Mirror/opentx
1
0
Fork 0
mirror of https://github.com/opentx/opentx.git synced 2025-07-12 19:10:19 +03:00
Code Issues Wiki Activity
opentx/radio/src/opentx.cpp
3djc 394bc1689f Massive cleaning (#5538)
2017-12-18 20:54:22 +01:00

2865 lines
69 KiB
C++
Raw Blame History

/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
RadioData g_eeGeneral;
ModelData g_model;
#if defined(SDCARD)
Clipboard clipboard;
#endif
#if !defined(CPUARM)
uint8_t g_tmr1Latency_max;
uint8_t g_tmr1Latency_min;
uint16_t lastMixerDuration;
#endif
uint8_t unexpectedShutdown = 0;
/* AVR: mixer duration in 1/16ms */
/* ARM: mixer duration in 0.5us */
uint16_t maxMixerDuration;
#if defined(AUDIO) && !defined(CPUARM)
audioQueue audio;
#endif
uint8_t heartbeat;
#if defined(OVERRIDE_CHANNEL_FUNCTION)
safetych_t safetyCh[MAX_OUTPUT_CHANNELS];
#endif
union ReusableBuffer reusableBuffer;
const pm_uint8_t bchout_ar[] PROGMEM = {
0x1B, 0x1E, 0x27, 0x2D, 0x36, 0x39,
0x4B, 0x4E, 0x63, 0x6C, 0x72, 0x78,
0x87, 0x8D, 0x93, 0x9C, 0xB1, 0xB4,
0xC6, 0xC9, 0xD2, 0xD8, 0xE1, 0xE4 };
uint8_t channel_order(uint8_t x)
{
return ( ((pgm_read_byte(bchout_ar + g_eeGeneral.templateSetup) >> (6-(x-1) * 2)) & 3 ) + 1 );
}
/*
mode1 rud ele thr ail
mode2 rud thr ele ail
mode3 ail ele thr rud
mode4 ail thr ele rud
*/
const pm_uint8_t modn12x3[] PROGMEM = {
0, 1, 2, 3,
0, 2, 1, 3,
3, 1, 2, 0,
3, 2, 1, 0 };
volatile tmr10ms_t g_tmr10ms;
#if defined(CPUARM)
volatile uint8_t rtc_count = 0;
uint32_t watchdogTimeout = 0;
void watchdogSuspend(uint32_t timeout)
{
watchdogTimeout = timeout;
}
#endif
void per10ms()
{
g_tmr10ms++;
#if defined(CPUARM)
if (watchdogTimeout) {
watchdogTimeout -= 1;
wdt_reset(); // Retrigger hardware watchdog
}
#endif
#if defined(GUI)
if (lightOffCounter) lightOffCounter--;
if (flashCounter) flashCounter--;
if (noHighlightCounter) noHighlightCounter--;
#endif
if (trimsCheckTimer) trimsCheckTimer--;
if (ppmInputValidityTimer) ppmInputValidityTimer--;
#if defined(CPUARM)
if (trimsDisplayTimer)
trimsDisplayTimer--;
else
trimsDisplayMask = 0;
#endif
#if defined(RTCLOCK)
/* Update global Date/Time every 100 per10ms cycles */
if (++g_ms100 == 100) {
g_rtcTime++; // inc global unix timestamp one second
#if defined(COPROCESSOR)
if (g_rtcTime < 60 || rtc_count<5) {
rtcInit();
rtc_count++;
}
else {
coprocReadData(true);
}
#endif
g_ms100 = 0;
}
#endif
readKeysAndTrims();
#if defined(ROTARY_ENCODER_NAVIGATION)
if (IS_ROTARY_ENCODER_NAVIGATION_ENABLE()) {
static rotenc_t rePreviousValue;
rotenc_t reNewValue = (ROTARY_ENCODER_NAVIGATION_VALUE / ROTARY_ENCODER_GRANULARITY);
int8_t scrollRE = reNewValue - rePreviousValue;
if (scrollRE) {
rePreviousValue = reNewValue;
putEvent(scrollRE < 0 ? EVT_ROTARY_LEFT : EVT_ROTARY_RIGHT);
}
#if defined(CPUARM)
// rotary encoder navigation speed (acceleration) detection/calculation
if (scrollRE) {
static uint32_t lastTick = 0;
static uint32_t delay = 0;
delay = (((get_tmr10ms() - lastTick) << 3) + delay) >> 1; // Modified moving average filter used for smoother change of speed
lastTick = get_tmr10ms();
if (delay < ROTENC_DELAY_HIGHSPEED)
rotencSpeed = ROTENC_HIGHSPEED;
else if (delay < ROTENC_DELAY_MIDSPEED)
rotencSpeed = ROTENC_MIDSPEED;
else
rotencSpeed = ROTENC_LOWSPEED;
}
#endif
}
#endif
#if defined(TELEMETRY_FRSKY) || defined(TELEMETRY_JETI)
if (!IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0])) {
telemetryInterrupt10ms();
}
#endif
// These moved here from evalFlightModeMixes() to improve beep trigger reliability.
#if defined(PWM_BACKLIGHT)
if ((g_tmr10ms&0x03) == 0x00)
backlightFade(); // increment or decrement brightness until target brightness is reached
#endif
#if !defined(AUDIO)
if (mixWarning & 1) if(((g_tmr10ms&0xFF)== 0)) AUDIO_MIX_WARNING(1);
if (mixWarning & 2) if(((g_tmr10ms&0xFF)== 64) || ((g_tmr10ms&0xFF)== 72)) AUDIO_MIX_WARNING(2);
if (mixWarning & 4) if(((g_tmr10ms&0xFF)==128) || ((g_tmr10ms&0xFF)==136) || ((g_tmr10ms&0xFF)==144)) AUDIO_MIX_WARNING(3);
#endif
#if defined(SDCARD)
sdPoll10ms();
#endif
heartbeat |= HEART_TIMER_10MS;
}
FlightModeData *flightModeAddress(uint8_t idx)
{
return &g_model.flightModeData[idx];
}
ExpoData *expoAddress(uint8_t idx )
{
return &g_model.expoData[idx];
}
MixData *mixAddress(uint8_t idx)
{
return &g_model.mixData[idx];
}
LimitData *limitAddress(uint8_t idx)
{
return &g_model.limitData[idx];
}
#if defined(CPUM64)
void memclear(void *ptr, uint8_t size)
{
memset(ptr, 0, size);
}
#endif
void memswap(void * a, void * b, uint8_t size)
{
uint8_t * x = (uint8_t *)a;
uint8_t * y = (uint8_t *)b;
uint8_t temp ;
while (size--) {
temp = *x;
*x++ = *y;
*y++ = temp;
}
}
void generalDefault()
{
memclear(&g_eeGeneral, sizeof(g_eeGeneral));
g_eeGeneral.version = EEPROM_VER;
g_eeGeneral.variant = EEPROM_VARIANT;
#if !defined(PCBHORUS)
g_eeGeneral.contrast = LCD_CONTRAST_DEFAULT;
#endif
#if defined(PCBHORUS)
#if PCBREV >= 13
g_eeGeneral.potsConfig = 0x1B; // S1 = pot, 6P = multipos, S2 = pot with detent
#else
g_eeGeneral.potsConfig = 0x19; // S1 = pot without detent, 6P = multipos, S2 = pot with detent
#endif
g_eeGeneral.slidersConfig = 0x0f; // 4 sliders
g_eeGeneral.blOffBright = 20;
#elif defined(PCBX7)
g_eeGeneral.potsConfig = 0x07; // S1 = pot without detent, S2 = pot with detent
#elif defined(PCBTARANIS)
g_eeGeneral.potsConfig = 0x05; // S1 and S2 = pots with detent
g_eeGeneral.slidersConfig = 0x03; // LS and RS = sliders with detent
#endif
#if defined(PCBX7)
g_eeGeneral.switchConfig = 0x000006ff; // 4x3POS, 1x2POS, 1xTOGGLE
#elif defined(PCBTARANIS) || defined(PCBHORUS)
g_eeGeneral.switchConfig = 0x00007bff; // 6x3POS, 1x2POS, 1xTOGGLE
#endif
// vBatWarn is voltage in 100mV, vBatMin is in 100mV but with -9V offset, vBatMax has a -12V offset
#if defined(PCBX9E) || defined(PCBX12S)
// NI-MH 9.6V
g_eeGeneral.vBatWarn = 87;
g_eeGeneral.vBatMin = -5; //8,5V
g_eeGeneral.vBatMax = -5; //11,5V
#elif defined(PCBX10)
// Lipo 2V
g_eeGeneral.vBatWarn = 66;
g_eeGeneral.vBatMin = -28; // 6.2V
g_eeGeneral.vBatMax = -38; // 8.2V
#elif defined(PCBTARANIS)
// NI-MH 7.2V, X9D, X9D+ and X7
g_eeGeneral.vBatWarn = 65;
g_eeGeneral.vBatMin = -30; //6V
g_eeGeneral.vBatMax = -40; //8V
#else
g_eeGeneral.vBatWarn = 90;
#endif
#if defined(DEFAULT_MODE)
g_eeGeneral.stickMode = DEFAULT_MODE-1;
#endif
#if defined(PCBTARANIS)
g_eeGeneral.templateSetup = 17; /* TAER */
#endif
#if !defined(CPUM64)
g_eeGeneral.backlightMode = e_backlight_mode_all;
g_eeGeneral.lightAutoOff = 2;
g_eeGeneral.inactivityTimer = 10;
#endif
#if defined(CPUARM)
g_eeGeneral.ttsLanguage[0] = 'e';
g_eeGeneral.ttsLanguage[1] = 'n';
g_eeGeneral.wavVolume = 2;
g_eeGeneral.backgroundVolume = 1;
#endif
#if defined(CPUARM)
for (int i=0; i<NUM_STICKS; ++i) {
g_eeGeneral.trainer.mix[i].mode = 2;
g_eeGeneral.trainer.mix[i].srcChn = channel_order(i+1) - 1;
g_eeGeneral.trainer.mix[i].studWeight = 100;
}
#endif
#if defined(PCBX9E)
const int8_t defaultName[] = { 20, -1, -18, -1, -14, -9, -19 };
memcpy(g_eeGeneral.bluetoothName, defaultName, sizeof(defaultName));
#endif
#if !defined(EEPROM)
strcpy(g_eeGeneral.currModelFilename, DEFAULT_MODEL_FILENAME);
#endif
#if defined(PCBHORUS)
strcpy(g_eeGeneral.themeName, theme->getName());
theme->init();
#endif
g_eeGeneral.chkSum = 0xFFFF;
}
uint16_t evalChkSum()
{
uint16_t sum = 0;
const int16_t *calibValues = (const int16_t *) &g_eeGeneral.calib[0];
for (int i=0; i<12; i++)
sum += calibValues[i];
return sum;
}
#if defined(VIRTUAL_INPUTS)
void clearInputs()
{
memset(g_model.expoData, 0, sizeof(g_model.expoData)); // clear all expos
}
void defaultInputs()
{
clearInputs();
for (int i=0; i<NUM_STICKS; i++) {
uint8_t stick_index = channel_order(i+1);
ExpoData *expo = expoAddress(i);
expo->srcRaw = MIXSRC_Rud - 1 + stick_index;
expo->curve.type = CURVE_REF_EXPO;
expo->chn = i;
expo->weight = 100;
expo->mode = 3; // TODO constant
#if defined(TRANSLATIONS_CZ)
for (int c=0; c<4; c++) {
g_model.inputNames[i][c] = char2idx(STR_INPUTNAMES[1+4*(stick_index-1)+c]);
}
#else
for (int c=0; c<3; c++) {
g_model.inputNames[i][c] = char2idx(STR_VSRCRAW[2+4*stick_index+c]);
}
#if LEN_INPUT_NAME > 3
g_model.inputNames[i][3] = '\0';
#endif
#endif
}
storageDirty(EE_MODEL);
}
#endif
#if defined(TEMPLATES)
inline void applyDefaultTemplate()
{
applyTemplate(TMPL_SIMPLE_4CH); // calls storageDirty internally
}
#else
void applyDefaultTemplate()
{
#if defined(VIRTUAL_INPUTS)
defaultInputs(); // calls storageDirty internally
#else
storageDirty(EE_MODEL);
#endif
for (int i=0; i<NUM_STICKS; i++) {
MixData * mix = mixAddress(i);
mix->destCh = i;
mix->weight = 100;
#if defined(VIRTUAL_INPUTS)
mix->srcRaw = i+1;
#else
mix->srcRaw = MIXSRC_Rud - 1 + channel_order(i+1);
#endif
}
}
#endif
#if defined(CPUARM) && defined(EEPROM)
void checkModelIdUnique(uint8_t index, uint8_t module)
{
uint8_t modelId = g_model.header.modelId[module];
uint8_t additionalOnes = 0;
char * name = reusableBuffer.msgbuf.msg;
memset(reusableBuffer.msgbuf.msg, 0, sizeof(reusableBuffer.msgbuf.msg));
if (modelId != 0) {
for (uint8_t i = 0; i < MAX_MODELS; i++) {
if (i != index) {
if (modelId == modelHeaders[i].modelId[module]) {
if ((WARNING_LINE_LEN - 4 - (name - reusableBuffer.msgbuf.msg)) > (signed)(modelHeaders[i].name[0] ? zlen(modelHeaders[i].name, LEN_MODEL_NAME) : sizeof(TR_MODEL) + 2)) { // you cannot rely exactly on WARNING_LINE_LEN so using WARNING_LINE_LEN-2 (-2 for the ",")
if (reusableBuffer.msgbuf.msg[0] != 0) {
name = strAppend(name, ", ");
}
if (modelHeaders[i].name[0] == 0) {
name = strAppend(name, STR_MODEL);
name = strAppendUnsigned(name+strlen(name),i, 2);
}
else {
name += zchar2str(name, modelHeaders[i].name, LEN_MODEL_NAME);
}
}
else {
additionalOnes++;
}
}
}
}
}
if (additionalOnes) {
name = strAppend(name, " (+");
name = strAppendUnsigned(name, additionalOnes);
name = strAppend(name, ")");
}
if (reusableBuffer.msgbuf.msg[0] != 0) {
POPUP_WARNING(STR_MODELIDUSED);
SET_WARNING_INFO(reusableBuffer.msgbuf.msg, sizeof(reusableBuffer.msgbuf.msg), 0);
}
}
#endif
void modelDefault(uint8_t id)
{
memset(&g_model, 0, sizeof(g_model));
applyDefaultTemplate();
#if defined(LUA) && defined(PCBTARANIS) //Horus uses menuModelWizard() for wizard
if (isFileAvailable(WIZARD_PATH "/" WIZARD_NAME)) {
f_chdir(WIZARD_PATH);
luaExec(WIZARD_NAME);
}
#endif
#if defined(PCBTARANIS) || defined(PCBHORUS)
g_model.moduleData[INTERNAL_MODULE].type = MODULE_TYPE_XJT;
g_model.moduleData[INTERNAL_MODULE].channelsCount = DEFAULT_CHANNELS(INTERNAL_MODULE);
#elif defined(PCBSKY9X)
g_model.moduleData[EXTERNAL_MODULE].type = MODULE_TYPE_PPM;
#endif
#if defined(CPUARM) && defined(EEPROM)
for (int i=0; i<NUM_MODULES; i++) {
modelHeaders[id].modelId[i] = g_model.header.modelId[i] = id+1;
}
checkModelIdUnique(id, 0);
#endif
#if defined(CPUARM) && defined(FLIGHT_MODES) && defined(GVARS)
for (int p=1; p<MAX_FLIGHT_MODES; p++) {
for (int i=0; i<MAX_GVARS; i++) {
g_model.flightModeData[p].gvars[i] = GVAR_MAX+1;
}
}
#endif
#if defined(FLIGHT_MODES) && defined(ROTARY_ENCODERS)
for (int p=1; p<MAX_FLIGHT_MODES; p++) {
for (int i=0; i<ROTARY_ENCODERS; i++) {
g_model.flightModeData[p].rotaryEncoders[i] = ROTARY_ENCODER_MAX+1;
}
}
#endif
#if defined(TELEMETRY_MAVLINK)
g_model.mavlink.rc_rssi_scale = 15;
g_model.mavlink.pc_rssi_en = 1;
#endif
#if !defined(EEPROM)
strcpy(g_model.header.name, "\015\361\374\373\364");
g_model.header.name[5] = '\033' + id/10;
g_model.header.name[6] = '\033' + id%10;
#endif
#if defined(PCBHORUS)
extern const LayoutFactory * defaultLayout;
delete customScreens[0];
customScreens[0] = defaultLayout->create(&g_model.screenData[0].layoutData);
strcpy(g_model.screenData[0].layoutName, "Layout2P1");
extern const WidgetFactory * defaultWidget;
customScreens[0]->createWidget(0, defaultWidget);
// enable switch warnings
for (int i=0; i<NUM_SWITCHES; i++) {
g_model.switchWarningState |= (1 << (3*i));
}
#endif
}
#if defined(VIRTUAL_INPUTS)
bool isInputRecursive(int index)
{
ExpoData * line = expoAddress(0);
for (int i=0; i<MAX_EXPOS; i++, line++) {
if (line->chn > index)
break;
else if (line->chn < index)
continue;
else if (line->srcRaw >= MIXSRC_FIRST_LOGICAL_SWITCH)
return true;
}
return false;
}
#endif
#if defined(AUTOSOURCE)
int8_t getMovedSource(GET_MOVED_SOURCE_PARAMS)
{
int8_t result = 0;
static tmr10ms_t s_move_last_time = 0;
#if defined(VIRTUAL_INPUTS)
static int16_t inputsStates[MAX_INPUTS];
if (min <= MIXSRC_FIRST_INPUT) {
for (uint8_t i=0; i<MAX_INPUTS; i++) {
if (abs(anas[i] - inputsStates[i]) > 512) {
if (!isInputRecursive(i)) {
result = MIXSRC_FIRST_INPUT+i;
break;
}
}
}
}
#endif
static int16_t sourcesStates[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
if (result == 0) {
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) {
if (abs(calibratedAnalogs[i] - sourcesStates[i]) > 512) {
result = MIXSRC_Rud+i;
break;
}
}
}
bool recent = ((tmr10ms_t)(get_tmr10ms() - s_move_last_time) > 10);
if (recent) {
result = 0;
}
if (result || recent) {
#if defined(VIRTUAL_INPUTS)
memcpy(inputsStates, anas, sizeof(inputsStates));
#endif
memcpy(sourcesStates, calibratedAnalogs, sizeof(sourcesStates));
}
s_move_last_time = get_tmr10ms();
return result;
}
#endif
#if defined(FLIGHT_MODES)
uint8_t getFlightMode()
{
for (uint8_t i=1; i<MAX_FLIGHT_MODES; i++) {
FlightModeData *phase = &g_model.flightModeData[i];
if (phase->swtch && getSwitch(phase->swtch)) {
return i;
}
}
return 0;
}
#endif
trim_t getRawTrimValue(uint8_t phase, uint8_t idx)
{
FlightModeData * p = flightModeAddress(phase);
#if defined(PCBSTD)
return (((trim_t)p->trim[idx]) << 2) + ((p->trim_ext >> (2*idx)) & 0x03);
#else
return p->trim[idx];
#endif
}
int getTrimValue(uint8_t phase, uint8_t idx)
{
#if defined(CPUARM)
int result = 0;
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
trim_t v = getRawTrimValue(phase, idx);
if (v.mode == TRIM_MODE_NONE) {
return result;
}
else {
unsigned int p = v.mode >> 1;
if (p == phase || phase == 0) {
return result + v.value;
}
else {
phase = p;
if (v.mode % 2 != 0) {
result += v.value;
}
}
}
}
return 0;
#else
return getRawTrimValue(getTrimFlightMode(phase, idx), idx);
#endif
}
#if defined(CPUARM)
bool setTrimValue(uint8_t phase, uint8_t idx, int trim)
{
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
trim_t & v = flightModeAddress(phase)->trim[idx];
if (v.mode == TRIM_MODE_NONE)
return false;
unsigned int p = v.mode >> 1;
if (p == phase || phase == 0) {
v.value = trim;
break;
}
else if (v.mode % 2 == 0) {
phase = p;
}
else {
v.value = limit<int>(TRIM_EXTENDED_MIN, trim - getTrimValue(p, idx), TRIM_EXTENDED_MAX);
break;
}
}
storageDirty(EE_MODEL);
return true;
}
#else
void setTrimValue(uint8_t phase, uint8_t idx, int trim)
{
#if defined(PCBSTD)
FlightModeData *p = flightModeAddress(phase);
p->trim[idx] = (int8_t)(trim >> 2);
idx <<= 1;
p->trim_ext = (p->trim_ext & ~(0x03 << idx)) + (((trim & 0x03) << idx));
#else
FlightModeData *p = flightModeAddress(phase);
p->trim[idx] = trim;
#endif
storageDirty(EE_MODEL);
}
#endif
#if !defined(CPUARM)
uint8_t getTrimFlightMode(uint8_t phase, uint8_t idx)
{
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
if (phase == 0) return 0;
trim_t trim = getRawTrimValue(phase, idx);
if (trim <= TRIM_EXTENDED_MAX) return phase;
uint8_t result = trim-TRIM_EXTENDED_MAX-1;
if (result >= phase) result++;
phase = result;
}
return 0;
}
#endif
#if defined(ROTARY_ENCODERS)
uint8_t getRotaryEncoderFlightMode(uint8_t idx)
{
uint8_t phase = mixerCurrentFlightMode;
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
if (phase == 0) return 0;
int16_t value = flightModeAddress(phase)->rotaryEncoders[idx];
if (value <= ROTARY_ENCODER_MAX) return phase;
uint8_t result = value-ROTARY_ENCODER_MAX-1;
if (result >= phase) result++;
phase = result;
}
return 0;
}
int16_t getRotaryEncoder(uint8_t idx)
{
return flightModeAddress(getRotaryEncoderFlightMode(idx))->rotaryEncoders[idx];
}
void incRotaryEncoder(uint8_t idx, int8_t inc)
{
rotencValue[idx] += inc;
int16_t *value = &(flightModeAddress(getRotaryEncoderFlightMode(idx))->rotaryEncoders[idx]);
*value = limit((int16_t)-RESX, (int16_t)(*value + (inc * 8)), (int16_t)+RESX);
storageDirty(EE_MODEL);
}
#endif
#if defined(CPUARM)
getvalue_t convert16bitsTelemValue(source_t channel, ls_telemetry_value_t value)
{
return value;
}
getvalue_t convert8bitsTelemValue(source_t channel, ls_telemetry_value_t value)
{
return value;
}
#if defined(TELEMETRY_FRSKY)
ls_telemetry_value_t minTelemValue(source_t channel)
{
return 0;
}
ls_telemetry_value_t maxTelemValue(source_t channel)
{
return 30000;
}
#endif
ls_telemetry_value_t max8bitsTelemValue(source_t channel)
{
return 30000;
}
#elif defined(TELEMETRY_FRSKY)
/*
ls_telemetry_value_t minTelemValue(uint8_t channel)
{
switch (channel) {
case TELEM_TIMER1:
case TELEM_TIMER2:
return -3600;
case TELEM_ALT:
case TELEM_MIN_ALT:
case TELEM_MAX_ALT:
case TELEM_GPSALT:
return -500;
case TELEM_T1:
case TELEM_MAX_T1:
case TELEM_T2:
case TELEM_MAX_T2:
return -30;
case TELEM_ACCx:
case TELEM_ACCy:
case TELEM_ACCz:
return -1000;
case TELEM_VSPEED:
return -3000;
default:
return 0;
}
}
*/
ls_telemetry_value_t maxTelemValue(uint8_t channel)
{
switch (channel) {
case TELEM_FUEL:
case TELEM_RSSI_TX:
case TELEM_RSSI_RX:
return 100;
case TELEM_HDG:
return 180;
default:
return 255;
}
}
#endif
#if !defined(CPUARM)
getvalue_t convert8bitsTelemValue(uint8_t channel, ls_telemetry_value_t value)
{
getvalue_t result;
switch (channel) {
case TELEM_TIMER1:
case TELEM_TIMER2:
result = value * 5;
break;
#if defined(TELEMETRY_FRSKY)
case TELEM_ALT:
case TELEM_GPSALT:
case TELEM_MAX_ALT:
case TELEM_MIN_ALT:
result = value * 8 - 500;
break;
case TELEM_RPM:
case TELEM_MAX_RPM:
result = value * 50;
break;
case TELEM_T1:
case TELEM_T2:
case TELEM_MAX_T1:
case TELEM_MAX_T2:
result = (getvalue_t)value - 30;
break;
case TELEM_CELL:
case TELEM_HDG:
case TELEM_SPEED:
case TELEM_MAX_SPEED:
result = value * 2;
break;
case TELEM_ASPEED:
case TELEM_MAX_ASPEED:
result = value * 20;
break;
case TELEM_DIST:
case TELEM_MAX_DIST:
result = value * 8;
break;
case TELEM_CURRENT:
case TELEM_POWER:
case TELEM_MAX_CURRENT:
case TELEM_MAX_POWER:
result = value * 5;
break;
case TELEM_CONSUMPTION:
result = value * 100;
break;
case TELEM_VSPEED:
result = ((getvalue_t)value - 125) * 10;
break;
#endif
default:
result = value;
break;
}
return result;
}
#endif
#define INAC_STICKS_SHIFT 6
#define INAC_SWITCHES_SHIFT 8
bool inputsMoved()
{
uint8_t sum = 0;
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++)
sum += anaIn(i) >> INAC_STICKS_SHIFT;
for (uint8_t i=0; i<NUM_SWITCHES; i++)
sum += getValue(MIXSRC_FIRST_SWITCH+i) >> INAC_SWITCHES_SHIFT;
if (abs((int8_t)(sum-inactivity.sum)) > 1) {
inactivity.sum = sum;
return true;
}
else {
return false;
}
}
void checkBacklight()
{
static uint8_t tmr10ms ;
#if defined(PCBSTD) && defined(ROTARY_ENCODER_NAVIGATION)
rotencPoll();
#endif
uint8_t x = g_blinkTmr10ms;
if (tmr10ms != x) {
tmr10ms = x;
if (inputsMoved()) {
inactivity.counter = 0;
if (g_eeGeneral.backlightMode & e_backlight_mode_sticks) {
backlightOn();
}
}
bool backlightOn = (g_eeGeneral.backlightMode == e_backlight_mode_on || lightOffCounter || isFunctionActive(FUNCTION_BACKLIGHT));
if (flashCounter) backlightOn = !backlightOn;
if (backlightOn)
BACKLIGHT_ENABLE();
else
BACKLIGHT_DISABLE();
#if defined(PCBSTD) && defined(VOICE) && !defined(SIMU)
Voice.voice_process() ;
#endif
}
}
void doLoopCommonActions()
{
checkBacklight();
}
void backlightOn()
{
lightOffCounter = ((uint16_t)g_eeGeneral.lightAutoOff*250) << 1;
}
#if MENUS_LOCK == 1
bool readonly = true;
bool readonlyUnlocked()
{
if (readonly) {
POPUP_WARNING(STR_MODS_FORBIDDEN);
return false;
}
else {
return true;
}
}
#endif
#if defined(SPLASH)
void doSplash()
{
#if defined(PWR_BUTTON_PRESS)
bool refresh = false;
#endif
if (SPLASH_NEEDED()) {
drawSplash();
#if !defined(CPUARM)
AUDIO_HELLO();
#endif
#if defined(PCBSTD)
lcdSetContrast();
#elif defined(PCBSKY9X)
tmr10ms_t curTime = get_tmr10ms() + 10;
uint8_t contrast = 10;
lcdSetRefVolt(contrast);
#endif
getADC(); // init ADC array
inputsMoved();
tmr10ms_t tgtime = get_tmr10ms() + SPLASH_TIMEOUT;
while (tgtime > get_tmr10ms()) {
#if defined(SIMU)
SIMU_SLEEP(1);
#elif defined(CPUARM)
CoTickDelay(1);
#endif
getADC();
#if defined(FSPLASH)
// Splash is forced, we can't skip it
if (!(g_eeGeneral.splashMode & 0x04)) {
#endif
if (keyDown() || inputsMoved()) return;
#if defined(FSPLASH)
}
#endif
#if defined(PWR_BUTTON_PRESS)
uint32_t pwr_check = pwrCheck();
if (pwr_check == e_power_off) {
break;
}
else if (pwr_check == e_power_press) {
refresh = true;
}
else if (pwr_check == e_power_on && refresh) {
drawSplash();
refresh = false;
}
#else
if (pwrCheck() == e_power_off) {
return;
}
#endif
#if defined(SPLASH_FRSKY)
static uint8_t secondSplash = false;
if (!secondSplash && get_tmr10ms() >= tgtime-200) {
secondSplash = true;
drawSecondSplash();
}
#endif
#if defined(PCBSKY9X)
if (curTime < get_tmr10ms()) {
curTime += 10;
if (contrast < g_eeGeneral.contrast) {
contrast += 1;
lcdSetRefVolt(contrast);
}
}
#endif
doLoopCommonActions();
}
}
}
#else
#define Splash()
#define doSplash()
#endif
#if defined(SDCARD) && defined(CPUARM)
void checkSDVersion()
{
if (sdMounted()) {
FIL versionFile;
UINT read = 0;
char version[sizeof(REQUIRED_SDCARD_VERSION)-1];
char error[sizeof(TR_WRONG_SDCARDVERSION)+ sizeof(version)];
strAppend(strAppend(error, STR_WRONG_SDCARDVERSION, sizeof(TR_WRONG_SDCARDVERSION)), REQUIRED_SDCARD_VERSION, sizeof(REQUIRED_SDCARD_VERSION));
FRESULT result = f_open(&versionFile, "/opentx.sdcard.version", FA_OPEN_EXISTING | FA_READ);
if (result == FR_OK) {
if (f_read(&versionFile, &version, sizeof(version), &read) != FR_OK ||
read != sizeof(version) ||
strncmp(version, REQUIRED_SDCARD_VERSION, sizeof(version)) != 0) {
TRACE("SD card version mismatch: %.*s, %s", sizeof(REQUIRED_SDCARD_VERSION)-1, version, REQUIRED_SDCARD_VERSION);
ALERT(STR_SD_CARD, error, AU_ERROR);
}
f_close(&versionFile);
}
else {
ALERT(STR_SD_CARD, error, AU_ERROR);
}
}
}
#endif
#if defined(PCBTARANIS) || defined(PCBHORUS)
void checkFailsafe()
{
for (int i=0; i<NUM_MODULES; i++) {
if (IS_MODULE_PXX(i)) {
ModuleData & moduleData = g_model.moduleData[i];
if (HAS_RF_PROTOCOL_FAILSAFE(moduleData.rfProtocol) && moduleData.failsafeMode == FAILSAFE_NOT_SET) {
ALERT(STR_FAILSAFEWARN, STR_NO_FAILSAFE, AU_ERROR);
break;
}
}
}
}
#else
#define checkFailsafe()
#endif
#if defined(CPUARM)
void checkRSSIAlarmsDisabled()
{
if (g_model.rssiAlarms.disabled) {
ALERT(STR_RSSIALARM_WARN, STR_NO_RSSIALARM, AU_ERROR);
}
}
#endif
#if defined(GUI)
void checkAll()
{
#if defined(EEPROM_RLC)
checkLowEEPROM();
#endif
#if defined(MODULE_ALWAYS_SEND_PULSES)
startupWarningState = STARTUP_WARNING_THROTTLE;
#else
if (g_eeGeneral.chkSum == evalChkSum()) {
checkTHR();
}
checkSwitches();
checkFailsafe();
#endif
#if defined(CPUARM)
checkRSSIAlarmsDisabled();
#endif
#if defined(SDCARD) && defined(CPUARM)
checkSDVersion();
#endif
#if defined(CPUARM)
if (g_model.displayChecklist && modelHasNotes()) {
pushModelNotes();
}
#endif
#if defined(CPUARM)
if (!clearKeyEvents()) {
showMessageBox(STR_KEYSTUCK);
tmr10ms_t tgtime = get_tmr10ms() + 500;
while (tgtime != get_tmr10ms()) {
#if defined(SIMU)
SIMU_SLEEP(1);
#elif defined(CPUARM)
CoTickDelay(1);
#endif
wdt_reset();
}
}
#else // #if defined(CPUARM)
clearKeyEvents();
#endif // #if defined(CPUARM)
START_SILENCE_PERIOD();
}
#endif // GUI
#if defined(MODULE_ALWAYS_SEND_PULSES)
void checkStartupWarnings()
{
if (startupWarningState < STARTUP_WARNING_DONE) {
if (startupWarningState == STARTUP_WARNING_THROTTLE)
checkTHR();
else
checkSwitches();
}
}
#endif
#if defined(EEPROM_RLC)
void checkLowEEPROM()
{
if (g_eeGeneral.disableMemoryWarning) return;
if (EeFsGetFree() < 100) {
ALERT(STR_STORAGE_WARNING, STR_EEPROMLOWMEM, AU_ERROR);
}
}
#endif
void checkTHR()
{
uint8_t thrchn = ((g_model.thrTraceSrc==0) || (g_model.thrTraceSrc>NUM_POTS+NUM_SLIDERS)) ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1;
// throttle channel is either the stick according stick mode (already handled in evalInputs)
// or P1 to P3;
// in case an output channel is choosen as throttle source (thrTraceSrc>NUM_POTS+NUM_SLIDERS) we assume the throttle stick is the input
// no other information available at the moment, and good enough to my option (otherwise too much exceptions...)
#if defined(MODULE_ALWAYS_SEND_PULSES)
int16_t v = calibratedAnalogs[thrchn];
if (v<=THRCHK_DEADBAND-1024 || g_model.disableThrottleWarning || pwrCheck()==e_power_off || keyDown()) {
startupWarningState = STARTUP_WARNING_THROTTLE+1;
}
else {
calibratedAnalogs[thrchn] = -1024;
#if !defined(VIRTUAL_INPUTS)
if (thrchn < NUM_STICKS) {
rawAnas[thrchn] = anas[thrchn] = calibratedAnalogs[thrchn];
}
#endif
RAISE_ALERT(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_THROTTLE_ALERT);
}
#else
if (g_model.disableThrottleWarning) {
return;
}
GET_ADC_IF_MIXER_NOT_RUNNING();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
int16_t v = calibratedAnalogs[thrchn];
if (v <= THRCHK_DEADBAND-1024) {
return; // prevent warning if throttle input OK
}
// first - display warning; also deletes inputs if any have been before
LED_ERROR_BEGIN();
RAISE_ALERT(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_THROTTLE_ALERT);
#if defined(PWR_BUTTON_PRESS)
bool refresh = false;
#endif
while (1) {
GET_ADC_IF_MIXER_NOT_RUNNING();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
v = calibratedAnalogs[thrchn];
#if defined(PWR_BUTTON_PRESS)
uint32_t pwr_check = pwrCheck();
if (pwr_check == e_power_off) {
break;
}
else if (pwr_check == e_power_press) {
refresh = true;
}
else if (pwr_check == e_power_on && refresh) {
RAISE_ALERT(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_NONE);
refresh = false;
}
#else
if (pwrCheck() == e_power_off) {
break;
}
#endif
if (keyDown() || v <= THRCHK_DEADBAND-1024) {
break;
}
doLoopCommonActions();
wdt_reset();
SIMU_SLEEP(1);
#if defined(CPUARM)
CoTickDelay(10);
#endif
}
#endif
LED_ERROR_END();
}
void checkAlarm() // added by Gohst
{
if (g_eeGeneral.disableAlarmWarning) {
return;
}
if (IS_SOUND_OFF()) {
ALERT(STR_ALARMSWARN, STR_ALARMSDISABLED, AU_ERROR);
}
}
void alert(const pm_char * title, const pm_char * msg ALERT_SOUND_ARG)
{
LED_ERROR_BEGIN();
TRACE("ALERT %s: %s", title, msg);
RAISE_ALERT(title, msg, STR_PRESSANYKEY, sound);
#if defined(PWR_BUTTON_PRESS)
bool refresh = false;
#endif
while(1) {
SIMU_SLEEP(1);
#if defined(CPUARM)
CoTickDelay(10);
#endif
if (keyDown()) break; // wait for key release
doLoopCommonActions();
wdt_reset();
#if defined(PWR_BUTTON_PRESS)
uint32_t pwr_check = pwrCheck();
if (pwr_check == e_power_off) {
boardOff();
}
else if (pwr_check == e_power_press) {
refresh = true;
}
else if (pwr_check == e_power_on && refresh) {
RAISE_ALERT(title, msg, STR_PRESSANYKEY, AU_NONE);
refresh = false;
}
#else
if (pwrCheck() == e_power_off) {
boardOff(); // turn power off now
}
#endif
}
LED_ERROR_END();
}
#if defined(GVARS)
int8_t trimGvar[NUM_STICKS+NUM_AUX_TRIMS] = { -1, -1, -1, -1 };
#endif
#if defined(CPUARM)
void checkTrims()
{
event_t event = getEvent(true);
if (event && !IS_KEY_BREAK(event)) {
int8_t k = EVT_KEY_MASK(event) - TRM_BASE;
#else
uint8_t checkTrim(event_t event)
{
int8_t k = EVT_KEY_MASK(event) - TRM_BASE;
if (k>=0 && k<8 && !IS_KEY_BREAK(event)) {
#endif
// LH_DWN LH_UP LV_DWN LV_UP RV_DWN RV_UP RH_DWN RH_UP
uint8_t idx = CONVERT_MODE((uint8_t)k/2);
uint8_t phase;
int before;
bool thro;
#if defined(CPUARM)
trimsDisplayTimer = 200; // 2 seconds
trimsDisplayMask |= (1<<idx);
#endif
#if defined(GVARS)
if (TRIM_REUSED(idx)) {
#if defined(PCBSTD)
phase = 0;
#else
phase = getGVarFlightMode(mixerCurrentFlightMode, trimGvar[idx]);
#endif
before = GVAR_VALUE(trimGvar[idx], phase);
thro = false;
}
else {
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
#if defined(CPUARM)
before = getTrimValue(phase, idx);
#else
before = getRawTrimValue(phase, idx);
#endif
thro = (idx==THR_STICK && g_model.thrTrim);
}
#else
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
#if defined(CPUARM)
before = getTrimValue(phase, idx);
#else
before = getRawTrimValue(phase, idx);
#endif
thro = (idx==THR_STICK && g_model.thrTrim);
#endif
int8_t trimInc = g_model.trimInc + 1;
int8_t v = (trimInc==-1) ? min(32, abs(before)/4+1) : (1 << trimInc); // TODO flash saving if (trimInc < 0)
if (thro) v = 4; // if throttle trim and trim trottle then step=4
int16_t after = (k&1) ? before + v : before - v; // positive = k&1
bool beepTrim = false;
if (!thro && before!=0 && ((!(after < 0) == (before < 0)) || after==0)) { //forcing a stop at centerered trim when changing sides
after = 0;
beepTrim = true;
AUDIO_TRIM_MIDDLE();
pauseEvents(event);
}
else if (before>TRIM_MIN && after<=TRIM_MIN) {
beepTrim = true;
AUDIO_TRIM_MIN();
killEvents(event);
}
else if (before<TRIM_MAX && after>=TRIM_MAX) {
beepTrim = true;
AUDIO_TRIM_MAX();
killEvents(event);
}
if ((before<after && after>TRIM_MAX) || (before>after && after<TRIM_MIN)) {
if (!g_model.extendedTrims || TRIM_REUSED(idx)) after = before;
}
if (after < TRIM_EXTENDED_MIN) {
after = TRIM_EXTENDED_MIN;
}
if (after > TRIM_EXTENDED_MAX) {
after = TRIM_EXTENDED_MAX;
}
#if defined(GVARS)
if (TRIM_REUSED(idx)) {
SET_GVAR_VALUE(trimGvar[idx], phase, after);
}
else
#endif
{
#if defined(CPUARM)
if (!setTrimValue(phase, idx, after)) {
// we don't play a beep, so we exit now the function
return;
}
#else
setTrimValue(phase, idx, after);
#endif
}
if (!beepTrim) {
AUDIO_TRIM_PRESS(after);
}
#if !defined(CPUARM)
return 0;
#endif
}
#if !defined(CPUARM)
return event;
#endif
}
#if !defined(SIMU)
uint16_t s_anaFilt[NUM_ANALOGS];
#endif
#if defined(SIMU)
uint16_t BandGap = 225;
#elif defined(CPUM2560)
// #define STARTADCONV (ADCSRA = (1<<ADEN) | (1<<ADPS0) | (1<<ADPS1) | (1<<ADPS2) | (1<<ADSC) | (1 << ADIE))
// G: Note that the above would have set the ADC prescaler to 128, equating to
// 125KHz sample rate. We now sample at 500KHz, with oversampling and other
// filtering options to produce 11-bit results.
uint16_t BandGap = 2040;
#elif defined(PCBSTD)
uint16_t BandGap;
#endif
#if defined(JITTER_MEASURE)
JitterMeter<uint16_t> rawJitter[NUM_ANALOGS];
JitterMeter<uint16_t> avgJitter[NUM_ANALOGS];
tmr10ms_t jitterResetTime = 0;
#endif
#if defined(VIRTUAL_INPUTS)
#define JITTER_FILTER_STRENGTH 4 // tune this value, bigger value - more filtering (range: 1-5) (see explanation below)
#define ANALOG_SCALE 1 // tune this value, bigger value - more filtering (range: 0-1) (see explanation below)
#define JITTER_ALPHA (1<<JITTER_FILTER_STRENGTH)
#define ANALOG_MULTIPLIER (1<<ANALOG_SCALE)
#define ANA_FILT(chan) (s_anaFilt[chan] / (JITTER_ALPHA * ANALOG_MULTIPLIER))
#if (JITTER_ALPHA * ANALOG_MULTIPLIER > 32)
#error "JITTER_FILTER_STRENGTH and ANALOG_SCALE are too big, their summ should be <= 5 !!!"
#endif
#else
#define ANALOG_SCALE 0
#define JITTER_ALPHA 1
#define ANALOG_MULTIPLIER 1
#define ANA_FILT(chan) (s_anaFilt[chan])
#endif
#if !defined(SIMU)
uint16_t anaIn(uint8_t chan)
{
#if defined(VIRTUAL_INPUTS)
return ANA_FILT(chan);
#else
#if defined(TELEMETRY_MOD_14051) || defined(TELEMETRY_MOD_14051_SWAPPED)
static const pm_char crossAna[] PROGMEM = {3,1,2,0,4,5,6,0/* shouldn't be used */,TX_VOLTAGE};
#else
static const pm_char crossAna[] PROGMEM = {3,1,2,0,4,5,6,7};
#endif
#if defined(FRSKY_STICKS)
volatile uint16_t temp = s_anaFilt[pgm_read_byte(crossAna+chan)]; // volatile saves here 40 bytes; maybe removed for newer AVR when available
if (chan < NUM_STICKS && (g_eeGeneral.stickReverse & (1 << chan))) {
temp = 2048 - temp;
}
return temp;
#else
volatile uint16_t *p = &s_anaFilt[pgm_read_byte(crossAna+chan)];
return *p;
#endif
#endif
}
#if defined(CPUARM)
void getADC()
{
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE() && jitterResetTime < get_tmr10ms()) {
// reset jitter measurement every second
for (uint32_t x=0; x<NUM_ANALOGS; x++) {
rawJitter[x].reset();
avgJitter[x].reset();
}
jitterResetTime = get_tmr10ms() + 100; //every second
}
#endif
DEBUG_TIMER_START(debugTimerAdcRead);
adcRead();
DEBUG_TIMER_STOP(debugTimerAdcRead);
for (uint8_t x=0; x<NUM_ANALOGS; x++) {
uint16_t v = getAnalogValue(x) >> (1 - ANALOG_SCALE);
#if defined(VIRTUAL_INPUTS)
// Jitter filter:
// * pass trough any big change directly
// * for small change use Modified moving average (MMA) filter
//
// Explanation:
//
// Normal MMA filter has this formula:
// <out> = ((ALPHA-1)*<out> + <in>)/ALPHA
//
// If calculation is done this way with integer arithmetics, then any small change in
// input signal is lost. One way to combat that, is to rearrange the formula somewhat,
// to store a more precise (larger) number between iterations. The basic idea is to
// store undivided value between iterations. Therefore an new variable <filtered> is
// used. The new formula becomes:
// <filtered> = <filtered> - <filtered>/ALPHA + <in>
// <out> = <filtered>/ALPHA (use only when out is needed)
//
// The above formula with a maximum allowed ALPHA value (we are limited by
// the 16 bit s_anaFilt[]) was tested on the radio. The resulting signal still had
// some jitter (a value of 1 was observed). The jitter might be bigger on other
// radios.
//
// So another idea is to use larger input values for filtering. So instead of using
// input in a range from 0 to 2047, we use twice larger number (temp[x] is divided less)
//
// This also means that ALPHA must be lowered (remember 16 bit limit), but test results
// have proved that this kind of filtering gives better results. So the recommended values
// for filter are:
// JITTER_FILTER_STRENGTH 4
// ANALOG_SCALE 1
//
// Variables mapping:
// * <in> = v
// * <out> = s_anaFilt[x]
uint16_t previous = s_anaFilt[x] / JITTER_ALPHA;
uint16_t diff = (v > previous) ? (v - previous) : (previous - v);
if (!g_eeGeneral.jitterFilter && diff < (10*ANALOG_MULTIPLIER)) { // g_eeGeneral.jitterFilter is inverted, 0 - active
// apply jitter filter
s_anaFilt[x] = (s_anaFilt[x] - previous) + v;
}
else
#endif // #if defined(VIRTUAL_INPUTS)
{
//use unfiltered value
s_anaFilt[x] = v * JITTER_ALPHA;
}
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE()) {
avgJitter[x].measure(ANA_FILT(x));
}
#endif
#define ANAFILT_MAX (2 * RESX * JITTER_ALPHA * ANALOG_MULTIPLIER - 1)
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
if (IS_POT_MULTIPOS(x) && IS_MULTIPOS_CALIBRATED(calib)) {
// TODO: consider adding another low pass filter to eliminate multipos switching glitches
uint8_t vShifted = ANA_FILT(x) >> 4;
s_anaFilt[x] = ANAFILT_MAX;
for (uint32_t i=0; i<calib->count; i++) {
if (vShifted < calib->steps[i]) {
s_anaFilt[x] = (i * ANAFILT_MAX) / calib->count;
break;
}
}
}
}
}
#endif // #if defined(CPUARM)
#endif // SIMU
uint8_t g_vbat100mV = 0;
uint16_t lightOffCounter;
uint8_t flashCounter = 0;
uint16_t sessionTimer;
uint16_t s_timeCumThr; // THR in 1/16 sec
uint16_t s_timeCum16ThrP; // THR% in 1/16 sec
uint8_t trimsCheckTimer = 0;
#if defined(CPUARM)
uint8_t trimsDisplayTimer = 0;
uint8_t trimsDisplayMask = 0;
#endif
void flightReset(uint8_t check)
{
// we don't reset the whole audio here (the hello.wav would be cut, if a prompt is queued before FlightReset, it should be played)
// TODO check if the vario / background music are stopped correctly if switching to a model which doesn't have these functions enabled
if (!IS_MANUAL_RESET_TIMER(0)) {
timerReset(0);
}
#if TIMERS > 1
if (!IS_MANUAL_RESET_TIMER(1)) {
timerReset(1);
}
#endif
#if TIMERS > 2
if (!IS_MANUAL_RESET_TIMER(2)) {
timerReset(2);
}
#endif
#if defined(TELEMETRY_FRSKY)
telemetryReset();
#endif
s_mixer_first_run_done = false;
START_SILENCE_PERIOD();
RESET_THR_TRACE();
logicalSwitchesReset();
if (check) {
checkAll();
}
}
#if defined(THRTRACE)
uint8_t s_traceBuf[MAXTRACE];
uint16_t s_traceWr;
uint8_t s_cnt_10s;
uint16_t s_cnt_samples_thr_10s;
uint16_t s_sum_samples_thr_10s;
#endif
void evalTrims()
{
uint8_t phase = mixerCurrentFlightMode;
for (uint8_t i=0; i<NUM_STICKS+NUM_AUX_TRIMS; i++) {
// do trim -> throttle trim if applicable
int16_t trim = getTrimValue(phase, i);
#if !defined(CPUARM)
if (i==THR_STICK && g_model.thrTrim) {
int16_t trimMin = g_model.extendedTrims ? TRIM_EXTENDED_MIN : TRIM_MIN;
trim = (((g_model.throttleReversed)?(int32_t)(trim+trimMin):(int32_t)(trim-trimMin)) * (RESX-anas[i])) >> (RESX_SHIFT+1);
}
#endif
if (trimsCheckTimer > 0) {
trim = 0;
}
trims[i] = trim*2;
}
}
#if !defined(PCBSTD)
uint8_t mSwitchDuration[1+NUM_ROTARY_ENCODERS] = { 0 };
#define CFN_PRESSLONG_DURATION 100
#endif
uint8_t s_mixer_first_run_done = false;
void doMixerCalculations()
{
static tmr10ms_t lastTMR = 0;
tmr10ms_t tmr10ms = get_tmr10ms();
uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
// handle tick10ms overrun
// correct overflow handling costs a lot of code; happens only each 11 min;
// therefore forget the exact calculation and use only 1 instead; good compromise
lastTMR = tmr10ms;
DEBUG_TIMER_START(debugTimerGetAdc);
getADC();
DEBUG_TIMER_STOP(debugTimerGetAdc);
DEBUG_TIMER_START(debugTimerGetSwitches);
getSwitchesPosition(!s_mixer_first_run_done);
DEBUG_TIMER_STOP(debugTimerGetSwitches);
#if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
Current_analogue = (Current_analogue*31 + s_anaFilt[8] ) >> 5 ;
if (Current_analogue > Current_max)
Current_max = Current_analogue ;
#endif
#if !defined(CPUARM)
adcPrepareBandgap();
#endif
DEBUG_TIMER_START(debugTimerEvalMixes);
evalMixes(tick10ms);
DEBUG_TIMER_STOP(debugTimerEvalMixes);
#if !defined(CPUARM)
// Bandgap has had plenty of time to settle...
getADC_bandgap();
#endif
DEBUG_TIMER_START(debugTimerMixes10ms);
if (tick10ms) {
#if !defined(CPUM64) && !defined(ACCURAT_THROTTLE_TIMER)
// code cost is about 16 bytes for higher throttle accuracy for timer
// would not be noticable anyway, because all version up to this change had only 16 steps;
// now it has already 32 steps; this define would increase to 128 steps
#define ACCURAT_THROTTLE_TIMER
#endif
/* Throttle trace */
int16_t val;
if (g_model.thrTraceSrc > NUM_POTS+NUM_SLIDERS) {
uint8_t ch = g_model.thrTraceSrc-NUM_POTS-NUM_SLIDERS-1;
val = channelOutputs[ch];
LimitData *lim = limitAddress(ch);
int16_t gModelMax = LIMIT_MAX_RESX(lim);
int16_t gModelMin = LIMIT_MIN_RESX(lim);
if (lim->revert)
val = -val + gModelMax;
else
val = val - gModelMin;
#if defined(PPM_LIMITS_SYMETRICAL)
if (lim->symetrical) {
val -= calc1000toRESX(lim->offset);
}
#endif
gModelMax -= gModelMin; // we compare difference between Max and Mix for recaling needed; Max and Min are shifted to 0 by default
// usually max is 1024 min is -1024 --> max-min = 2048 full range
#ifdef ACCURAT_THROTTLE_TIMER
if (gModelMax!=0 && gModelMax!=2048) val = (int32_t) (val << 11) / (gModelMax); // rescaling only needed if Min, Max differs
#else
// @@@ open.20.fsguruh optimized calculation; now *8 /8 instead of 10 base; (*16/16 already cause a overrun; unsigned calculation also not possible, because v may be negative)
gModelMax+=255; // force rounding up --> gModelMax is bigger --> val is smaller
gModelMax >>= (10-2);
if (gModelMax!=0 && gModelMax!=8) {
val = (val << 3) / gModelMax; // rescaling only needed if Min, Max differs
}
#endif
if (val<0) val=0; // prevent val be negative, which would corrupt throttle trace and timers; could occur if safetyswitch is smaller than limits
}
else {
#if defined(VIRTUAL_INPUTS)
val = RESX + calibratedAnalogs[g_model.thrTraceSrc == 0 ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1];
#else
val = RESX + (g_model.thrTraceSrc == 0 ? rawAnas[THR_STICK] : calibratedAnalogs[g_model.thrTraceSrc+NUM_STICKS-1]);
#endif
}
#if defined(ACCURAT_THROTTLE_TIMER)
val >>= (RESX_SHIFT-6); // calibrate it (resolution increased by factor 4)
#else
val >>= (RESX_SHIFT-4); // calibrate it
#endif
evalTimers(val, tick10ms);
static uint8_t s_cnt_100ms;
static uint8_t s_cnt_1s;
static uint8_t s_cnt_samples_thr_1s;
static uint16_t s_sum_samples_thr_1s;
s_cnt_samples_thr_1s++;
s_sum_samples_thr_1s+=val;
if ((s_cnt_100ms += tick10ms) >= 10) { // 0.1sec
s_cnt_100ms -= 10;
s_cnt_1s += 1;
logicalSwitchesTimerTick();
checkTrainerSignalWarning();
if (s_cnt_1s >= 10) { // 1sec
s_cnt_1s -= 10;
sessionTimer += 1;
struct t_inactivity *ptrInactivity = &inactivity;
FORCE_INDIRECT(ptrInactivity) ;
ptrInactivity->counter++;
if ((((uint8_t)ptrInactivity->counter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && ptrInactivity->counter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
AUDIO_INACTIVITY();
#if defined(AUDIO)
if (mixWarning & 1) if ((sessionTimer&0x03)==0) AUDIO_MIX_WARNING(1);
if (mixWarning & 2) if ((sessionTimer&0x03)==1) AUDIO_MIX_WARNING(2);
if (mixWarning & 4) if ((sessionTimer&0x03)==2) AUDIO_MIX_WARNING(3);
#endif
#if defined(ACCURAT_THROTTLE_TIMER)
val = s_sum_samples_thr_1s / s_cnt_samples_thr_1s;
s_timeCum16ThrP += (val>>3); // s_timeCum16ThrP would overrun if we would store throttle value with higher accuracy; therefore stay with 16 steps
if (val) s_timeCumThr += 1;
s_sum_samples_thr_1s>>=2; // correct better accuracy now, because trace graph can show this information; in case thrtrace is not active, the compile should remove this
#else
val = s_sum_samples_thr_1s / s_cnt_samples_thr_1s;
s_timeCum16ThrP += (val>>1);
if (val) s_timeCumThr += 1;
#endif
#if defined(THRTRACE)
// throttle trace is done every 10 seconds; Tracebuffer is adjusted to screen size.
// in case buffer runs out, it wraps around
// resolution for y axis is only 32, therefore no higher value makes sense
s_cnt_samples_thr_10s += s_cnt_samples_thr_1s;
s_sum_samples_thr_10s += s_sum_samples_thr_1s;
if (++s_cnt_10s >= 10) { // 10s
s_cnt_10s -= 10;
val = s_sum_samples_thr_10s / s_cnt_samples_thr_10s;
s_sum_samples_thr_10s = 0;
s_cnt_samples_thr_10s = 0;
s_traceBuf[s_traceWr % MAXTRACE] = val;
s_traceWr++;
}
#endif
s_cnt_samples_thr_1s = 0;
s_sum_samples_thr_1s = 0;
}
}
#if defined(PXX) || defined(DSM2)
static uint8_t countRangecheck = 0;
for (uint8_t i=0; i<NUM_MODULES; ++i) {
#if defined(MULTIMODULE)
if (moduleFlag[i] != MODULE_NORMAL_MODE || (i == EXTERNAL_MODULE && multiModuleStatus.isBinding())) {
#else
if (moduleFlag[i] != MODULE_NORMAL_MODE) {
#endif
if (++countRangecheck >= 250) {
countRangecheck = 0;
AUDIO_PLAY(AU_SPECIAL_SOUND_CHEEP);
}
}
}
#endif
#if defined(CPUARM)
checkTrims();
#endif
}
DEBUG_TIMER_STOP(debugTimerMixes10ms);
s_mixer_first_run_done = true;
}
#if defined(NAVIGATION_STICKS)
uint8_t StickScrollAllowed;
uint8_t StickScrollTimer;
static const pm_uint8_t rate[] PROGMEM = { 0, 0, 100, 40, 16, 7, 3, 1 } ;
uint8_t calcStickScroll( uint8_t index )
{
uint8_t direction;
int8_t value;
if ( ( g_eeGeneral.stickMode & 1 ) == 0 )
index ^= 3;
value = calibratedAnalogs[index] / 128;
direction = value > 0 ? 0x80 : 0;
if (value < 0)
value = -value; // (abs)
if (value > 7)
value = 7;
value = pgm_read_byte(rate+(uint8_t)value);
if (value)
StickScrollTimer = STICK_SCROLL_TIMEOUT; // Seconds
return value | direction;
}
#endif
#if defined(CPUARM)
#define OPENTX_START_ARGS uint8_t splash=true
#define OPENTX_START_SPLASH_NEEDED() (splash)
#else
#define OPENTX_START_ARGS
#define OPENTX_START_SPLASH_NEEDED() true
#endif
void opentxStart(OPENTX_START_ARGS)
{
TRACE("opentxStart");
#if defined(SIMU)
if (main_thread_running == 2) {
return;
}
#endif
uint8_t calibration_needed = (g_eeGeneral.chkSum != evalChkSum());
#if defined(GUI)
if (!calibration_needed && OPENTX_START_SPLASH_NEEDED()) {
doSplash();
}
#endif
#if defined(DEBUG_TRACE_BUFFER)
trace_event(trace_start, 0x12345678);
#endif
#if defined(PCBSKY9X) && defined(SDCARD) && !defined(SIMU)
for (int i=0; i<500 && !Card_initialized; i++) {
CoTickDelay(1); // 2ms
}
#endif
#if defined(NIGHTLY_BUILD_WARNING)
ALERT(STR_NIGHTLY_WARNING, TR_NIGHTLY_NOTSAFE, AU_ERROR);
#endif
#if defined(GUI)
if (calibration_needed) {
chainMenu(menuFirstCalib);
}
else {
checkAlarm();
checkAll();
PLAY_MODEL_NAME();
}
#endif
}
#if defined(CPUARM) || defined(CPUM2560)
void opentxClose(uint8_t shutdown)
{
TRACE("opentxClose");
if (shutdown) {
#if defined(CPUARM)
watchdogSuspend(2000/*20s*/);
#endif
pausePulses(); // stop mixer task to disable trims processing while in shutdown
AUDIO_BYE();
#if defined(TELEMETRY_FRSKY)
// TODO needed? telemetryEnd();
#endif
#if defined(LUA)
luaClose(&lsScripts);
#if defined(PCBHORUS)
luaClose(&lsWidgets);
#endif
#endif
#if defined(HAPTIC)
hapticOff();
#endif
}
#if defined(SDCARD)
logsClose();
#endif
storageFlushCurrentModel();
#if defined(CPUARM) && !defined(REVA)
if (sessionTimer > 0) {
g_eeGeneral.globalTimer += sessionTimer;
sessionTimer = 0;
}
#endif
#if defined(PCBSKY9X)
uint32_t mAhUsed = g_eeGeneral.mAhUsed + Current_used * (488 + g_eeGeneral.txCurrentCalibration) / 8192 / 36;
if (g_eeGeneral.mAhUsed != mAhUsed) {
g_eeGeneral.mAhUsed = mAhUsed;
}
#endif
g_eeGeneral.unexpectedShutdown = 0;
storageDirty(EE_GENERAL);
storageCheck(true);
#if defined(CPUARM)
while (IS_PLAYING(ID_PLAY_PROMPT_BASE + AU_BYE)) {
CoTickDelay(10);
}
CoTickDelay(50);
#endif
#if defined(SDCARD)
sdDone();
#endif
}
#endif
#if defined(STM32)
void opentxResume()
{
TRACE("opentxResume");
menuHandlers[0] = menuMainView;
sdMount();
storageReadAll();
#if defined(PCBHORUS)
loadTheme();
loadFontCache();
#endif
opentxStart(false);
#if defined(CPUARM)
referenceSystemAudioFiles();
#endif
#if defined(CPUARM) || defined(CPUM2560)
if (!g_eeGeneral.unexpectedShutdown) {
g_eeGeneral.unexpectedShutdown = 1;
storageDirty(EE_GENERAL);
}
#endif
}
#endif
#if defined(NAVIGATION_STICKS)
uint8_t getSticksNavigationEvent()
{
uint8_t evt = 0;
if (StickScrollAllowed) {
if ( StickScrollTimer ) {
static uint8_t repeater;
uint8_t direction;
uint8_t value;
if ( repeater < 128 )
{
repeater += 1;
}
value = calcStickScroll( 2 );
direction = value & 0x80;
value &= 0x7F;
if ( value )
{
if ( repeater > value )
{
repeater = 0;
if ( evt == 0 )
{
if ( direction )
{
evt = EVT_KEY_FIRST(KEY_UP);
}
else
{
evt = EVT_KEY_FIRST(KEY_DOWN);
}
}
}
}
else
{
value = calcStickScroll( 3 );
direction = value & 0x80;
value &= 0x7F;
if ( value )
{
if ( repeater > value )
{
repeater = 0;
if ( evt == 0 )
{
if ( direction )
{
evt = EVT_KEY_FIRST(KEY_RIGHT);
}
else
{
evt = EVT_KEY_FIRST(KEY_LEFT);
}
}
}
}
}
}
}
else {
StickScrollTimer = 0; // Seconds
}
StickScrollAllowed = 1 ;
return evt;
}
#endif
#if !defined(CPUARM)
void checkBattery()
{
static uint8_t counter = 0;
#if defined(GUI) && !defined(COLORLCD)
// TODO not the right menu I think ...
if (menuHandlers[menuLevel] == menuRadioDiagAnalogs) {
g_vbat100mV = 0;
counter = 0;
}
#endif
if (counter-- == 0) {
counter = 10;
int32_t instant_vbat = anaIn(TX_VOLTAGE);
#if defined(CPUM2560)
instant_vbat = (instant_vbat*1112 + instant_vbat*g_eeGeneral.txVoltageCalibration + (BandGap<<2)) / (BandGap<<3);
#else
instant_vbat = (instant_vbat*16 + instant_vbat*g_eeGeneral.txVoltageCalibration/8) / BandGap;
#endif
static uint8_t s_batCheck;
static uint16_t s_batSum;
#if defined(VOICE)
s_batCheck += 8;
#else
s_batCheck += 32;
#endif
s_batSum += instant_vbat;
if (g_vbat100mV == 0) {
g_vbat100mV = instant_vbat;
s_batSum = 0;
s_batCheck = 0;
}
#if defined(VOICE)
else if (!(s_batCheck & 0x3f)) {
#else
else if (s_batCheck == 0) {
#endif
g_vbat100mV = s_batSum / 8;
s_batSum = 0;
#if defined(VOICE)
if (s_batCheck != 0) {
// no alarms
}
else
#endif
if (IS_TXBATT_WARNING() && g_vbat100mV>50) {
AUDIO_TX_BATTERY_LOW();
}
}
}
}
#endif // #if !defined(CPUARM)
#if !defined(SIMU) && !defined(CPUARM)
volatile uint8_t g_tmr16KHz; //continuous timer 16ms (16MHz/1024/256) -- 8-bit counter overflow
ISR(TIMER_16KHZ_VECT, ISR_NOBLOCK)
{
g_tmr16KHz++; // gruvin: Not 16KHz. Overflows occur at 61.035Hz (1/256th of 15.625KHz)
// to give *16.384ms* intervals. Kind of matters for accuracy elsewhere. ;)
// g_tmr16KHz is used to software-construct a 16-bit timer
// from TIMER-0 (8-bit). See getTmr16KHz, below.
}
uint16_t getTmr16KHz()
{
while(1){
uint8_t hb = g_tmr16KHz;
uint8_t lb = COUNTER_16KHZ;
if(hb-g_tmr16KHz==0) return (hb<<8)|lb;
}
}
#if defined(PCBSTD) && (defined(AUDIO) || defined(VOICE))
// Clocks every 128 uS
ISR(TIMER_AUDIO_VECT, ISR_NOBLOCK)
{
cli();
PAUSE_AUDIO_INTERRUPT(); // stop reentrance
sei();
#if defined(AUDIO)
AUDIO_DRIVER();
#endif
#if defined(VOICE)
VOICE_DRIVER();
#endif
cli();
RESUME_AUDIO_INTERRUPT();
sei();
}
#endif
// Clocks every 10ms
ISR(TIMER_10MS_VECT, ISR_NOBLOCK)
{
// without correction we are 0,16% too fast; that mean in one hour we are 5,76Sek too fast; we do not like that
static uint8_t accuracyWarble; // because 16M / 1024 / 100 = 156.25. we need to correct the fault; no start value needed
#if defined(AUDIO)
AUDIO_HEARTBEAT();
#endif
#if defined(BUZZER)
BUZZER_HEARTBEAT();
#endif
#if defined(HAPTIC)
HAPTIC_HEARTBEAT();
#endif
per10ms();
uint8_t bump = (!(++accuracyWarble & 0x03)) ? 157 : 156;
TIMER_10MS_COMPVAL += bump;
}
// Timer3 used for PPM_IN pulse width capture. Counter running at 16MHz / 8 = 2MHz
// equating to one count every half millisecond. (2 counts = 1ms). Control channel
// count delta values thus can range from about 1600 to 4400 counts (800us to 2200us),
// corresponding to a PPM signal in the range 0.8ms to 2.2ms (1.5ms at center).
// (The timer is free-running and is thus not reset to zero at each capture interval.)
ISR(TIMER3_CAPT_vect) // G: High frequency noise can cause stack overflo with ISR_NOBLOCK
{
uint16_t capture=ICR3;
// Prevent rentrance for this IRQ only
PAUSE_PPMIN_INTERRUPT();
sei(); // enable other interrupts
captureTrainerPulses(capture);
cli(); // disable other interrupts for stack pops before this function's RETI
RESUME_PPMIN_INTERRUPT();
}
#endif
#if defined(DSM2_SERIAL) && !defined(CPUARM)
FORCEINLINE void DSM2_USART_vect()
{
UDR0 = *((uint16_t*)pulses2MHzRPtr); // transmit next byte
pulses2MHzRPtr += sizeof(uint16_t);
if (pulses2MHzRPtr == pulses2MHzWPtr) { // if reached end of DSM2 data buffer ...
UCSRB_N(TLM_USART) &= ~(1 << UDRIE_N(TLM_USART)); // disable UDRE interrupt
}
}
#endif
#if !defined(SIMU) && !defined(CPUARM)
#if defined(TELEMETRY_FRSKY)
FORCEINLINE void FRSKY_USART_vect()
{
if (frskyTxBufferCount > 0) {
UDR_N(TLM_USART) = frskyTxBuffer[--frskyTxBufferCount];
}
else {
UCSRB_N(TLM_USART) &= ~(1 << UDRIE_N(TLM_USART)); // disable UDRE interrupt
}
}
// USART0/1 Transmit Data Register Emtpy ISR
ISR(USART_UDRE_vect_N(TLM_USART))
{
#if defined(TELEMETRY_FRSKY) && defined(DSM2_SERIAL)
if (IS_DSM2_PROTOCOL(g_model.protocol)) { // TODO not s_current_protocol?
DSM2_USART_vect();
}
else {
FRSKY_USART_vect();
}
#elif defined(TELEMETRY_FRSKY)
FRSKY_USART_vect();
#else
DSM2_USART_vect();
#endif
}
#endif
#endif
#if defined(CPUARM)
#define INSTANT_TRIM_MARGIN 10 /* around 1% */
#else
#define INSTANT_TRIM_MARGIN 15 /* around 1.5% */
#endif
void instantTrim()
{
#if defined(VIRTUAL_INPUTS)
int16_t anas_0[NUM_INPUTS];
evalInputs(e_perout_mode_notrainer | e_perout_mode_nosticks);
memcpy(anas_0, anas, sizeof(anas_0));
#endif
evalInputs(e_perout_mode_notrainer);
for (uint8_t stick=0; stick<NUM_STICKS; stick++) {
if (stick!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightMode(mixerCurrentFlightMode, stick);
#if defined(VIRTUAL_INPUTS)
int16_t delta = 0;
for (int e=0; e<MAX_EXPOS; e++) {
ExpoData * ed = expoAddress(e);
if (!EXPO_VALID(ed)) break; // end of list
if (ed->srcRaw-MIXSRC_Rud == stick) {
delta = anas[ed->chn] - anas_0[ed->chn];
break;
}
}
#else
int16_t delta = anas[stick];
#endif
if (abs(delta) >= INSTANT_TRIM_MARGIN) {
int16_t trim = limit<int16_t>(TRIM_EXTENDED_MIN, (delta + trims[stick]) / 2, TRIM_EXTENDED_MAX);
setTrimValue(trim_phase, stick, trim);
}
}
}
storageDirty(EE_MODEL);
AUDIO_WARNING2();
}
void copySticksToOffset(uint8_t ch)
{
pauseMixerCalculations();
int32_t zero = (int32_t)channelOutputs[ch];
evalFlightModeMixes(e_perout_mode_nosticks+e_perout_mode_notrainer, 0);
int32_t val = chans[ch];
LimitData *ld = limitAddress(ch);
limit_min_max_t lim = LIMIT_MIN(ld);
if (val < 0) {
val = -val;
lim = LIMIT_MIN(ld);
}
#if defined(CPUARM)
zero = (zero*256000 - val*lim) / (1024*256-val);
#else
zero = (zero*25600 - val*lim) / (26214-val);
#endif
ld->offset = (ld->revert ? -zero : zero);
resumeMixerCalculations();
storageDirty(EE_MODEL);
}
void copyTrimsToOffset(uint8_t ch)
{
int16_t zero;
pauseMixerCalculations();
evalFlightModeMixes(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
zero = applyLimits(ch, chans[ch]);
evalFlightModeMixes(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
int16_t output = applyLimits(ch, chans[ch]) - zero;
int16_t v = g_model.limitData[ch].offset;
if (g_model.limitData[ch].revert) output = -output;
#if defined(CPUARM)
v += (output * 125) / 128;
#else
v += output;
#endif
g_model.limitData[ch].offset = limit((int16_t)-1000, (int16_t)v, (int16_t)1000); // make sure the offset doesn't go haywire
resumeMixerCalculations();
storageDirty(EE_MODEL);
}
void moveTrimsToOffsets() // copy state of 3 primary to subtrim
{
int16_t zeros[MAX_OUTPUT_CHANNELS];
pauseMixerCalculations();
evalFlightModeMixes(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
for (uint8_t i=0; i<MAX_OUTPUT_CHANNELS; i++) {
zeros[i] = applyLimits(i, chans[i]);
}
evalFlightModeMixes(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
for (uint8_t i=0; i<MAX_OUTPUT_CHANNELS; i++) {
int16_t output = applyLimits(i, chans[i]) - zeros[i];
int16_t v = g_model.limitData[i].offset;
if (g_model.limitData[i].revert) output = -output;
#if defined(CPUARM)
v += (output * 125) / 128;
#else
v += output;
#endif
g_model.limitData[i].offset = limit((int16_t)-1000, (int16_t)v, (int16_t)1000); // make sure the offset doesn't go haywire
}
// reset all trims, except throttle (if throttle trim)
for (uint8_t i=0; i<NUM_STICKS+NUM_AUX_TRIMS; i++) {
if (i!=THR_STICK || !g_model.thrTrim) {
int16_t original_trim = getTrimValue(mixerCurrentFlightMode, i);
for (uint8_t phase=0; phase<MAX_FLIGHT_MODES; phase++) {
#if defined(CPUARM)
trim_t trim = getRawTrimValue(phase, i);
if (trim.mode / 2 == phase)
setTrimValue(phase, i, trim.value - original_trim);
#else
trim_t trim = getRawTrimValue(phase, i);
if (trim <= TRIM_EXTENDED_MAX)
setTrimValue(phase, i, trim - original_trim);
#endif
}
}
}
resumeMixerCalculations();
storageDirty(EE_MODEL);
AUDIO_WARNING2();
}
#if defined(ROTARY_ENCODERS)
volatile rotenc_t rotencValue[ROTARY_ENCODERS] = {0};
#elif defined(ROTARY_ENCODER_NAVIGATION)
volatile rotenc_t rotencValue[1] = {0};
#endif
#if defined(CPUARM) && defined(ROTARY_ENCODER_NAVIGATION)
uint8_t rotencSpeed;
#endif
#if !defined(CPUARM) && !defined(SIMU)
extern unsigned char __bss_end ;
#define STACKPTR _SFR_IO16(0x3D)
void stackPaint()
{
// Init Stack while interrupts are disabled
unsigned char *p ;
unsigned char *q ;
p = (unsigned char *) STACKPTR ;
q = &__bss_end ;
p -= 2 ;
while ( p > q ) {
*p-- = 0x55 ;
}
}
uint16_t stackAvailable()
{
unsigned char *p ;
p = &__bss_end + 1 ;
while ( *p++ == 0x55 );
return p - &__bss_end ;
}
#endif
#if defined(CPUM2560)
#define OPENTX_INIT_ARGS const uint8_t mcusr
#elif defined(PCBSTD)
#define OPENTX_INIT_ARGS const uint8_t mcusr
#else
#define OPENTX_INIT_ARGS
#endif
void opentxInit(OPENTX_INIT_ARGS)
{
TRACE("opentxInit");
#if defined(GUI)
menuHandlers[0] = menuMainView;
#if MENUS_LOCK != 2/*no menus*/
menuHandlers[1] = menuModelSelect;
#endif
#endif
#if defined(RTCLOCK) && !defined(COPROCESSOR)
rtcInit(); // RTC must be initialized before rambackupRestore() is called
#endif
#if defined(EEPROM)
storageReadRadioSettings();
#endif
// Radios handle UNEXPECTED_SHUTDOWN() differently:
// * radios with WDT and EEPROM and CPU controlled power use Reset status register
// and eeGeneral.unexpectedShutdown
// * radios with SDCARD model storage use Reset status register and special
// variables in RAM. They can not use eeGeneral.unexpectedShutdown
// * radios without CPU controlled power can only use Reset status register (if available)
if (UNEXPECTED_SHUTDOWN()) {
TRACE("Unexpected Shutdown detected");
unexpectedShutdown = 1;
}
#if defined(SDCARD) && !defined(PCBMEGA2560)
// SDCARD related stuff, only done if not unexpectedShutdown
if (!unexpectedShutdown) {
sdInit();
logsInit();
}
#endif
#if defined(EEPROM)
storageReadCurrentModel();
#endif
#if defined(PCBHORUS)
if (!unexpectedShutdown) {
// g_model.topbarData is still zero here (because it was not yet read from SDCARD),
// but we only remember the pointer to in in constructor.
// The storageReadAll() needs topbar object, so it must be created here
#if __clang__
// clang does not like this at all, turn into a warning so that -Werror does not stop here
// taking address of packed member 'topbarData' of class or structure 'ModelData' may result in an unaligned pointer value [-Werror,-Waddress-of-packed-member]
#pragma clang diagnostic push
#pragma clang diagnostic warning "-Waddress-of-packed-member"
#endif
topbar = new Topbar(&g_model.topbarData);
#if __clang__
// Restore warnings
#pragma clang diagnostic pop
#endif
// lua widget state must also be prepared before the call to storageReadAll()
LUA_INIT_THEMES_AND_WIDGETS();
}
#endif
// handling of storage for radios that have no EEPROM
#if !defined(EEPROM)
#if defined(RAMBACKUP)
if (unexpectedShutdown) {
// SDCARD not available, try to restore last model from RAM
TRACE("rambackupRestore");
rambackupRestore();
}
else {
storageReadAll();
}
#else
storageReadAll();
#endif
#endif // #if !defined(EEPROM)
#if defined(SERIAL2)
serial2Init(g_eeGeneral.serial2Mode, modelTelemetryProtocol());
#endif
#if defined(PCBTARANIS)
BACKLIGHT_ENABLE();
#endif
#if MENUS_LOCK == 1
getMovedSwitch();
if (TRIMS_PRESSED() && g_eeGeneral.switchUnlockStates==switches_states) {
readonly = false;
}
#endif
#if defined(VOICE) && defined(CPUARM)
currentSpeakerVolume = requiredSpeakerVolume = g_eeGeneral.speakerVolume + VOLUME_LEVEL_DEF;
#if !defined(SOFTWARE_VOLUME)
setScaledVolume(currentSpeakerVolume);
#endif
#endif
#if defined(CPUARM)
referenceSystemAudioFiles();
audioQueue.start();
BACKLIGHT_ENABLE();
#endif
#if defined(PCBSKY9X)
// Set ADC gains here
setSticksGain(g_eeGeneral.sticksGain);
#endif
#if defined(PCBSKY9X) && defined(BLUETOOTH)
btInit();
#endif
#if defined(PCBHORUS)
loadTheme();
loadFontCache();
#endif
if (g_eeGeneral.backlightMode != e_backlight_mode_off) {
// on Tx start turn the light on
backlightOn();
}
#if NUM_PWMANALOGS > 0
pwmCheck();
#endif
if (!unexpectedShutdown) {
opentxStart();
}
#if defined(CPUARM) || defined(CPUM2560)
// TODO Horus does not need this
if (!g_eeGeneral.unexpectedShutdown) {
g_eeGeneral.unexpectedShutdown = 1;
storageDirty(EE_GENERAL);
}
#endif
#if defined(GUI)
lcdSetContrast();
#endif
backlightOn();
#if defined(PCBSKY9X) && !defined(SIMU)
init_trainer_capture();
#endif
#if !defined(CPUARM)
doMixerCalculations();
#endif
startPulses();
wdt_enable(WDTO_500MS);
}
#if defined(SIMU)
void * simuMain(void *)
#else
int main()
#endif
{
// G: The WDT remains active after a WDT reset -- at maximum clock speed. So it's
// important to disable it before commencing with system initialisation (or
// we could put a bunch more wdt_reset()s in. But I don't like that approach
// during boot up.)
#if defined(CPUM2560) || defined(CPUM2561)
uint8_t mcusr = MCUSR; // save the WDT (etc) flags
MCUSR = 0; // must be zeroed before disabling the WDT
MCUCR = 0x80 ; // Disable JTAG port that can interfere with POT3
MCUCR = 0x80 ; // Must be done twice
#elif defined(PCBSTD)
uint8_t mcusr = MCUCSR;
MCUCSR = 0x80 ; // Disable JTAG port that can interfere with POT3
MCUCSR = 0x80 ; // Must be done twice
#endif
#if defined(PCBTARANIS)
g_eeGeneral.contrast = LCD_CONTRAST_DEFAULT;
#endif
wdt_disable();
boardInit();
#if defined(PCBX7)
bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE); //BT is turn on for a brief period to differentiate X7 and X7S
#endif
#if defined(GUI) && !defined(PCBTARANIS) && !defined(PCBHORUS)
// TODO remove this
lcdInit();
#endif
#if !defined(SIMU)
stackPaint();
#endif
#if defined(GUI) && !defined(PCBTARANIS)
// lcdSetRefVolt(25);
#endif
#if defined(SPLASH) && (defined(PCBTARANIS) || defined(PCBHORUS))
drawSplash();
#endif
sei(); // interrupts needed now
#if !defined(CPUARM) && defined(TELEMETRY_FRSKY) && !defined(DSM2_SERIAL)
telemetryInit();
#endif
#if defined(DSM2_SERIAL) && !defined(TELEMETRY_FRSKY)
DSM2_Init();
#endif
#if defined(TELEMETRY_JETI)
JETI_Init();
#endif
#if defined(TELEMETRY_ARDUPILOT)
ARDUPILOT_Init();
#endif
#if defined(TELEMETRY_NMEA)
NMEA_Init();
#endif
#if defined(TELEMETRY_MAVLINK)
MAVLINK_Init();
#endif
#if defined(MENU_ROTARY_SW)
init_rotary_sw();
#endif
#if defined(PCBHORUS)
if (!IS_FIRMWARE_COMPATIBLE_WITH_BOARD()) {
runFatalErrorScreen(STR_WRONG_PCBREV);
}
#endif
#if !defined(EEPROM)
if (!SD_CARD_PRESENT() && !UNEXPECTED_SHUTDOWN()) {
runFatalErrorScreen(STR_NO_SDCARD);
}
#endif
#if defined(CPUARM)
tasksStart();
#else
opentxInit(mcusr);
#if defined(CPUM2560)
uint8_t shutdown_state = 0;
#endif
while (1) {
#if defined(CPUM2560)
if ((shutdown_state=pwrCheck()) > e_power_trainer)
break;
#endif
#if defined(SIMU)
sleep(5/*ms*/);
if (main_thread_running == 0)
return 0;
#endif
perMain();
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;
}
}
#endif
#if defined(CPUM2560)
// Time to switch off
drawSleepBitmap();
opentxClose();
boardOff(); // Only turn power off if necessary
wdt_disable(); // this function is provided by AVR Libc
while(1); // never return from main() - there is no code to return back, if any delays occurs in physical power it does dead loop.
#endif
#if defined(SIMU)
return NULL;
#endif
}
#if defined(PWR_BUTTON_PRESS)
uint32_t pwr_press_time = 0;
uint32_t pwrPressedDuration()
{
if (pwr_press_time == 0) {
return 0;
}
else {
return get_tmr10ms() - pwr_press_time;
}
}
uint32_t pwrCheck()
{
const char * message = NULL;
enum PwrCheckState {
PWR_CHECK_ON,
PWR_CHECK_OFF,
PWR_CHECK_PAUSED,
};
static uint8_t pwr_check_state = PWR_CHECK_ON;
if (pwr_check_state == PWR_CHECK_OFF) {
return e_power_off;
}
else if (pwrPressed()) {
if (TELEMETRY_STREAMING()) {
message = STR_MODEL_STILL_POWERED;
}
if (pwr_check_state == PWR_CHECK_PAUSED) {
// nothing
}
else if (pwr_press_time == 0) {
pwr_press_time = get_tmr10ms();
if (message && !g_eeGeneral.disableRssiPoweroffAlarm) {
audioEvent(AU_MODEL_STILL_POWERED);
}
}
else {
inactivity.counter = 0;
if (g_eeGeneral.backlightMode != e_backlight_mode_off) {
BACKLIGHT_ENABLE();
}
if (get_tmr10ms() - pwr_press_time > PWR_PRESS_SHUTDOWN_DELAY) {
#if defined(SHUTDOWN_CONFIRMATION)
while (1) {
#else
while ((TELEMETRY_STREAMING() && !g_eeGeneral.disableRssiPoweroffAlarm)) {
#endif
lcdRefreshWait();
lcdClear();
POPUP_CONFIRMATION("Confirm Shutdown");
event_t evt = getEvent(false);
DISPLAY_WARNING(evt);
lcdRefresh();
if (warningResult) {
pwr_check_state = PWR_CHECK_OFF;
return e_power_off;
}
else if (!warningText) {
// shutdown has been cancelled
pwr_check_state = PWR_CHECK_PAUSED;
return e_power_on;
}
}
haptic.play(15, 3, PLAY_NOW);
pwr_check_state = PWR_CHECK_OFF;
return e_power_off;
}
else {
drawShutdownAnimation(pwrPressedDuration(), message);
return e_power_press;
}
}
}
else {
pwr_check_state = PWR_CHECK_ON;
pwr_press_time = 0;
}
return e_power_on;
}
#elif defined(CPUARM)
uint32_t pwrCheck()
{
#if defined(SOFT_PWR_CTRL)
if (pwrPressed()) {
return e_power_on;
}
#endif
if (usbPlugged()) {
return e_power_usb;
}
#if defined(TRAINER_PWR)
if (TRAINER_CONNECTED()) {
return e_power_trainer;
}
#endif
if (!g_eeGeneral.disableRssiPoweroffAlarm) {
if (TELEMETRY_STREAMING()) {
RAISE_ALERT(STR_MODEL, STR_MODEL_STILL_POWERED, STR_PRESS_ENTER_TO_CONFIRM, AU_MODEL_STILL_POWERED);
while (TELEMETRY_STREAMING()) {
resetForcePowerOffRequest();
CoTickDelay(10);
if (pwrPressed()) {
return e_power_on;
}
else if (readKeys() == (1 << KEY_ENTER)) {
return e_power_off;
}
}
}
}
return e_power_off;
}
#endif
Reference in a new issue View git blame Copy permalink