Mirror/opentx
1
0
Fork 0
mirror of https://github.com/opentx/opentx.git synced 2025-07-17 05:15:18 +03:00
Code Issues Wiki Activity

Bsongis/9x fixes (#4463)

Browse source 
[9x] Fixes + make firmware target added
This commit is contained in:
Bertrand Songis 2017-02-17 17:11:38 +01:00 • committed by GitHub
parent 6106d1b228
commit 3e84e7930c
20 changed files with 209 additions and 187 deletions
Download patch file Download diff file Expand all files Collapse all files

51
radio/src/CMakeLists.txt
View file

@ -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})
file(READ ${FILE} FILE_CONTENT)
set(ALLSRC_CONTENT "${ALLSRC_CONTENT}# 1 \"${FILE}\"\n${FILE_CONTENT}")
endforeach()
file(WRITE ${ALLSRC} "${ALLSRC_CONTENT}")
if (BASH)
add_custom_command(
OUTPUT ${ALLSRC}
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}
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")

4
radio/src/gui/128x64/model_logical_switches.cpp
View file

@ -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;
}

2
radio/src/gui/128x64/model_outputs_avr.cpp
View file

@ -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

4
radio/src/gui/128x64/radio_trainer.cpp
View file

@ -38,8 +38,8 @@ void menuRadioTrainer(event_t event)
y = MENU_HEADER_HEIGHT + 1 + FH;
for (uint8_t i=0; i<NUM_STICKS; i++) {
uint8_t chan = channel_order(i+1);
for (uint8_t i=HEADER_LINE; i<HEADER_LINE+NUM_STICKS; i++) {
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);

2
radio/src/gui/128x64/view_channels.cpp
View file

@ -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;

25
radio/src/gui/128x64/view_main.cpp
View file

@ -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
if (g_model.timers[index].mode) {
const TimerData & timer = g_model.timers[index];
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 len = zlen(g_model.timers[index].name, LEN_TIMER_NAME);
uint8_t xLabel = (negative ? x-56 : x-49);
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);
drawTimerMode(xLabel, y+FH, g_model.timers[index].mode);
uint8_t xLabel = (negative ? x-76 : x-69);
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)

12
radio/src/opentx.h
View file

@ -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"

1
radio/src/targets/9x/CMakeLists.txt
View file

@ -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)

10
radio/src/targets/9x/board.cpp
View file

@ -26,14 +26,12 @@
uint8_t TrotCount; // TeZ version
uint8_t LastTrotCount; // TeZ version
uint8_t RotEncoder;
#define ROTENC_DOWN() (RotEncoder != 0)
#else
uint8_t RotPosition;
int8_t LastRotaryValue;
int8_t Rotary_diff;
int8_t RotaryControl;
uint8_t RotEncoder;
#define ROTENC_DOWN() (RotEncoder & 0x20)
#endif
void rotencPoll()
@ -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];
/**

17
radio/src/targets/9x/board.h
View file

@ -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,

6
radio/src/targets/common/avr/CMakeLists.txt
View file

@ -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()

28
radio/src/targets/common/avr/board_avr.h
View file

@ -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 telemetryPortInitFromIndex(uint8_t index);
void telemetryPortInit(uint8_t baudrate);
void telemetryTransmitBuffer();

90
radio/src/targets/common/avr/telemetry_driver.cpp
View file

@ -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:
uart_57600();
break;
case 58798:
case BAUD_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

1
radio/src/targets/gruvin9x/CMakeLists.txt
View file

@ -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)

4
radio/src/targets/simu/simpgmspace.cpp
View file

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

11
radio/src/targets/simu/simpgmspace.h
View file

@ -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;

2
radio/src/telemetry/frsky_d.cpp
View file

@ -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.

11
radio/src/telemetry/mavlink.cpp
View file

@ -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;

2
radio/src/telemetry/mavlink.h
View file

@ -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_

1
radio/util/Dockerfile
View file

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