t att=0); extern void putsFlightPhase(uint8_t x, uint8_t y, int8_t idx, uint8_t att=0);
@ -107,7 +109,7 @@ extern void lcd_vline(uint8_t x, int8_t y, int8_t h);
extern void lcd_vlineStip(uint8_t x, int8_t y, int8_t h, uint8_t pat); extern void lcd_vlineStip(uint8_t x, int8_t y, int8_t h, uint8_t pat);
extern void lcd_rect(uint8_t x, uint8_t y, uint8_t w, uint8_t h, uint8_t pat=0xff, uint8_t att=0); extern void lcd_rect(uint8_t x, uint8_t y, uint8_t w, uint8_t h, uint8_t pat=0xff, uint8_t att=0);
extern void lcd_filled_rect(uint8_t x, uint8_t y, uint8_t w, uint8_t h, uint8_t att=0); extern void lcd_filled_rect(uint8_t x, int8_t y, uint8_t w, uint8_t h, uint8_t att=0);
inline void lcd_square(uint8_t x, uint8_t y, uint8_t w, uint8_t att=0) { lcd_rect(x, y, w, w, 0xff, att); } inline void lcd_square(uint8_t x, uint8_t y, uint8_t w, uint8_t att=0) { lcd_rect(x, y, w, w, 0xff, att); }
#define DO_CROSS(xx,yy,ww) \ #define DO_CROSS(xx,yy,ww) \

212
src/menus.cpp
View file

@ -303,215 +303,3 @@ void pushMenu(MenuFuncP newMenu)
g_menuStack[g_menuStackPtr] = newMenu; g_menuStack[g_menuStackPtr] = newMenu;
(*newMenu)(EVT_ENTRY); (*newMenu)(EVT_ENTRY);
} }
/******************************************************************************
the functions below are from int-level
the functions below are from int-level
the functions below are from int-level
******************************************************************************/
void setupPulses()
{
switch(g_model.protocol)
{
case PROTO_PPM:
setupPulsesPPM();
break;
case PROTO_SILV_A:
case PROTO_SILV_B:
case PROTO_SILV_C:
setupPulsesSilver();
break;
case PROTO_TRACER_CTP1009:
setupPulsesTracerCtp1009();
break;
}
}
//inline int16_t reduceRange(int16_t x) // for in case we want to have room for subtrims
//{
// return x-(x/4); //512+128 =? 640, 640 - 640/4 == 640 * 3/4 => 480 (just below 500msec - it can still reach 500 with offset)
//}
void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
{
#define PPM_CENTER 1200*2
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz so everything is multiplied by 2
// G: Found the following reference at th9x. The below code does not seem
// to produce quite exactly this, to my eye. *shrug*
// http://www.aerodesign.de/peter/2000/PCM/frame_ppm.gif
uint8_t j=0;
uint8_t p=8+g_model.ppmNCH*2; //Channels *2
uint16_t q=(g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest=22500u*2-q; //Minimum Framelen=22.5 ms
if(p>9) rest=p*(1720u*2 + q) + 4000u*2; //for more than 9 channels, frame must be longer
for(uint8_t i=0;i<p;i++){ //NUM_CHNOUT
int16_t v = max(min(g_chans512[i],(int16_t)PPM_range),(int16_t)-PPM_range) + (int16_t)PPM_CENTER;
rest-=(v+q);
pulses2MHz[j++] = q;
pulses2MHz[j++] = v - q + 600; /* as Pat MacKenzie suggests */
}
pulses2MHz[j++]=q;
pulses2MHz[j++]=rest;
pulses2MHz[j++]=0;
}
uint16_t *pulses2MHzPtr;
#define BITLEN (600u*2)
void _send_hilo(uint16_t hi,uint16_t lo)
{
*pulses2MHzPtr++=hi; *pulses2MHzPtr++=lo;
}
#define send_hilo_silv( hi, lo) _send_hilo( (hi)*BITLEN,(lo)*BITLEN )
void sendBitSilv(uint8_t val)
{
send_hilo_silv((val)?2:1,(val)?2:1);
}
void send2BitsSilv(uint8_t val)
{
sendBitSilv(val&2);sendBitSilv(val&1);
}
// _ oder - je 0.6ms (gemessen 0.7ms)
//
//____-----_-_-_--_--_ -_--__ -_-_-_-_ -_-_-_-_ --__--__-_______
// trailer chan m1 m2
//
//see /home/thus/txt/silverlit/thus.txt
//m1, m2 most significant bit first |m1-m2| <= 9
//chan: 01=C 10=B
//chk = 0 - chan -m1>>2 -m1 -m2>>2 -m2
//<= 500us Probleme
//>= 650us Probleme
//periode orig: 450ms
void setupPulsesSilver()
{
int8_t chan=1; //chan 1=C 2=B 0=A?
switch(g_model.protocol)
{
case PROTO_SILV_A: chan=0; break;
case PROTO_SILV_B: chan=2; break;
case PROTO_SILV_C: chan=1; break;
}
int8_t m1 = (uint16_t)(g_chans512[0]+1024)*2 / 256;
int8_t m2 = (uint16_t)(g_chans512[1]+1024)*2 / 256;
if (m1 < 0) m1=0;
if (m2 < 0) m2=0;
if (m1 > 15) m1=15;
if (m2 > 15) m2=15;
if (m2 > m1+9) m1=m2-9;
if (m1 > m2+9) m2=m1-9;
//uint8_t i=0;
pulses2MHzPtr=pulses2MHz;
send_hilo_silv(5,1); //idx 0 erzeugt pegel=0 am Ausgang, wird als high gesendet
send2BitsSilv(0);
send_hilo_silv(2,1);
send_hilo_silv(2,1);
send2BitsSilv(chan); //chan 1=C 2=B 0=A?
uint8_t sum = 0 - chan;
send2BitsSilv(m1>>2); //m1
sum-=m1>>2;
send2BitsSilv(m1);
sum-=m1;
send2BitsSilv(m2>>2); //m2
sum-=m2>>2;
send2BitsSilv(m2);
sum-=m2;
send2BitsSilv(sum); //chk
sendBitSilv(0);
pulses2MHzPtr--;
send_hilo_silv(50,0); //low-impuls (pegel=1) ueberschreiben
}
/*
TRACE CTP-1009
- = send 45MHz
_ = send nix
start1 0 1 start2
-------__ --_ -__ -----__
7ms 2 .8 .4 .4 .8 5 2
frame:
start1 24Bits_1 start2 24_Bits2
24Bits_1:
7 x Bits Throttle lsb first
1 x 0
6 x Bits rotate lsb first
1 x Bit 1=rechts
1 x 0
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
24Bits_2:
7 x Bits Vorwaets lsb first 0x3f = mid
1 x 1
7 x Bits 0x0e lsb first
1 x 1
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
*/
#define BIT_TRA (400u*2)
void sendBitTra(uint8_t val)
{
if(val) _send_hilo( BIT_TRA*1 , BIT_TRA*2 );
else _send_hilo( BIT_TRA*2 , BIT_TRA*1 );
}
void sendByteTra(uint8_t val)
{
for(uint8_t i=0; i<8; i++, val>>=1) sendBitTra(val&1);
}
void setupPulsesTracerCtp1009()
{
pulses2MHzPtr=pulses2MHz;
static bool phase;
if( (phase=!phase) ){
uint8_t thr = min(127u,(uint16_t)(g_chans512[0]+1024+8) / 16u);
uint8_t rot;
if (g_chans512[1] >= 0)
{
rot = min(63u,(uint16_t)( g_chans512[1]+16) / 32u) | 0x40;
}else{
rot = min(63u,(uint16_t)(-g_chans512[1]+16) / 32u);
}
sendByteTra(thr);
sendByteTra(rot);
uint8_t chk=thr^rot;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 5000*2, 2000*2 );
}else{
uint8_t fwd = min(127u,(uint16_t)(g_chans512[2]+1024) / 16u) | 0x80;
sendByteTra(fwd);
sendByteTra(0x8e);
uint8_t chk=fwd^0x8e;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 7000*2, 2000*2 );
}
*pulses2MHzPtr++=0;
if((pulses2MHzPtr-pulses2MHz) >= (signed)DIM(pulses2MHz)) alert(PSTR("pulse tab overflow"));
}

253
src/model_menus.cpp
View file

@ -67,6 +67,7 @@ void menuProcTelemetry(uint8_t event);
#ifdef TEMPLATES #ifdef TEMPLATES
void menuProcTemplates(uint8_t event); void menuProcTemplates(uint8_t event);
#endif #endif
void menuProcExpoOne(uint8_t event);
MenuFuncP_PROGMEM APM menuTabModel[] = { MenuFuncP_PROGMEM APM menuTabModel[] = {
menuProcModelSelect, menuProcModelSelect,
@ -678,99 +679,137 @@ void menuProcHeli(uint8_t event)
static uint8_t s_curveChan; static uint8_t s_curveChan;
typedef int16_t (*FnFuncP) (int16_t x);
int16_t expoFn(int16_t x)
{
ExpoData *ed = expoaddress(s_currIdx);
int16_t anas[NUM_STICKS] = {0};
anas[ed->chn] = x;
applyExpos(anas);
return anas[ed->chn];
}
int16_t curveFn(int16_t x)
{
return intpol(x, s_curveChan);
}
void DrawCurve(FnFuncP fn)
{
lcd_vlineStip(X0, 0, DISPLAY_H, 0xee);
lcd_hlineStip(X0-WCHART, Y0, WCHART*2, 0xee);
for (int8_t xv=-WCHART+1; xv<WCHART; xv++) {
uint16_t yv = (RESX + fn(xv * (RESX/WCHART))) / 2;
yv = (DISPLAY_H-1) - yv * (DISPLAY_H-1) / RESX;
lcd_plot(X0+xv, yv, BLACK);
}
}
void menuProcCurveOne(uint8_t event) void menuProcCurveOne(uint8_t event)
{ {
#define XD X0-2 uint8_t points;
bool cv9 = s_curveChan >= MAX_CURVE5; int8_t *crv;
static int8_t dfltCrv;
static uint8_t autoThrStep;
SUBMENU("CURVE", 2+(cv9 ? 9 : 5), { 9, 0/*repeated...*/}); TITLE("CURVE");
lcd_outdezAtt(6*FW, 0, s_curveChan+1, INVERS); lcd_outdezAtt(5*FW+1, 0, s_curveChan+1, INVERS|LEFT);
int8_t *crv = cv9 ? g_model.curves9[s_curveChan-MAX_CURVE5] : g_model.curves5[s_curveChan]; if (s_curveChan >= MAX_CURVE5) {
points = 9;
crv = g_model.curves9[s_curveChan-MAX_CURVE5];
}
else {
points = 5;
crv = g_model.curves5[s_curveChan];
}
int8_t sub = m_posVert-1; switch(event) {
int8_t subSub = m_posHorz; case EVT_ENTRY:
dfltCrv = 0;
switch(event){ autoThrStep = 0;
break;
case EVT_KEY_FIRST(KEY_MENU):
if (!s_editMode) {
switch (m_posHorz) {
case 0:
s_editMode = true;
break;
case 1:
if (++dfltCrv > 4)
dfltCrv = -4;
for (uint8_t i=0; i<points; i++)
crv[i] = (i-(points/2)) * dfltCrv * 50 / (points-1);
break;
case 2:
crv[0] = -100; crv[points-1] = 100;
autoThrStep = 1; // the lowest point first
// s_autoThrValue =
break;
}
}
break;
case EVT_KEY_FIRST(KEY_EXIT): case EVT_KEY_FIRST(KEY_EXIT):
if(subSub!=0) { killEvents(event);
subSub = m_posHorz = 0; if (autoThrStep) {
killEvents(event); autoThrStep = 0;
}
else if (s_editMode) {
m_posHorz = 0;
s_editMode = false;
}
else {
popMenu();
} }
break; break;
case EVT_KEY_REPT(KEY_LEFT): case EVT_KEY_REPT(KEY_LEFT):
case EVT_KEY_FIRST(KEY_LEFT): case EVT_KEY_FIRST(KEY_LEFT):
if (s_editMode && subSub>0) m_posHorz--; if (!autoThrStep && m_posHorz>0) m_posHorz--;
break; break;
case EVT_KEY_REPT(KEY_RIGHT): case EVT_KEY_REPT(KEY_RIGHT):
case EVT_KEY_FIRST(KEY_RIGHT): case EVT_KEY_FIRST(KEY_RIGHT):
if(s_editMode && subSub<(cv9 ? 9 : 5)) m_posHorz++; if (!autoThrStep && m_posHorz<(s_editMode ? points-1 : ((g_menuStack[g_menuStackPtr-1] == menuProcExpoOne && IS_THROTTLE(expoaddress(s_currIdx)->chn)) ? 2 : 1))) m_posHorz++;
break; break;
} }
s_editMode = m_posHorz; for (uint8_t i = 0; i < points; i++) {
uint8_t x, y;
for (uint8_t i = 0; i < 5; i++) { if (i>4) {
uint8_t y = i * FH + 16; x = 8*FW; y = (i-4) * FH;
uint8_t attr = sub == i ? INVERS : 0;
lcd_outdezAtt(4 * FW, y, crv[i], attr);
}
if(cv9)
for (uint8_t i = 0; i < 4; i++) {
uint8_t y = i * FH + 16;
uint8_t attr = sub == i + 5 ? INVERS : 0;
lcd_outdezAtt(8 * FW, y, crv[i + 5], attr);
} }
lcd_putsAtt( 2*FW, 1*FH,PSTR("EDIT->"),((sub == -1) && (subSub == 0)) ? INVERS : 0); else {
lcd_putsAtt( 2*FW, 7*FH,PSTR("PRESET"),sub == (cv9 ? 9 : 5) ? INVERS : 0); x = 4*FW; y = (i+1) * FH;
static int8_t dfltCrv;
if((sub<(cv9 ? 9 : 5)) && (sub>-1)) CHECK_INCDEC_MODELVAR( event, crv[sub], -100,100);
else if(sub>0){ //make sure we're not on "EDIT"
dfltCrv = checkIncDec(event, dfltCrv, -4, 4, EE_MODEL);
if (checkIncDec_Ret) {
if(cv9) for (uint8_t i = 0; i < 9; i++) crv[i] = (i-4)*dfltCrv* 100 / 16;
else for (uint8_t i = 0; i < 5; i++) crv[i] = (i-2)*dfltCrv* 100 / 8;
} }
uint8_t attr = (s_editMode && m_posHorz == i) ? INVERS : 0;
lcd_outdezAtt(x, y, crv[i], attr);
} }
if(s_editMode) lcd_puts_P(0*FW, 7*FH, PSTR("MODE"));
{ lcd_putsnAtt(5*FW-2, 7*FH, PSTR("EDIT ""PRSET""A.THR")+5*(!s_editMode)*m_posHorz, 5, s_editMode || autoThrStep ? 0 : INVERS);
for(uint8_t i=0; i<(cv9 ? 9 : 5); i++)
{
uint8_t xx = XD-1-WCHART+i*WCHART/(cv9 ? 4 : 2);
uint8_t yy = Y0-crv[i]*WCHART/100;
if (s_editMode || autoThrStep) {
for (uint8_t i=0; i<points; i++) {
uint8_t xx = X0-1-WCHART+i*WCHART/(points/2);
uint8_t yy = (DISPLAY_H-1) - (100 + crv[i]) * (DISPLAY_H-1) / 200;
if(subSub==(i+1)) if (autoThrStep) {
{ if (autoThrStep==i+1)
if((yy-2)<WCHART*2) lcd_hline( xx-1, yy-2, 5); //do selection square lcd_filled_rect(xx-1, yy-2, 5, 5); // do selection square
if((yy-1)<WCHART*2) lcd_hline( xx-1, yy-1, 5);
if(yy<WCHART*2) lcd_hline( xx-1, yy , 5);
if((yy+1)<WCHART*2) lcd_hline( xx-1, yy+1, 5);
if((yy+2)<WCHART*2) lcd_hline( xx-1, yy+2, 5);
if(p1valdiff || event==EVT_KEY_FIRST(KEY_DOWN) || event==EVT_KEY_FIRST(KEY_UP) || event==EVT_KEY_REPT(KEY_DOWN) || event==EVT_KEY_REPT(KEY_UP))
CHECK_INCDEC_MODELVAR( event, crv[i], -100,100); // edit on up/down
} }
else else if (m_posHorz==i) {
{ lcd_filled_rect(xx-1, yy-2, 5, 5); // do selection square
if((yy-1)<WCHART*2) lcd_hline( xx, yy-1, 3); // do markup square if (p1valdiff || event==EVT_KEY_FIRST(KEY_DOWN) || event==EVT_KEY_FIRST(KEY_UP) || event==EVT_KEY_REPT(KEY_DOWN) || event==EVT_KEY_REPT(KEY_UP))
if(yy<WCHART*2) lcd_hline( xx, yy , 3); CHECK_INCDEC_MODELVAR( event, crv[i], -100,100); // edit on up/down
if((yy+1)<WCHART*2) lcd_hline( xx, yy+1, 3); }
else {
lcd_filled_rect(xx, yy-1, 3, 3); // do markup square
} }
} }
} }
for (uint8_t xv = 0; xv < WCHART * 2; xv++) { DrawCurve(curveFn);
uint16_t yv = intpol(xv * (RESXu / WCHART) - RESXu, s_curveChan) / (RESXu
/ WCHART);
lcd_plot(XD + xv - WCHART, Y0 - yv);
if ((xv & 3) == 0) {
lcd_plot(XD + xv - WCHART, Y0 + 0);
}
}
lcd_vline(XD, Y0 - WCHART, WCHART * 2);
} }
uint8_t getExpoMixCount(uint8_t expo) uint8_t getExpoMixCount(uint8_t expo)
@ -1001,19 +1040,10 @@ void menuProcExpoOne(uint8_t event)
y+=FH; y+=FH;
} }
lcd_vlineStip(X0, 0, DISPLAY_H, 0xee); DrawCurve(expoFn);
lcd_hlineStip(X0-WCHART, Y0, WCHART*2, 0xee);
int16_t anas[NUM_STICKS] = {0};
for(int8_t xv=-WCHART; xv<WCHART; xv++) {
anas[ed->chn] = xv*(RESX/WCHART);
applyExpos(anas);
uint16_t yv = (RESX + anas[ed->chn]) / 2;
yv = (DISPLAY_H-1) - yv * (DISPLAY_H-1) / RESX;
lcd_plot(X0+xv, yv, BLACK);
}
int16_t x512 = calibratedStick[ed->chn]; int16_t x512 = calibratedStick[ed->chn];
int16_t anas[NUM_STICKS] = {0};
anas[ed->chn] = x512; anas[ed->chn] = x512;
applyExpos(anas); applyExpos(anas);
int16_t y512 = anas[ed->chn]; int16_t y512 = anas[ed->chn];
@ -1123,7 +1153,6 @@ static uint8_t s_maxLines = 8;
static uint8_t s_copySrcIdx; static uint8_t s_copySrcIdx;
static uint8_t s_copySrcCh; static uint8_t s_copySrcCh;
#define FIRST 0x10
inline void displayMixerLine(uint8_t row, uint8_t mix, uint8_t ch, uint8_t idx, uint8_t cur, uint8_t event) inline void displayMixerLine(uint8_t row, uint8_t mix, uint8_t ch, uint8_t idx, uint8_t cur, uint8_t event)
{ {
uint8_t y = (row-s_pgOfs)*FH; uint8_t y = (row-s_pgOfs)*FH;
@ -1173,7 +1202,7 @@ inline void displayExpoLine(uint8_t row, uint8_t expo, uint8_t ch, uint8_t idx,
lcd_outdezAtt(9*FW+1, y, ed->expo, 0); lcd_outdezAtt(9*FW+1, y, ed->expo, 0);
putsFlightPhase(10*FW, y, ed->negPhase ? -ed->phase : +ed->phase); putsFlightPhase(10*FW, y, ed->negPhase ? -ed->phase : +ed->phase);
putsSwitches(13*FW+4, y, ed->swtch, 0); // normal switches putsSwitches(13*FW+4, y, ed->swtch, 0); // normal switches
if (ed->mode!=3) lcd_putc(17*FW, y, ed->mode == 2 ? 127 : 126);//'|' : (stkVal[i] ? '<' : '>'),0);*/ if (ed->mode!=3) lcd_putc(17*FW, y, ed->mode == 2 ? 126 : 127);//'|' : (stkVal[i] ? '<' : '>'),0);*/
if (ed->curve) putsCurve(18*FW+2, y, ed->curve+(ed->curve >= CURVE_BASE+4 ? 4 : 0)); if (ed->curve) putsCurve(18*FW+2, y, ed->curve+(ed->curve >= CURVE_BASE+4 ? 4 : 0));
if (s_copyMode) { if (s_copyMode) {
@ -1394,31 +1423,25 @@ void menuProcLimits(uint8_t event)
static bool swVal[NUM_CHNOUT]; static bool swVal[NUM_CHNOUT];
uint8_t y = 0; int8_t sub = m_posVert - 1;
uint8_t k = 0;
int8_t sub = m_posVert - 1;
switch(event) for (uint8_t i=0; i<7; i++) {
{ uint8_t y = (i+1)*FH;
case EVT_KEY_LONG(KEY_MENU): uint8_t k = i+s_pgOfs;
if(sub>=0 && sub<NUM_CHNOUT) {
int16_t v = g_chans512[sub - s_pgOfs]; if (k==NUM_CHNOUT) {
LimitData *ld = limitaddress(sub); //last line available - add the "copy trim menu" line
switch (m_posHorz) { uint8_t attr = (sub==NUM_CHNOUT) ? INVERS : 0;
case 0: lcd_putsAtt(3*FW, y, PSTR("COPY TRIM [MENU]"), s_noHi ? 0 : attr);
ld->offset = (ld->revert) ? -v : v; if (attr && event==EVT_KEY_LONG(KEY_MENU)) {
STORE_MODELVARS; s_noHi = NO_HI_LEN;
break; killEvents(event);
} moveTrimsToOffsets(); // if highlighted and menu pressed - copy trims
} }
break; return;
} }
for(uint8_t i=0; i<7; i++){ LimitData *ld = limitaddress(k) ;
y=(i+1)*FH;
k=i+s_pgOfs;
if(k==NUM_CHNOUT) break;
LimitData *ld = limitaddress( k ) ;
int16_t v = (ld->revert) ? -ld->offset : ld->offset; int16_t v = (ld->revert) ? -ld->offset : ld->offset;
if((g_chans512[k] - v) > 50) swVal[k] = (true==ld->revert);// Switch to raw inputs? - remove trim! if((g_chans512[k] - v) > 50) swVal[k] = (true==ld->revert);// Switch to raw inputs? - remove trim!
if((g_chans512[k] - v) < -50) swVal[k] = (false==ld->revert); if((g_chans512[k] - v) < -50) swVal[k] = (false==ld->revert);
@ -1434,6 +1457,12 @@ void menuProcLimits(uint8_t event)
if (active) { if (active) {
ld->offset = checkIncDec(event, ld->offset, -1000, 1000, EE_MODEL); ld->offset = checkIncDec(event, ld->offset, -1000, 1000, EE_MODEL);
} }
else if (attr && event==EVT_KEY_LONG(KEY_MENU)) {
int16_t zero = g_chans512[k];
ld->offset = (ld->revert) ? -zero : zero;
s_editMode = false;
STORE_MODELVARS;
}
break; break;
case 1: case 1:
lcd_outdezAtt( 12*FW, y, (int8_t)(ld->min-100), attr); lcd_outdezAtt( 12*FW, y, (int8_t)(ld->min-100), attr);
@ -1466,16 +1495,6 @@ void menuProcLimits(uint8_t event)
} }
} }
} }
if(k==NUM_CHNOUT){
//last line available - add the "copy trim menu" line
uint8_t attr = (sub==NUM_CHNOUT) ? INVERS : 0;
lcd_putsAtt(3*FW,y,PSTR("COPY TRIM [MENU]"),s_noHi ? 0 : attr);
if(attr && event==EVT_KEY_LONG(KEY_MENU)) {
s_noHi = NO_HI_LEN;
killEvents(event);
moveTrimsToOffsets(); // if highlighted and menu pressed - copy trims
}
}
} }
void menuProcCurvesAll(uint8_t event) void menuProcCurvesAll(uint8_t event)
@ -1505,17 +1524,15 @@ void menuProcCurvesAll(uint8_t event)
if(cv9 && (yd>6)) break; if(cv9 && (yd>6)) break;
if(yd>7) break; if(yd>7) break;
if(!m) m = attr; if(!m) m = attr;
lcd_putsAtt( FW*0, y,PSTR("CV"),attr); putsStrIdx(0, y, PSTR("CV"), k+1, attr);
lcd_outdezAtt( (k<9) ? FW*3 : FW*4-1, y,k+1 ,attr);
int8_t *crv = cv9 ? g_model.curves9[k-MAX_CURVE5] : g_model.curves5[k]; int8_t *crv = cv9 ? g_model.curves9[k-MAX_CURVE5] : g_model.curves5[k];
for (uint8_t j = 0; j < (5); j++) { for (uint8_t j = 0; j < (5); j++) {
lcd_outdezAtt( j*(3*FW+3) + 7*FW, y, crv[j], 0); lcd_outdezAtt( j*(3*FW+3) + 7*FW + 2, y, crv[j], 0);
} }
y += FH;yd++; y += FH;yd++;
if(cv9){ if(cv9){
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
lcd_outdezAtt( j*(3*FW+3) + 7*FW, y, crv[j+5], 0); lcd_outdezAtt( j*(3*FW+3) + 7*FW + 2, y, crv[j+5], 0);
} }
y += FH;yd++; y += FH;yd++;
} }
@ -1541,8 +1558,8 @@ void menuProcCustomSwitches(uint8_t event)
//write SW names here //write SW names here
lcd_putsnAtt( 0*FW , y, PSTR("SW"),2,0); lcd_putsnAtt( 0*FW , y, PSTR("SW"),2,0);
lcd_putc( 2*FW , y, k + (k>8 ? 'A'-9: '1')); lcd_putc( 2*FW, y, k + (k>8 ? 'A'-9: '1'));
lcd_putsnAtt( 4*FW , y, PSTR(CSWITCH_STR)+CSW_LEN_FUNC*cs.func,CSW_LEN_FUNC,m_posHorz==0 ? attr : 0); lcd_putsnAtt( 4*FW - 1, y, PSTR(CSWITCH_STR)+CSW_LEN_FUNC*cs.func,CSW_LEN_FUNC,m_posHorz==0 ? attr : 0);
uint8_t cstate = CS_STATE(cs.func); uint8_t cstate = CS_STATE(cs.func);

5
src/myeeprom.h
View file

@ -232,11 +232,10 @@ typedef struct t_ModelData {
char name[10]; // 10 must be first for eeLoadModelName char name[10]; // 10 must be first for eeLoadModelName
TimerData timer1; // TODO timers array TimerData timer1; // TODO timers array
uint8_t protocol:3; uint8_t protocol:3;
int8_t ppmNCH:3;
uint8_t thrTrim:1; // Enable Throttle Trim uint8_t thrTrim:1; // Enable Throttle Trim
uint8_t thrExpo:1; // Enable Throttle Expo int8_t ppmNCH:4;
uint8_t trimInc:3; // Trim Increments uint8_t trimInc:3; // Trim Increments
uint8_t spare1:1; uint8_t thrExpo:1; // Enable Throttle Expo
uint8_t pulsePol:1; uint8_t pulsePol:1;
uint8_t extendedLimits:1; uint8_t extendedLimits:1;
uint8_t extendedTrims:1; uint8_t extendedTrims:1;

1
src/pers.cpp
View file

@ -114,7 +114,6 @@ uint8_t Translate()
g_model.thrTrim = v3->thrTrim; g_model.thrTrim = v3->thrTrim;
g_model.thrExpo = v3->thrExpo; g_model.thrExpo = v3->thrExpo;
g_model.trimInc = v3->trimInc; g_model.trimInc = v3->trimInc;
g_model.spare1 = 0;
g_model.pulsePol = v3->pulsePol; g_model.pulsePol = v3->pulsePol;
if (g_eeGeneral.myVers == EEPROM_VER_r584) if (g_eeGeneral.myVers == EEPROM_VER_r584)
g_model.extendedLimits = 0; g_model.extendedLimits = 0;

444
src/pulses.cpp Normal file
View file

@ -0,0 +1,444 @@
/*
* Authors (alphabetical order)
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
*
* gruvin9x is based on code named er9x by
* Author - Erez Raviv <erezraviv@gmail.com>, which is in turn
* was based on the original (and ongoing) project by Thomas Husterer,
* th9x -- http://code.google.com/p/th9x/
*
* 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.
*
*/
#include "gruvin9x.h"
#ifndef SIMU
#ifdef CTP1009
uint16_t pulses2MHz[50] = {0};
#else
uint16_t pulses2MHz[40] = {0};
#endif
uint16_t *pulses2MHzRPtr = pulses2MHz;
uint16_t *pulses2MHzWPtr = pulses2MHz;
#define CTRL_END 0
#define CTRL_CNT 1
#define CTRL_REP_1CMD -3
#define CTRL_REP_2CMD -6
ISR(TIMER1_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol; // TODO strange, it's always 0 at first, shouldn't it be initialized properly in setupPulses?
// Latency -- how far further on from interrupt trigger has the timer counted?
// (or -- how long did it take to get to this function)
uint8_t dt = TCNT1L;
if (dt > g_tmr1Latency_max) g_tmr1Latency_max = dt;
if (dt < g_tmr1Latency_min) g_tmr1Latency_min = dt;
// vinceofdrink@gmail harwared ppm
// Orginal bitbang for PPM
#if !defined (DPPMPB7_HARDWARE) && !defined (PCBV4)
if (pulsePol) {
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
pulsePol = 0;
}
else {
PORTB &= ~(1<<OUT_B_PPM);
pulsePol = 1;
}
#endif
OCR1A = *pulses2MHzRPtr; // Schedule next interrupt vector (to this handler)
#if defined (PCBV4)
OCR1B = *pulses2MHzRPtr; /* G: Using timer in CTC mode, restricted to using OCR1A for interrupt triggering.
So we actually have to handle the OCR1B register separately in this way. */
// We cannot read the status of the PPM_OUT pin when OC1B is connected to it on the ATmega2560.
// So the only way to set polarity is to manually control set/reset mode in COM1B0/1
if (pulsePol) {
TCCR1A = (3<<COM1B0); // SET the state of PB6(OC1B) on next TCNT1==OCR1B
pulsePol = 0;
}
else {
TCCR1A = (2<<COM1B0); // CLEAR the state of PB6(OC1B) on next TCNT1==OCR1B
pulsePol = 1;
}
//vinceofdrink@gmail harwared ppm
#elif defined (DPPMPB7_HARDWARE)
OCR1C = *pulses2MHzRPtr; // just copy the value of the OCR1A to OCR1C to test PPM out without too
// much change in the code not optimum but will not alter ppm precision
#endif
++pulses2MHzRPtr;
if (pulses2MHzRPtr == pulses2MHzWPtr) {
//currpulse=0;
pulsePol = g_model.pulsePol;//0;
// channel = 0 ;
// PulseTotal = 0 ;
// cli(); // TODO I remove this cli, we are in a blocking interrupt
#if defined (PCBV3)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else
TIMSK &= ~(1<<OCIE1A); //stop reentrance
#endif
sei();
setupPulses();
#if !defined (PCBV3) && defined (DPPMPB7_HARDWARE)
// G: NOTE: This strategy does not work on the '2560 becasue you can't
// read the PPM out pin when connected to OC1B. Vincent says
// it works on the '64A. I haven't personally tested it.
if (PINB & (1<<OUT_B_PPM) && g_model.pulsePol)
TCCR1C=(1<<FOC1C);
#endif
cli();
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A);
#else
TIMSK |= (1<<OCIE1A);
#endif
// sei(); TODO I remove this sei
}
heartbeat |= HEART_TIMER2Mhz;
}
//inline int16_t reduceRange(int16_t x) // for in case we want to have room for subtrims
//{
// return x-(x/4); //512+128 =? 640, 640 - 640/4 == 640 * 3/4 => 480 (just below 500msec - it can still reach 500 with offset)
//}
//int16_t PPM_range = 512*2; //range of 0.7..1.7msec
//uint16_t PPM_gap = 300 * 2; //Stoplen *2
//uint16_t PPM_frame ;
void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
{
#define PPM_CENTER 1200*2
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
// G: Found the following reference at th9x. The below code does not seem
// to produce quite exactly this, to my eye. *shrug*
// http://www.aerodesign.de/peter/2000/PCM/frame_ppm.gif
uint16_t *ptr = pulses2MHz ; // TODO check this saves flash
uint8_t p = 8+(g_model.ppmNCH*2); // channels count
uint16_t q = (g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms
// TODO in er9x this line replaces the next one: rest += (int16_t(g_model.ppmFrameLength))*1000;
if(p>9) rest=p*(1720u*2 + q) + 4000u*2; //for more than 9 channels, frame must be longer
for (uint8_t i=0; i<p; i++) {
int16_t v = max(min(g_chans512[i], PPM_range), -PPM_range) + PPM_CENTER;
rest -= (v+q);
*ptr++ = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
}
*ptr = q;
*(ptr+1) = rest;
pulses2MHzWPtr = ptr+2;
}
#ifdef PXX
void setupPulsesPXX()
{
}
#endif
#ifdef DSM2
// DSM2 protocol pulled from th9x - Thanks thus!!!
//http://www.rclineforum.de/forum/board49-zubeh-r-elektronik-usw/fernsteuerungen-sender-und-emp/neuer-9-kanal-sender-f-r-70-au/Beitrag_3897736#post3897736
//(dsm2( LP4DSM aus den RTF ( Ready To Fly ) Sendern von Spektrum.
//http://www.rcgroups.com/forums/showpost.php?p=18554028&postcount=237
// /home/thus/txt/flieger/PPMtoDSM.c
/*
125000 Baud 8n1 _ xxxx xxxx - ---
#define DSM2_CHANNELS 6 // Max number of DSM2 Channels transmitted
#define DSM2_BIT (8*2)
bind:
DSM2_Header = 0x80,0
static byte DSM2_Channel[DSM2_CHANNELS*2] = {
ch
0x00,0xAA, 0 0aa
0x05,0xFF, 1 1ff
0x09,0xFF, 2 1ff
0x0D,0xFF, 3 1ff
0x13,0x54, 4 354
0x14,0xAA 5 0aa
};
normal:
DSM2_Header = 0,0;
DSM2_Channel[i*2] = (byte)(i<<2) | highByte(pulse);
DSM2_Channel[i*2+1] = lowByte(pulse);
*/
inline void _send_1(uint16_t v)
{
*pulses2MHzWPtr++ = v;
}
#define BITLEN_DSM2 (8*2) //125000 Baud
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
bool lev = 0;
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
for( uint8_t i=0; i<=8; i++){ //8Bits + Stop=1
bool nlev = b & 1; //lsb first
if(lev == nlev){
len += BITLEN_DSM2;
}else{
_send_1(len-1);
len = BITLEN_DSM2;
lev = nlev;
}
b = (b>>1) | 0x80; //shift in stop bit
}
_send_1(len + 10*BITLEN_DSM2 -1); //some more space-time for security
}
void setupPulsesDsm2(uint8_t chns)
{
static uint8_t dsmDat[2+6*2]={0x80,0, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
static uint8_t state = 0;
if(state==0){
if((dsmDat[0] == 0) || ! keyState(SW_Trainer) ){ //init - bind!
dsmDat[0]=0; dsmDat[1]=0; //DSM2_Header = 0,0;
for(uint8_t i=0; i<chns; i++){
uint16_t pulse = limit(0, g_chans512[i]+512,1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
dsmDat[3+2*i] = pulse & 0xff;
}
}
}
sendByteDsm2(dsmDat[state++]);
sendByteDsm2(dsmDat[state++]);
if(state >= 2+chns*2){
pulses2MHzWPtr--; //remove last stopbits and
_send_1(20000u*2 -1); //prolong them
state=0;
}
}
#endif
#if defined(SILVER) || defined(CTP1009)
void _send_hilo(uint16_t hi,uint16_t lo)
{
*pulses2MHzWPtr++=hi;
*pulses2MHzWPtr++=lo;
}
#endif
#ifdef SILVER
#define BITLEN (600u*2)
#define send_hilo_silv( hi, lo) _send_hilo( (hi)*BITLEN,(lo)*BITLEN )
void sendBitSilv(uint8_t val)
{
send_hilo_silv((val)?2:1,(val)?2:1);
}
void send2BitsSilv(uint8_t val)
{
sendBitSilv(val&2);sendBitSilv(val&1);
}
// _ oder - je 0.6ms (gemessen 0.7ms)
//
//____-----_-_-_--_--_ -_--__ -_-_-_-_ -_-_-_-_ --__--__-_______
// trailer chan m1 m2
//
//see /home/thus/txt/silverlit/thus.txt
//m1, m2 most significant bit first |m1-m2| <= 9
//chan: 01=C 10=B
//chk = 0 - chan -m1>>2 -m1 -m2>>2 -m2
//<= 500us Probleme
//>= 650us Probleme
//periode orig: 450ms
void setupPulsesSilver()
{
int8_t chan=1; //chan 1=C 2=B 0=A?
switch(g_model.protocol)
{
case PROTO_SILV_A: chan=0; break;
case PROTO_SILV_B: chan=2; break;
case PROTO_SILV_C: chan=1; break;
}
int8_t m1 = (uint16_t)(g_chans512[0]+1024)*2 / 256;
int8_t m2 = (uint16_t)(g_chans512[1]+1024)*2 / 256;
if (m1 < 0) m1=0;
if (m2 < 0) m2=0;
if (m1 > 15) m1=15;
if (m2 > 15) m2=15;
if (m2 > m1+9) m1=m2-9;
if (m1 > m2+9) m2=m1-9;
//uint8_t i=0;
send_hilo_silv(5,1); //idx 0 erzeugt pegel=0 am Ausgang, wird als high gesendet
send2BitsSilv(0);
send_hilo_silv(2,1);
send_hilo_silv(2,1);
send2BitsSilv(chan); //chan 1=C 2=B 0=A?
uint8_t sum = 0 - chan;
send2BitsSilv(m1>>2); //m1
sum-=m1>>2;
send2BitsSilv(m1);
sum-=m1;
send2BitsSilv(m2>>2); //m2
sum-=m2>>2;
send2BitsSilv(m2);
sum-=m2;
send2BitsSilv(sum); //chk
sendBitSilv(0);
pulses2MHzWPtr--;
send_hilo_silv(50,0); //low-impuls (pegel=1) ueberschreiben
}
#endif
#ifdef CTP1009
/*
TRACE CTP-1009
- = send 45MHz
_ = send nix
start1 0 1 start2
-------__ --_ -__ -----__
7ms 2 .8 .4 .4 .8 5 2
frame:
start1 24Bits_1 start2 24_Bits2
24Bits_1:
7 x Bits Throttle lsb first
1 x 0
6 x Bits rotate lsb first
1 x Bit 1=rechts
1 x 0
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
24Bits_2:
7 x Bits Vorwaets lsb first 0x3f = mid
1 x 1
7 x Bits 0x0e lsb first
1 x 1
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
*/
#define BIT_TRA (400u*2)
void sendBitTra(uint8_t val)
{
if(val) _send_hilo( BIT_TRA*1 , BIT_TRA*2 );
else _send_hilo( BIT_TRA*2 , BIT_TRA*1 );
}
void sendByteTra(uint8_t val)
{
for(uint8_t i=0; i<8; i++, val>>=1) sendBitTra(val&1);
}
void setupPulsesTracerCtp1009()
{
static bool phase;
if( (phase=!phase) ){
uint8_t thr = min(127u,(uint16_t)(g_chans512[0]+1024+8) / 16u);
uint8_t rot;
if (g_chans512[1] >= 0)
{
rot = min(63u,(uint16_t)( g_chans512[1]+16) / 32u) | 0x40;
}else{
rot = min(63u,(uint16_t)(-g_chans512[1]+16) / 32u);
}
sendByteTra(thr);
sendByteTra(rot);
uint8_t chk=thr^rot;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 5000*2, 2000*2 );
}else{
uint8_t fwd = min(127u,(uint16_t)(g_chans512[2]+1024) / 16u) | 0x80;
sendByteTra(fwd);
sendByteTra(0x8e);
uint8_t chk=fwd^0x8e;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 7000*2, 2000*2 );
}
if((pulses2MHzWPtr-pulses2MHz) >= (signed)DIM(pulses2MHz)) alert(PSTR("pulse tab overflow"));
}
#endif
void setupPulses()
{
pulses2MHzWPtr = pulses2MHz;
pulses2MHzRPtr = pulses2MHz;
switch(g_model.protocol) {
case PROTO_PPM:
setupPulsesPPM();
break;
#ifdef SILVER
case PROTO_SILV_A:
case PROTO_SILV_B:
case PROTO_SILV_C:
setupPulsesSilver();
break;
#endif
#ifdef CTP1009
case PROTO_CTP1009:
setupPulsesTracerCtp1009();
break;
#endif
#ifdef PXX
case PROTO_PXX:
setupPulsesPXX();
break;
#endif
#ifdef DSM2
case PROTO_DSM2:
setupPulsesDsm2(6);
break;
#endif
}
}
#endif