Bsongis/9x fixes (#4463)

[9x] Fixes + make firmware target added

radio/src/CMakeLists.txt

@@ -320,6 +320,10 @@ if(TRACE_SIMPGMSPACE)
   add_definitions(-DTRACE_SIMPGMSPACE)
 endif()
 
+if(EEPROM_VARIANT_NEEDED)
+  add_definitions(-DEEPROM_VARIANT=${EEPROM_VARIANT})
+endif()
+
 set(SRC
   ${SRC}
   opentx.cpp
@@ -413,6 +417,8 @@ set(CMAKE_CXX_LINK_EXECUTABLE "<CMAKE_CXX_COMPILER> <FLAGS> <LINK_FLAGS> <OBJECT
 
 use_cxx11()  # ensure gnu++11 in CXX_FLAGS with CMake < 3.1
 
+find_program(BASH bash HINTS "c:/cygwin/bin/" "c:/msys/bin/" DOC "bash shell for firmware size report (eg. c:/cygwin/bin/bash.exe on Windows).")
+
 if(NOT MSVC)
   set(OPT s)
 
@@ -464,7 +470,6 @@ if(NOT MSVC)
       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
     )
 
-    find_program(BASH bash HINTS "c:/cygwin/bin/" DOC "bash shell for firmware size report (eg. c:/cygwin/bin/bash.exe on Windows).")
     if (BASH)
       add_custom_target(firmware-size
         COMMAND ${BASH} -kc '${RADIO_DIRECTORY}/util/elf-size-report.sh --mcu=${CPU_TYPE_FULL} ${SIZE_TARGET_MEM_DEFINE} firmware.elf'
@@ -492,14 +497,38 @@ if(NOT MSVC)
     include_directories(storage gui/${GUI_DIR})
 
     set(ALLSRC ${PROJECT_BINARY_DIR}/allsrc.cpp)
-    foreach(FILE ${SRC})
+    if (BASH)
-      file(READ ${FILE} FILE_CONTENT)
+      add_custom_command(
-      set(ALLSRC_CONTENT "${ALLSRC_CONTENT}# 1 \"${FILE}\"\n${FILE_CONTENT}")
+        OUTPUT ${ALLSRC}
-    endforeach()
+        COMMAND ${BASH} -kc 'rm -f ${ALLSRC}\; for f in ${SRC}\; do echo "\\# 1 \"$$f\"" >> allsrc.cpp\; cat "$$f" >> ${ALLSRC}\; done'
-
+        WORKING_DIRECTORY ${RADIO_SRC_DIRECTORY}
-    file(WRITE ${ALLSRC} "${ALLSRC_CONTENT}")
+        DEPENDS ${SRC}
-
+        )
+    elseif(WIN32)
+      string(REPLACE "/" "\\" SRC_WIN "${SRC}")
+      string(REPLACE "/" "\\" ALLSRC_WIN "${ALLSRC}")
+      set(ALLSRC_BAT
+          "setlocal EnableDelayedExpansion"
+          "del \"${ALLSRC_WIN}\""
+          "for %%f in (${SRC_WIN}) do ("
+            "set p=\"%%f\""
+            "set p=!p:^\\=/! \necho \# 1 !p! >> \"${ALLSRC_WIN}\""
+            "type %%f >> \"${ALLSRC_WIN}\""
+          ")\n"
+        )
+      string(REPLACE ";" "\n" ALLSRC_BAT "${ALLSRC_BAT}")
+      file(WRITE "${ALLSRC}.bat" "${ALLSRC_BAT}")
+      add_custom_command(
+        OUTPUT ${ALLSRC}
+        COMMAND "${ALLSRC}.bat"
+        WORKING_DIRECTORY ${RADIO_SRC_DIRECTORY}
+        DEPENDS ${SRC}
+        )
+    else()
+      set(ALLSRC ${SRC})
+    endif()
     add_executable(firmware ${ALLSRC})
+
     add_dependencies(firmware ${FIRMWARE_DEPENDENCIES})
 
     add_custom_command(
@@ -534,6 +563,12 @@ if(NOT MSVC)
       DEPENDS firmware
       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
       )
+  else()
+    add_custom_target(flash
+      COMMAND avrdude -c usbasp -p ${AVRDUDE_MCU} -U flash:w:firmware.hex:i
+      DEPENDS firmware
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      )
   endif()
 
   PrintTargetReport("firmware")

radio/src/gui/128x64/model_logical_switches.cpp

@@ -410,12 +410,12 @@ void menuModelLogicalSwitches(event_t event)
       }
       else {
         lcdDrawNumber(CSW_3RD_COLUMN, y, cs->v2, LEFT|attr2);
-#if defined(GVARS)
+#if defined(CPUARM) && defined(GVARS)
         if (v1_val >= MIXSRC_GVAR1) {
           v2_min = -1024; v2_max = +1024;
         }
         else
-#endif // GVARS
+#endif
         {
           v2_min = -LIMIT_EXT_PERCENT; v2_max = +LIMIT_EXT_PERCENT;
         }

radio/src/gui/128x64/model_outputs_avr.cpp

@@ -76,7 +76,7 @@ enum MenuModelOutputsItems {
 #endif
 
 #define LIMITS_CURVE_POS          17*FW+1
-#define LIMITS_MIN_MAX_OFFSET 1000
+#define LIMITS_MIN_MAX_OFFSET     100
 #define CONVERT_US_MIN_MAX(x)     ((int16_t(x)*128)/25)
 #define MIN_MAX_ATTR              attr
 

radio/src/gui/128x64/radio_trainer.cpp

@@ -25,7 +25,7 @@ void menuRadioTrainer(event_t event)
   uint8_t y;
   bool slave = SLAVE_MODE();
 
-  MENU(STR_MENUTRAINER, menuTabGeneral, MENU_RADIO_TRAINER, (slave ? HEADER_LINE : HEADER_LINE+6), {HEADER_LINE_COLUMNS 2, 2, 2, 2, 0/*, 0*/});
+  MENU(STR_MENUTRAINER, menuTabGeneral, MENU_RADIO_TRAINER, (slave ? HEADER_LINE : HEADER_LINE+6), { HEADER_LINE_COLUMNS 2, 2, 2, 2, 0/*, 0*/ });
 
   if (slave) {
     lcdDrawText(7*FW, 4*FH, STR_SLAVE);
@@ -38,8 +38,8 @@ void menuRadioTrainer(event_t event)
 
     y = MENU_HEADER_HEIGHT + 1 + FH;
 
-    for (uint8_t i=0; i<NUM_STICKS; i++) {
+    for (uint8_t i=HEADER_LINE; i<HEADER_LINE+NUM_STICKS; i++) {
-      uint8_t chan = channel_order(i+1);
+      uint8_t chan = channel_order(i+1-HEADER_LINE);
       volatile TrainerMix * td = &g_eeGeneral.trainer.mix[chan-1];
 
       drawSource(0, y, MIXSRC_Rud-1+chan, (menuVerticalPosition==i && CURSOR_ON_LINE()) ? INVERS : 0);

radio/src/gui/128x64/view_channels.cpp

@@ -101,7 +101,7 @@ void menuChannelsView(event_t event)
 #endif
 
       // Gauge
-//      uint16_t lim = (g_model.extendedLimits ? (512 * LIMIT_EXT_PERCENT / 100) : 512) * 2;
+//      uint16_t lim = (g_model.extendedLimits ? (512 * (long)LIMIT_EXT_PERCENT / 100) : 512) * 2;
 //#ifdef MIXERS_MONITOR
 //      if (mixersView)
 //        lim = 512 * 2 * 2;

radio/src/gui/128x64/view_main.cpp

@@ -38,7 +38,7 @@
 #define VBATTUNIT_X   (VBATT_X-1)
 #define VBATTUNIT_Y   (3*FH)
 #define REBOOT_X      (20*FW-3)
-#define BAR_HEIGHT    (BOX_WIDTH-1)
+#define BAR_HEIGHT    (BOX_WIDTH-1l) // don't remove the l here to force 16bits maths on 9X
 #define TRIM_LH_X     (LCD_W*1/4+2)
 #define TRIM_LV_X     3
 #define TRIM_RV_X     (LCD_W-4)
@@ -162,25 +162,26 @@ void displayTrims(uint8_t phase)
   }
 }
 
-void drawTimerWithMode(coord_t x, coord_t y, uint8_t index)
+FORCEINLINE void drawTimerWithMode(coord_t x, coord_t y, uint8_t index)
 {
-  // Main timer
+  const TimerData & timer = g_model.timers[index];
-  if (g_model.timers[index].mode) {
+  if (timer.mode) {
     const TimerState & timerState = timersStates[index];
-    LcdFlags att = RIGHT | DBLSIZE | (timerState.val<0 ? BLINK|INVERS : 0);
+    const uint8_t negative = (timerState.val<0 ? BLINK | INVERS : 0);
+    LcdFlags att = RIGHT | DBLSIZE | negative;
     drawTimer(x, y, timerState.val, att, att);
 #if defined(CPUARM)
-    uint8_t xLabel = (timerState.val >= 0 ? x-49 : x-56);
+    uint8_t xLabel = (negative ? x-56 : x-49);
-    uint8_t len = zlen(g_model.timers[index].name, LEN_TIMER_NAME);
+    uint8_t len = zlen(timer.name, LEN_TIMER_NAME);
     if (len > 0) {
-      lcdDrawSizedText(xLabel, y+FH, g_model.timers[index].name, len, RIGHT | ZCHAR);
+      lcdDrawSizedText(xLabel, y+FH, timer.name, len, RIGHT | ZCHAR);
     }
     else {
-      drawTimerMode(xLabel, y+FH, g_model.timers[index].mode, RIGHT);
+      drawTimerMode(xLabel, y+FH, timer.mode, RIGHT);
     }
 #else
-    uint8_t xLabel = (timerState.val >= 0 ? x-69 : x-76);
+    uint8_t xLabel = (negative ? x-76 : x-69);
-    drawTimerMode(xLabel, y+FH, g_model.timers[index].mode);
+    drawTimerMode(xLabel, y+FH, timer.mode);
 #endif
   }
 }
@@ -495,7 +496,7 @@ void menuMainView(event_t event)
           x0 = i<4 ? LCD_W/4+2 : LCD_W*3/4-2;
           y0 = 38+(i%4)*5;
 
-          const uint16_t lim = (g_model.extendedLimits ? 512 * uint8_t(LIMIT_EXT_PERCENT / 100) : 512) * 2;
+          const uint16_t lim = (g_model.extendedLimits ? (512 * (long)LIMIT_EXT_PERCENT / 100) : 512) * 2;
           int8_t len = (abs(val) * WBAR2 + lim/2) / lim;
 
           if (len>WBAR2)

radio/src/opentx.h

@@ -259,18 +259,6 @@
   #define pgm_read_adr(x)              *(x)
   #define cli()
   #define sei()
-#else
-  #include <avr/io.h>
-  #include <avr/pgmspace.h>
-  #include "pgmtypes.h"
-
-  #include <avr/eeprom.h>
-  #include <avr/sleep.h>
-  #include <avr/interrupt.h>
-  #define F_CPU                        16000000UL  // 16 MHz
-  #include <util/delay.h>
-  #define pgm_read_adr(address_short)  pgm_read_word(address_short)
-  #include <avr/wdt.h>
 #endif
 
 #include "debug.h"

radio/src/targets/9x/CMakeLists.txt

@@ -2,6 +2,7 @@ option(SP22 "SmartieParts 2.2 Backlight support" OFF)
 option(PWM_BACKLIGHT "PWM Backlight" OFF)
 set(ARCH AVR)
 set(MCU atmega64)
+set(AVRDUDE_MCU m64)
 string(TOLOWER ${PCB} FLAVOUR)
 set(EEPROM_VARIANT_NEEDED ON)
 set(EEPROM EEPROM_RLC)

radio/src/targets/9x/board.cpp

@@ -23,53 +23,51 @@
 #if defined(ROTARY_ENCODER_NAVIGATION)
 
 #if defined(TELEMETREZ)
-uint8_t TrotCount ;             // TeZ version
+uint8_t TrotCount;             // TeZ version
-uint8_t LastTrotCount ;         // TeZ version
+uint8_t LastTrotCount;         // TeZ version
-uint8_t RotEncoder ;
+uint8_t RotEncoder;
-#define ROTENC_DOWN() (RotEncoder != 0)
 #else
-uint8_t RotPosition ;
+uint8_t RotPosition;
-int8_t LastRotaryValue ;
+int8_t LastRotaryValue;
-int8_t Rotary_diff ;
+int8_t Rotary_diff;
-int8_t RotaryControl ;
+int8_t RotaryControl;
-uint8_t RotEncoder ;
+uint8_t RotEncoder;
-#define ROTENC_DOWN() (RotEncoder & 0x20)
 #endif
 
 void rotencPoll()
 {
 #if defined(TELEMETREZ)
   if (TrotCount != LastTrotCount) {
-    rotencValue[0] = LastTrotCount = TrotCount ;
+    rotencValue[0] = LastTrotCount = TrotCount;
   }
 #else
   // Rotary Encoder polling
-  PORTA = 0 ;                     // No pullups
+  PORTA = 0;                     // No pullups
-  DDRA = 0x1F ;           // Top 3 bits input
+  DDRA = 0x1F;           // Top 3 bits input
 
-  asm(" rjmp 1f") ;
+  asm(" rjmp 1f");
-  asm("1:") ;
+  asm("1:");
 
-  uint8_t rotary ;
+  uint8_t rotary;
-  rotary = PINA ;
+  rotary = PINA;
-  DDRA = 0xFF ;           // Back to all outputs
+  DDRA = 0xFF;           // Back to all outputs
-  rotary &= 0xE0 ;
+  rotary &= 0xE0;
 
-  RotEncoder = rotary ; // just read the lcd pin
+  RotEncoder = rotary; // just read the lcd pin
 
-  rotary &= 0xDF ;
+  rotary &= 0xDF;
   if ( rotary != RotPosition ) {
-    uint8_t x ;
+    uint8_t x;
-    x = RotPosition & 0x40 ;
+    x = RotPosition & 0x40;
-    x <<= 1 ;
+    x <<= 1;
-    x ^= rotary & 0x80 ;
+    x ^= rotary & 0x80;
     if ( x ) {
-      rotencValue[0] -= 1 ;
+      rotencValue[0] -= 1;
     }
     else {
-      rotencValue[0] += 1 ;
+      rotencValue[0] += 1;
     }
-    RotPosition = rotary ;
+    RotPosition = rotary;
   }
 #endif // TELEMETREZ
 }
@@ -140,14 +138,6 @@ void boardInit()
 #endif // !defined(SIMU)
 }
 
-#ifndef SIMU
-FORCEINLINE
-#endif
-uint8_t keyDown()
-{
-  return ((~PINB) & 0x7E) | ROTENC_DOWN();
-}
-
 #if !defined(SIMU) && (defined(TELEMETRY_MOD_14051) || defined(TELEMETRY_MOD_14051_SWAPPED))
 uint8_t pf7_digital[MUX_PF7_DIGITAL_MAX - MUX_PF7_DIGITAL_MIN + 1];
 /**
@@ -306,7 +296,7 @@ void readKeysAndTrims()
 
 #if defined(NAVIGATION_STICKS)
   if (~PINB & 0x7E) {
-    StickScrollTimer = STICK_SCROLL_TIMEOUT ;
+    StickScrollTimer = STICK_SCROLL_TIMEOUT;
   }
 #endif
 }

radio/src/targets/9x/board.h

@@ -183,7 +183,24 @@ bool checkSlaveMode();
 #define INP_G_RF_POW   1
 #define INP_G_RuddDR   0
 
+// Rotary Encoder driver
+#if defined(ROTARY_ENCODER_NAVIGATION)
+  extern uint8_t RotEncoder;
+  #if defined(TELEMETREZ)
+    #define ROTENC_DOWN()              (RotEncoder != 0)
+  #else
+    #define ROTENC_DOWN()              (RotEncoder & 0x20)
+  #endif
+#else
+  #define ROTENC_DOWN()                (0)
+#endif
+
 // Keys driver
+inline uint8_t keyDown()
+{
+  return ((~PINB) & 0x7E) | ROTENC_DOWN();
+}
+
 #if defined(TELEMETRY_MOD_14051) || defined(TELEMETRY_MOD_14051_SWAPPED)
 enum MuxInput {
   MUX_BATT,

radio/src/targets/common/avr/CMakeLists.txt

@@ -5,7 +5,7 @@ option(BOLD "Bold font" ON)
 option(BATTGRAPH "Battery graph" OFF)
 option(HAPTIC "Haptic support" OFF)
 
-set(TELEMETRY_TYPES NONE/MAVLINK/ARDUPILOT/FRSKY/FRSKY_SPORT/TELEMETREZ/NMEA)
+set(TELEMETRY_TYPES NONE MAVLINK ARDUPILOT FRSKY FRSKY_SPORT TELEMETREZ NMEA)
 set(TELEMETRY "NONE" CACHE STRING "Telemetry Type (${TELEMETRY_TYPES})")
 set_property(CACHE TELEMETRY PROPERTY STRINGS ${TELEMETRY_TYPES})
 
@@ -129,7 +129,3 @@ if(TELEMETRY STREQUAL FRSKY OR TELEMETRY STREQUAL FRSKY_SPORT OR TELEMETRY STREQ
   math(EXPR EEPROM_VARIANT ${EEPROM_VARIANT}+${FRSKY_VARIANT})
 endif()
 add_definitions(-DTIMERS=2)
-if(EEPROM_VARIANT_NEEDED)
-  add_definitions(-DEEPROM_VARIANT=${EEPROM_VARIANT})
-endif()
-

radio/src/targets/common/avr/board_avr.h

@@ -18,6 +18,31 @@
  * GNU General Public License for more details.
  */
 
+#if defined(SIMU)
+extern volatile unsigned char pina, pinb, pinc, pind, pine, pinf, ping, pinh, pinj, pinl;
+#define PINA  ~pina
+#define PINB  ~pinb
+#define PINC  ~pinc
+#define PIND  ~pind
+#define PINE  ~pine
+#define PINF  ~pinf
+#define PING  ~ping
+#define PINH  ~pinh
+#define PINJ  ~pinj
+#define PINL  ~pinl
+#else
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include "pgmtypes.h"
+#include <avr/eeprom.h>
+#include <avr/sleep.h>
+#include <avr/interrupt.h>
+#define F_CPU                        16000000UL  // 16 MHz
+#include <util/delay.h>
+#define pgm_read_adr(address_short)  pgm_read_word(address_short)
+#include <avr/wdt.h>
+#endif
+
 // ADC driver
 #define NUM_POTS                       3
 #define NUM_SLIDERS                    0
@@ -220,6 +245,5 @@ uint8_t eepromIsTransferComplete();
 #define TLM_USART 0
 #endif
 void telemetryPortInit();
-void telemetryPortInit(uint32_t baudrate); 
+void telemetryPortInit(uint8_t baudrate);
-void telemetryPortInitFromIndex(uint8_t index); 
 void telemetryTransmitBuffer();

radio/src/targets/common/avr/telemetry_driver.cpp

@@ -23,7 +23,9 @@
 
 #if defined(TELEMETRY_FRSKY) || defined(TELEMETRY_MAVLINK)
 
-enum SERIAL_BAUDS {// KEEP IN SYNC WITH GUI
+// KEEP IN SYNC WITH GUI
+enum SERIAL_BAUDS
+{
   BAUD_4800 = 0,
   BAUD_9600,
   BAUD_14400,
@@ -101,7 +103,8 @@ ISR(USART_RX_vect_N(TLM_USART))
   UCSRB_N(TLM_USART) |= (1 << RXCIE_N(TLM_USART)); // enable Interrupt
 }
 
-static void uart_4800(void) {
+static void uart_4800(void)
+{
   #undef BAUD
   #define BAUD 4800
   #include <util/setbaud.h>
@@ -114,7 +117,8 @@ static void uart_4800(void) {
 #endif
 }
 
-static void uart_9600(void) {
+FORCEINLINE void uart_9600(void)
+{
   #undef BAUD
   #define BAUD 9600
   #include <util/setbaud.h>
@@ -127,7 +131,8 @@ static void uart_9600(void) {
 #endif
 }
 
-static void uart_14400(void) {
+static void uart_14400(void)
+{
   #undef BAUD
   #define BAUD 14400
   #include <util/setbaud.h>
@@ -140,7 +145,8 @@ static void uart_14400(void) {
 #endif
 }
 
-static void uart_19200(void) {
+static void uart_19200(void)
+{
   #undef BAUD
   #define BAUD 19200
   #include <util/setbaud.h>
@@ -153,7 +159,8 @@ static void uart_19200(void) {
 #endif
 }
 
-static void uart_38400(void) {
+static void uart_38400(void)
+{
   #undef BAUD
   #define BAUD 38400
   #include <util/setbaud.h>
@@ -166,7 +173,8 @@ static void uart_38400(void) {
 #endif
 }
 
-static void uart_57600(void) {
+static void uart_57600(void)
+{
   #undef BAUD
   #define BAUD 57600
   #include <util/setbaud.h>
@@ -179,13 +187,15 @@ static void uart_57600(void) {
 #endif
 }
 
-static void uart_58798(void) {
+static void uart_58798(void)
+{
   UBRRH_N(TLM_USART) = 0;
   UBRRL_N(TLM_USART) = 0x010;
   UCSRA_N(TLM_USART) &= ~(1 << U2X_N(TLM_USART)); // disable double speed operation.
 }
 
-static void uart_76800(void) {
+static void uart_76800(void)
+{
   #undef BAUD
   #define BAUD 76800
   #include <util/setbaud.h>
@@ -198,67 +208,31 @@ static void uart_76800(void) {
 #endif
 }
 
-void telemetryPortInitFromIndex(uint8_t index) {
-  switch (index) {
-    case BAUD_4800:
-      telemetryPortInit(4800);
-      break;
-    case BAUD_9600:
-      telemetryPortInit(9600);
-      break;
-    case BAUD_14400:
-      telemetryPortInit(14400);
-      break;
-    case BAUD_19200:
-      telemetryPortInit(19200);
-      break;
-    case BAUD_38400:
-      telemetryPortInit(38400);
-      break;
-    case BAUD_57600:
-      telemetryPortInit(57600);
-      break;
-    case BAUD_58798:
-      telemetryPortInit(58798);
-      break;
-    case BAUD_76800:
-      telemetryPortInit(76800);
-      break;
-  }
-}
-
-void telemetryPortInit() {
-  telemetryPortInit(9600);
-}
-
-void telemetryPortInit(uint32_t baudrate)
-{
 #if !defined(SIMU)
+FORCEINLINE void telemetryPortInit(uint8_t baudrate)
+{
   RXD_DDR_N(TLM_USART) &= ~(1 << RXD_DDR_PIN_N(TLM_USART));   // set RXD pin as input
   RXD_PORT_N(TLM_USART) &= ~(1 << RXD_PORT_PIN_N(TLM_USART)); // disable pullup on RXD pin
   switch (baudrate) {
-  case 4800:
+    case BAUD_4800:
       uart_4800();
       break;
-  case 9600:
+    case BAUD_9600:
       uart_9600();
       break;
-  case 14400:
+    case BAUD_14400:
       uart_14400();
       break;
-  case 19200:
+    case BAUD_19200:
       uart_19200();
       break;
-  case 38400:
+    case BAUD_38400:
       uart_38400();
       break;
-  case 57600:
+    case BAUD_58798:
-    uart_57600();
-    break;
-  case 58798:
       uart_58798();
       break;
-  case 76800:
+    case BAUD_76800:
       uart_76800();
       break;
     default:
@@ -270,7 +244,6 @@ void telemetryPortInit(uint32_t baudrate)
   UCSRB_N(TLM_USART) = 0 | (0 << RXCIE_N(TLM_USART)) | (0 << TXCIE_N(TLM_USART)) | (0 << UDRIE_N(TLM_USART)) | (0 << RXEN_N(TLM_USART)) | (0 << TXEN_N(TLM_USART)) | (0 << UCSZ2_N(TLM_USART));
   UCSRC_N(TLM_USART) = 0 | (1 << UCSZ1_N(TLM_USART)) | (1 << UCSZ0_N(TLM_USART));
 
-
   while (UCSRA_N(TLM_USART) & (1 << RXC_N(TLM_USART))) UDR_N(TLM_USART); // flush receive buffer
 
   // These should be running right from power up on a FrSky enabled '9X.
@@ -278,12 +251,17 @@ void telemetryPortInit(uint32_t baudrate)
   telemetryEnableTx(); // enable FrSky-Telemetry emission
 #endif
   telemetryEnableRx(); // enable FrSky-Telemetry reception
-#endif
 }
+#endif
 
 void telemetryTransmitBuffer()
 {
   UCSRB_N(TLM_USART) |= (1 << UDRIE_N(TLM_USART)); // enable UDRE1 interrupt
 }
 
+void telemetryPortInit()
+{
+  telemetryPortInit(BAUD_9600);
+}
+
 #endif

radio/src/targets/gruvin9x/CMakeLists.txt

@@ -1,5 +1,6 @@
 set(ARCH AVR)
 set(MCU atmega2560)
+set(AVRDUDE_MCU m2560)
 string(TOLOWER ${PCB} FLAVOUR)
 set(EEPROM EEPROM_RLC)
 add_definitions(-DEEPROM_VARIANT=0)

radio/src/targets/simu/simpgmspace.cpp

@@ -558,6 +558,10 @@ void lcdRefresh()
   simuLcdRefresh = true;
 }
 
+void telemetryPortInit(uint8_t baudrate)
+{
+}
+
 void telemetryPortInit()
 {
 }

radio/src/targets/simu/simpgmspace.h

@@ -250,16 +250,6 @@ extern void rxPdcUsart( void (*pChProcess)(uint8_t x) );
 #define DDRE  dummyport
 #define DDRF  dummyport
 #define DDRG  dummyport
-#define PINA  ~pina
-#define PINB  ~pinb
-#define PINC  ~pinc
-#define PIND  ~pind
-#define PINE  ~pine
-#define PINF  ~pinf
-#define PING  ~ping
-#define PINH  ~pinh
-#define PINJ  ~pinj
-#define PINL  ~pinl
 #define EEMEM
 
 #define UCSR0B dummyport
@@ -354,7 +344,6 @@ extern uint32_t Master_frequency;
 #define __enable_irq()
 #endif
 
-extern volatile unsigned char pina, pinb, pinc, pind, pine, pinf, ping, pinh, pinj, pinl;
 extern uint8_t portb, portc, porth, dummyport;
 extern uint16_t dummyport16;
 extern uint8_t main_thread_running;

radio/src/telemetry/frsky_d.cpp

@@ -315,7 +315,7 @@ void frskySendPacket(uint8_t type, uint8_t value, uint8_t p1, uint8_t p2)
 #endif
 }
 
-inline void frskyDSendNextAlarm(void)
+void frskyDSendNextAlarm(void)
 {
   if (frskyTxBufferCount)
     return; // we only have one buffer. If it's in use, then we can't send yet.

radio/src/telemetry/mavlink.cpp

@@ -25,10 +25,6 @@
 
 #include "telemetry/mavlink.h"
 
-#if defined(SIMU)
-void telemetryPortInitFromIndex(uint8_t index) {}
-#endif
-
 // this might need to move to the flight software
 //static
 mavlink_system_t mavlink_system = { 7, MAV_COMP_ID_MISSIONPLANNER, 0, 0, 0, 0 };
@@ -78,10 +74,11 @@ void MAVLINK_reset(uint8_t warm_reset) {
 }
 
 //! \brief initalize mavlink extension
-void MAVLINK_Init(void) {
+void MAVLINK_Init(void)
+{
   mav_statustext[0] = 0;
   MAVLINK_reset(0);
-	telemetryPortInitFromIndex(g_eeGeneral.mavbaud);
+  telemetryPortInit(g_eeGeneral.mavbaud);
 }
 
 /*!	\brief Status log message
@@ -583,7 +580,7 @@ void telemetryWakeup() {
 	
 			if (mav_heartbeat == -30) {
 				MAVLINK_reset(1);
-				telemetryPortInitFromIndex(g_eeGeneral.mavbaud);
+				telemetryPortInit(g_eeGeneral.mavbaud);
 			}
 		}
 		last_time = tmr10ms;

radio/src/telemetry/mavlink.h

@@ -320,5 +320,7 @@ inline uint8_t getPrecisMavlinParamsValue(uint8_t idx) {
 void lcd_outdezFloat(uint8_t x, uint8_t y, float val, uint8_t precis, uint8_t mode);
 #endif
 
+void telemetryPortInit(uint8_t baudrate);
+
 #endif // _MAVLINK_H_
 

radio/util/Dockerfile

@@ -4,7 +4,6 @@ FROM debian:jessie
 
 RUN apt-get update && \
     apt-get install -y \
-      avr-libc \
       build-essential \
       cmake \
       gcc \