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opentx/radio/src/opentx.cpp
bsongis c53fbd9e94 Fixes #1059
2014-05-05 14:40:48 +02:00

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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include "opentx.h"
// static variables used in perOut - moved here so they don't interfere with the stack
// It's also easier to initialize them here.
#if defined(PCBTARANIS)
int8_t virtualInputsTrims[NUM_INPUTS];
#else
int16_t rawAnas[NUM_INPUTS] = {0};
#endif
int16_t anas [NUM_INPUTS] = {0};
int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0};
BeepANACenter bpanaCenter = 0;
int24_t act [MAX_MIXERS] = {0};
SwOn swOn [MAX_MIXERS]; // TODO better name later...
uint8_t mixWarning;
#if defined(MODULE_ALWAYS_SEND_PULSES)
uint8_t startupWarningState;
#endif
#if defined(CPUARM)
#define MENUS_STACK_SIZE 2000
#define MIXER_STACK_SIZE 500
#define AUDIO_STACK_SIZE 500
#define BT_STACK_SIZE 500
#define DEBUG_STACK_SIZE 500
OS_TID menusTaskId;
OS_STK menusStack[MENUS_STACK_SIZE];
OS_TID mixerTaskId;
OS_STK mixerStack[MIXER_STACK_SIZE];
OS_TID audioTaskId;
OS_STK audioStack[AUDIO_STACK_SIZE];
#if defined(BLUETOOTH)
OS_TID btTaskId;
OS_STK btStack[BT_STACK_SIZE];
#endif
#if defined(DEBUG)
OS_TID debugTaskId;
OS_STK debugStack[DEBUG_STACK_SIZE];
#endif
OS_MutexID audioMutex;
OS_MutexID mixerMutex;
#endif // defined(CPUARM)
#if defined(SPLASH)
const pm_uchar splashdata[] PROGMEM = { 'S','P','S',0,
#if defined(PCBTARANIS)
#include "bitmaps/splash_taranis.lbm"
#else
#include "bitmaps/splash_9x.lbm"
#endif
'S','P','E',0};
const pm_uchar * splash_lbm = splashdata+4;
#endif
#if LCD_W >= 212
const pm_uchar asterisk_lbm[] PROGMEM = {
#include "bitmaps/asterisk_4bits.lbm"
};
#else
const pm_uchar asterisk_lbm[] PROGMEM = {
#include "bitmaps/asterisk.lbm"
};
#endif
#include "gui/menus.h"
EEGeneral g_eeGeneral;
ModelData g_model;
#if defined(PCBTARANIS) && defined(SDCARD)
uint8_t modelBitmap[MODEL_BITMAP_SIZE];
void loadModelBitmap(char *name, uint8_t *bitmap)
{
uint8_t len = zlen(name, LEN_BITMAP_NAME);
if (len > 0) {
char lfn[] = BITMAPS_PATH "/xxxxxxxxxx.bmp";
strncpy(lfn+sizeof(BITMAPS_PATH), name, len);
strcpy(lfn+sizeof(BITMAPS_PATH)+len, BITMAPS_EXT);
if (bmpLoad(bitmap, lfn, MODEL_BITMAP_WIDTH, MODEL_BITMAP_HEIGHT) == 0) {
return;
}
}
// In all error cases, we set the default logo
memcpy(bitmap, logo_taranis, MODEL_BITMAP_SIZE);
}
#endif
#if !defined(CPUARM)
uint8_t g_tmr1Latency_max;
uint8_t g_tmr1Latency_min;
#endif
uint8_t unexpectedShutdown = 0;
/* mixer duration in 1/16ms */
uint16_t maxMixerDuration;
uint16_t lastMixerDuration;
#if defined(AUDIO) && !defined(CPUARM)
audioQueue audio;
#endif
#if defined(DSM2)
// TODO move elsewhere
uint8_t dsm2Flag = 0;
#if !defined(PCBTARANIS)
uint8_t s_bind_allowed = 255;
#endif
#endif
uint8_t heartbeat;
uint8_t stickMode;
int8_t safetyCh[NUM_CHNOUT];
union ReusableBuffer reusableBuffer;
const pm_char s_charTab[] PROGMEM = "_-.,";
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 };
char idx2char(int8_t idx)
{
if (idx == 0) return ' ';
if (idx < 0) {
if (idx > -27) return 'a' - idx - 1;
idx = -idx;
}
if (idx < 27) return 'A' + idx - 1;
if (idx < 37) return '0' + idx - 27;
if (idx <= 40) return pgm_read_byte(s_charTab+idx-37);
#if LEN_SPECIAL_CHARS > 0
if (idx <= ZCHAR_MAX) return 'z' + 5 + idx - 40;
#endif
return ' ';
}
#if defined(CPUARM)
int8_t char2idx(char c)
{
if (c == '_') return 37;
#if LEN_SPECIAL_CHARS > 0
if (c < 0 && c+128 <= LEN_SPECIAL_CHARS) return 41 + (c+128);
#endif
if (c >= 'a') return 'a' - c - 1;
if (c >= 'A') return c - 'A' + 1;
if (c >= '0') return c - '0' + 27;
if (c == '-') return 38;
if (c == '.') return 39;
if (c == ',') return 40;
return 0;
}
void str2zchar(char *dest, const char *src, int size)
{
memset(dest, 0, size);
for (int c=0; c<size && src[c]; c++) {
dest[c] = char2idx(src[c]);
}
}
void zchar2str(char *dest, const char *src, int size)
{
for (int c=0; c<size; c++) {
dest[c] = idx2char(src[c]);
}
do {
dest[size--] = '\0';
} while (size >= 0 && dest[size] == ' ');
}
#endif
#if defined(CPUARM)
bool zexist(const char *str, uint8_t size)
{
for (int i=0; i<size; i++) {
if (str[i] != 0)
return true;
}
return false;
}
uint8_t zlen(const char *str, uint8_t size)
{
while (size > 0) {
if (str[size-1] != 0)
return size;
size--;
}
return size;
}
char * strcat_zchar(char * dest, char * name, uint8_t size, const char *defaultName, uint8_t defaultNameSize, uint8_t defaultIdx)
{
int8_t len = 0;
if (name) {
memcpy(dest, name, size);
dest[size] = '\0';
int8_t i = size-1;
while (i>=0) {
if (!len && dest[i])
len = i+1;
if (len) {
if (dest[i])
dest[i] = idx2char(dest[i]);
else
dest[i] = '_';
}
i--;
}
}
if (len == 0 && defaultName) {
strcpy(dest, defaultName);
dest[defaultNameSize] = (char)((defaultIdx / 10) + '0');
dest[defaultNameSize + 1] = (char)((defaultIdx % 10) + '0');
len = defaultNameSize + 2;
}
return &dest[len];
}
#endif
volatile tmr10ms_t g_tmr10ms;
#if defined(CPUARM)
volatile uint8_t rtc_count = 0;
uint32_t watchdogTimeout = 0;
void watchdogSetTimeout(uint32_t timeout)
{
watchdogTimeout = timeout;
}
#endif
void per10ms()
{
g_tmr10ms++;
#if defined(CPUARM)
if (watchdogTimeout) {
watchdogTimeout -= 1;
wdt_reset(); // Retrigger hardware watchdog
}
Tenms |= 1 ; // 10 mS has passed
#endif
if (lightOffCounter) lightOffCounter--;
if (flashCounter) flashCounter--;
if (s_noHi) s_noHi--;
if (trimsCheckTimer) trimsCheckTimer--;
if (ppmInValid) ppmInValid--;
#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(PCBSKY9X)
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_RE_NAVIGATION_ENABLE()) {
static rotenc_t rePreviousValue;
rotenc_t reNewValue = (g_rotenc[NAVIGATION_RE_IDX()] / ROTARY_ENCODER_GRANULARITY);
int8_t scrollRE = reNewValue - rePreviousValue;
if (scrollRE) {
rePreviousValue = reNewValue;
putEvent(scrollRE < 0 ? EVT_ROTARY_LEFT : EVT_ROTARY_RIGHT);
}
uint8_t evt = s_evt;
if (EVT_KEY_MASK(evt) == BTN_REa + NAVIGATION_RE_IDX()) {
if (IS_KEY_BREAK(evt)) {
putEvent(EVT_ROTARY_BREAK);
}
else if (IS_KEY_LONG(evt)) {
putEvent(EVT_ROTARY_LONG);
}
}
}
#endif
#if defined(FRSKY) || defined(JETI)
if (!IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0]))
telemetryInterrupt10ms();
#endif
// These moved here from perOut() 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;
}
PhaseData *phaseAddress(uint8_t idx)
{
return &g_model.phaseData[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(PCBTARANIS)
int8_t *curveEnd[MAX_CURVES];
void loadCurves()
{
int8_t * tmp = g_model.points;
for (int i=0; i<MAX_CURVES; i++) {
switch (g_model.curves[i].type) {
case CURVE_TYPE_STANDARD:
tmp += 5+g_model.curves[i].points;
break;
case CURVE_TYPE_CUSTOM:
tmp += 8+2*g_model.curves[i].points;
break;
}
curveEnd[i] = tmp;
}
}
int8_t *curveAddress(uint8_t idx)
{
return idx==0 ? g_model.points : curveEnd[idx-1];
}
#else
int8_t *curveAddress(uint8_t idx)
{
return &g_model.points[idx==0 ? 0 : 5*idx+g_model.curves[idx-1]];
}
CurveInfo curveInfo(uint8_t idx)
{
CurveInfo result;
result.crv = curveAddress(idx);
int8_t *next = curveAddress(idx+1);
uint8_t size = next - result.crv;
if ((size & 1) == 0) {
result.points = (size / 2) + 1;
result.custom = true;
}
else {
result.points = size;
result.custom = false;
}
return result;
}
#endif
LogicalSwitchData *cswAddress(uint8_t idx)
{
return &g_model.customSw[idx];
}
uint8_t cswFamily(uint8_t func)
{
if (func <= LS_FUNC_ANEG)
return LS_FAMILY_OFS;
else if (func <= LS_FUNC_XOR)
return LS_FAMILY_BOOL;
#if defined(CPUARM)
else if (func == LS_FUNC_STAY)
return LS_FAMILY_STAY;
#endif
else if (func <= LS_FUNC_LESS)
return LS_FAMILY_COMP;
else if (func <= LS_FUNC_ADIFFEGREATER)
return LS_FAMILY_DIFF;
else
return LS_FAMILY_TIMER+func-LS_FUNC_TIMER;
}
int16_t cswTimerValue(delayval_t val)
{
return (val < -109 ? 129+val : (val < 7 ? (113+val)*5 : (53+val)*10));
}
#if defined(CPUM64)
void memclear(void *ptr, uint8_t size)
{
memset(ptr, 0, size);
}
#endif
void generalDefault()
{
memclear(&g_eeGeneral, sizeof(g_eeGeneral));
g_eeGeneral.version = EEPROM_VER;
g_eeGeneral.variant = EEPROM_VARIANT;
g_eeGeneral.contrast = 25;
#if defined(PCBTARANIS)
g_eeGeneral.vBatWarn = 65;
g_eeGeneral.vBatMin = -30;
g_eeGeneral.vBatMax = -40;
#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.wavVolume = 2;
g_eeGeneral.backgroundVolume = 1;
#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(TEMPLATES)
inline void applyDefaultTemplate()
{
applyTemplate(TMPL_SIMPLE_4CH);
}
#else
void applyDefaultTemplate()
{
for (int i=0; i<NUM_STICKS; i++) {
#if defined(PCBTARANIS)
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
for (int c=0; c<4; c++) {
g_model.inputNames[i][c] = char2idx(STR_VSRCRAW[1+STR_VSRCRAW[0]*stick_index+c]);
}
#endif
MixData *mix = mixAddress(i);
mix->destCh = i;
mix->weight = 100;
#if defined(PCBTARANIS)
mix->srcRaw = i+1;
#else
mix->srcRaw = MIXSRC_Rud - 1 + channel_order(i+1);
#endif
}
eeDirty(EE_MODEL);
}
#endif
#if defined(PXX) && defined(CPUARM)
void checkModelIdUnique(uint8_t id)
{
for (uint8_t i=0; i<MAX_MODELS; i++) {
if (i!=id && g_model.header.modelId!=0 && g_model.header.modelId==modelHeaders[i].modelId) {
POPUP_WARNING(STR_MODELIDUSED);
break;
}
}
}
#endif
void modelDefault(uint8_t id)
{
memset(&g_model, 0, sizeof(g_model));
applyDefaultTemplate();
#if defined(PXX) && defined(CPUARM)
modelHeaders[id].modelId = g_model.header.modelId = id+1;
checkModelIdUnique(id);
#endif
#if defined(PCBTARANIS)
g_model.frsky.channels[0].ratio = 132;
#endif
#if defined(MAVLINK)
g_model.mavlink.rc_rssi_scale = 15;
g_model.mavlink.pc_rssi_en = 1;
#endif
}
#if defined(PCBTARANIS)
#define CUSTOM_POINT_X(points, count, idx) ((idx)==0 ? -100 : (((idx)==(count)-1) ? 100 : points[(count)+(idx)-1]))
s32 compute_tangent(CurveInfo *crv, int8_t *points, int i)
{
s32 m=0;
uint8_t num_points = crv->points + 5;
#define MMULT 1024
if (i == 0) {
//linear interpolation between 1st 2 points
//keep 3 decimal-places for m
if (crv->type == CURVE_TYPE_CUSTOM) {
int8_t x0 = CUSTOM_POINT_X(points, num_points, 0);
int8_t x1 = CUSTOM_POINT_X(points, num_points, 1);
if (x1 > x0) m = (MMULT * (points[1] - points[0])) / (x1 - x0);
}
else {
s32 delta = (2 * 100) / (num_points - 1);
m = (MMULT * (points[1] - points[0])) / delta;
}
}
else if (i == num_points - 1) {
//linear interpolation between last 2 points
//keep 3 decimal-places for m
if (crv->type == CURVE_TYPE_CUSTOM) {
int8_t x0 = CUSTOM_POINT_X(points, num_points, num_points-2);
int8_t x1 = CUSTOM_POINT_X(points, num_points, num_points-1);
if (x1 > x0) m = (MMULT * (points[num_points-1] - points[num_points-2])) / (x1 - x0);
}
else {
s32 delta = (2 * 100) / (num_points - 1);
m = (MMULT * (points[num_points-1] - points[num_points-2])) / delta;
}
}
else {
//apply monotone rules from
//http://en.wikipedia.org/wiki/Monotone_cubic_interpolation
//1) compute slopes of secant lines
s32 d0=0, d1=0;
if (crv->type == CURVE_TYPE_CUSTOM) {
int8_t x0 = CUSTOM_POINT_X(points, num_points, i-1);
int8_t x1 = CUSTOM_POINT_X(points, num_points, i);
int8_t x2 = CUSTOM_POINT_X(points, num_points, i+1);
if (x1 > x0) d0 = (MMULT * (points[i] - points[i-1])) / (x1 - x0);
if (x2 > x1) d1 = (MMULT * (points[i+1] - points[i])) / (x2 - x1);
}
else {
s32 delta = (2 * 100) / (num_points - 1);
d0 = (MMULT * (points[i] - points[i-1])) / (delta);
d1 = (MMULT * (points[i+1] - points[i])) / (delta);
}
//2) compute initial average tangent
m = (d0 + d1) / 2;
//3 check for horizontal lines
if (d0 == 0 || d1 == 0 || (d0 > 0 && d1 < 0) || (d0 < 0 && d1 > 0)) {
m = 0;
}
else if (MMULT * m / d0 > 3 * MMULT) {
m = 3 * d0;
}
else if (MMULT * m / d1 > 3 * MMULT) {
m = 3 * d1;
}
}
return m;
}
/* The following is a hermite cubic spline.
The basis functions can be found here:
http://en.wikipedia.org/wiki/Cubic_Hermite_spline
The tangents are computed via the 'cubic monotone' rules (allowing for local-maxima)
*/
int16_t hermite_spline(int16_t x, uint8_t idx)
{
CurveInfo &crv = g_model.curves[idx];
int8_t *points = curveAddress(idx);
uint8_t count = crv.points+5;
bool custom = (crv.type == CURVE_TYPE_CUSTOM);
if (x < -RESX)
x = -RESX;
else if (x > RESX)
x = RESX;
for (int i=0; i<count-1; i++) {
s32 p0x, p3x;
if (custom) {
p0x = (i>0 ? calc100toRESX(points[count+i-1]) : -RESX);
p3x = (i<count-2 ? calc100toRESX(points[count+i]) : RESX);
}
else {
p0x = -RESX + (i*2*RESX)/(count-1);
p3x = -RESX + ((i+1)*2*RESX)/(count-1);
}
if (x >= p0x && x <= p3x) {
s32 p0y = calc100toRESX(points[i]);
s32 p3y = calc100toRESX(points[i+1]);
s32 m0 = compute_tangent(&crv, points, i);
s32 m3 = compute_tangent(&crv, points, i+1);
s32 y;
s32 h = p3x - p0x;
s32 t = (h > 0 ? (MMULT * (x - p0x)) / h : 0);
s32 t2 = t * t / MMULT;
s32 t3 = t2 * t / MMULT;
s32 h00 = 2*t3 - 3*t2 + MMULT;
s32 h10 = t3 - 2*t2 + t;
s32 h01 = -2*t3 + 3*t2;
s32 h11 = t3 - t2;
y = p0y * h00 + h * (m0 * h10 / MMULT) + p3y * h01 + h * (m3 * h11 / MMULT);
y /= MMULT;
return y;
}
}
return 0;
}
#endif
int intpol(int x, uint8_t idx) // -100, -75, -50, -25, 0 ,25 ,50, 75, 100
{
#if defined(PCBTARANIS)
CurveInfo &crv = g_model.curves[idx];
int8_t *points = curveAddress(idx);
uint8_t count = crv.points+5;
bool custom = (crv.type == CURVE_TYPE_CUSTOM);
#else
CurveInfo crv = curveInfo(idx);
int8_t *points = crv.crv;
uint8_t count = crv.points;
bool custom = crv.custom;
#endif
int16_t erg = 0;
x += RESXu;
if (x <= 0) {
erg = (int16_t)points[0] * (RESX/4);
}
else if (x >= (RESX*2)) {
erg = (int16_t)points[count-1] * (RESX/4);
}
else {
uint16_t a=0, b=0;
uint8_t i;
if (custom) {
for (i=0; i<count-1; i++) {
a = b;
b = (i==count-2 ? 2*RESX : RESX + calc100toRESX(points[count+i]));
if ((uint16_t)x<=b) break;
}
}
else {
uint16_t d = (RESX * 2) / (count-1);
i = (uint16_t)x / d;
a = i * d;
b = a + d;
}
erg = (int16_t)points[i]*(RESX/4) + ((int32_t)(x-a) * (points[i+1]-points[i]) * (RESX/4)) / ((b-a));
}
return erg / 25; // 100*D5/RESX;
}
#if defined(CURVES)
#if defined(PCBTARANIS)
int applyCurve(int x, CurveRef & curve)
{
switch (curve.type) {
case CURVE_REF_DIFF:
{
int curveParam = calc100to256(GET_GVAR(curve.value, -100, 100, s_perout_flight_phase));
if (curveParam > 0 && x < 0)
x = (x * (256 - curveParam)) >> 8;
else if (curveParam < 0 && x > 0)
x = (x * (256 + curveParam)) >> 8;
return x;
}
case CURVE_REF_EXPO:
return expo(x, GET_GVAR(curve.value, -100, 100, s_perout_flight_phase));
case CURVE_REF_FUNC:
switch (curve.value) {
case CURVE_X_GT0:
if (x < 0) x = 0; //x|x>0
return x;
case CURVE_X_LT0:
if (x > 0) x = 0; //x|x<0
return x;
case CURVE_ABS_X: // x|abs(x)
return abs(x);
case CURVE_F_GT0: //f|f>0
return x > 0 ? RESX : 0;
case CURVE_F_LT0: //f|f<0
return x < 0 ? -RESX : 0;
case CURVE_ABS_F: //f|abs(f)
return x > 0 ? RESX : -RESX;
}
break;
case CURVE_REF_CUSTOM:
{
int curveParam = curve.value;
if (curveParam < 0) {
x = -x;
curveParam = -curveParam;
}
if (curveParam > 0 && curveParam <= MAX_CURVES) {
return applyCustomCurve(x, curveParam - 1);
}
break;
}
}
return x;
}
int applyCustomCurve(int x, uint8_t idx)
{
CurveInfo &crv = g_model.curves[idx];
if (crv.smooth)
return hermite_spline(x, idx);
else
return intpol(x, idx);
}
#else
int applyCurve(int x, int8_t idx)
{
/* already tried to have only one return at the end */
switch(idx) {
case CURVE_NONE:
return x;
case CURVE_X_GT0:
if (x < 0) x = 0; //x|x>0
return x;
case CURVE_X_LT0:
if (x > 0) x = 0; //x|x<0
return x;
case CURVE_ABS_X: // x|abs(x)
return abs(x);
case CURVE_F_GT0: //f|f>0
return x > 0 ? RESX : 0;
case CURVE_F_LT0: //f|f<0
return x < 0 ? -RESX : 0;
case CURVE_ABS_F: //f|abs(f)
return x > 0 ? RESX : -RESX;
}
if (idx < 0) {
x = -x;
idx = -idx + CURVE_BASE - 1;
}
return applyCustomCurve(x, idx - CURVE_BASE);
}
#endif
#else
#define applyCurve(x, idx) (x)
#endif
// #define EXTENDED_EXPO
// increases range of expo curve but costs about 82 bytes flash
// expo-funktion:
// ---------------
// kmplot
// f(x,k)=exp(ln(x)*k/10) ;P[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20]
// f(x,k)=x*x*x*k/10 + x*(1-k/10) ;P[0,1,2,3,4,5,6,7,8,9,10]
// f(x,k)=x*x*k/10 + x*(1-k/10) ;P[0,1,2,3,4,5,6,7,8,9,10]
// f(x,k)=1+(x-1)*(x-1)*(x-1)*k/10 + (x-1)*(1-k/10) ;P[0,1,2,3,4,5,6,7,8,9,10]
// don't know what this above should be, just confusing in my opinion,
// here is the real explanation
// actually the real formula is
/*
f(x) = exp( ln(x) * 10^k)
if it is 10^k or e^k or 2^k etc. just defines the max distortion of the expo curve; I think 10 is useful
this gives values from 0 to 1 for x and output; k must be between -1 and +1
we do not like to calculate with floating point. Therefore we rescale for x from 0 to 1024 and for k from -100 to +100
f(x) = 1024 * ( e^( ln(x/1024) * 10^(k/100) ) )
This would be really hard to be calculated by such a microcontroller
Therefore Thomas Husterer compared a few usual function something like x^3, x^4*something, which look similar
Actually the formula
f(x) = k*x^3+x*(1-k)
gives a similar form and should have even advantages compared to a original exp curve.
This function again expect x from 0 to 1 and k only from 0 to 1
Therefore rescaling is needed like before:
f(x) = 1024* ((k/100)*(x/1024)^3 + (x/1024)*(100-k)/100)
some mathematical tricks
f(x) = (k*x*x*x/(1024*1024) + x*(100-k)) / 100
for better rounding results we add the 50
f(x) = (k*x*x*x/(1024*1024) + x*(100-k) + 50) / 100
because we now understand the formula, we can optimize it further
--> calc100to256(k) --> eliminates /100 by replacing with /256 which is just a simple shift right 8
k is now between 0 and 256
f(x) = (k*x*x*x/(1024*1024) + x*(256-k) + 128) / 256
*/
// input parameters;
// x 0 to 1024;
// k 0 to 100;
// output between 0 and 1024
unsigned int expou(unsigned int x, unsigned int k)
{
#if defined(EXTENDED_EXPO)
bool extended;
if (k>80) {
extended=true;
}
else {
k += (k>>2); // use bigger values before extend, because the effect is anyway very very low
extended=false;
}
#endif
k = calc100to256(k);
uint32_t value = (uint32_t) x*x;
value *= (uint32_t)k;
value >>= 8;
value *= (uint32_t)x;
#if defined(EXTENDED_EXPO)
if (extended) { // for higher values do more multiplications to get a stronger expo curve
value >>= 16;
value *= (uint32_t)x;
value >>= 4;
value *= (uint32_t)x;
}
#endif
value >>= 12;
value += (uint32_t)(256-k)*x+128;
return value>>8;
}
int expo(int x, int k)
{
if (k == 0) return x;
int y;
bool neg = (x < 0);
if (neg) x = -x;
if (k<0) {
y = RESXu-expou(RESXu-x, -k);
}
else {
y = expou(x, k);
}
return neg? -y : y;
}
#if defined(HELI)
int16_t cyc_anas[3] = {0};
#if defined(PCBTARANIS)
int16_t heliAnas[4] = {0};
#endif
#endif
void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
{
#if defined(PCBTARANIS)
#if defined(HELI)
int16_t heliAnasCopy[4];
memcpy(heliAnasCopy, heliAnas, sizeof(heliAnasCopy));
#endif
#else
int16_t anas2[NUM_INPUTS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
#endif
int8_t cur_chn = -1;
for (uint8_t i=0; i<MAX_EXPOS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = false;
#endif
ExpoData * ed = expoAddress(i);
if (!EXPO_VALID(ed)) break; // end of list
if (ed->chn == cur_chn)
continue;
if (ed->phases & (1<<s_perout_flight_phase))
continue;
if (getSwitch(ed->swtch)) {
#if defined(PCBTARANIS)
int v;
if (ed->srcRaw == ovwrIdx)
v = ovwrValue;
#if defined(HELI)
else if (ed->srcRaw == MIXSRC_Ele)
v = heliAnasCopy[ELE_STICK];
else if (ed->srcRaw == MIXSRC_Ail)
v = heliAnasCopy[AIL_STICK];
#endif
else {
v = getValue(ed->srcRaw);
if (ed->srcRaw >= MIXSRC_FIRST_TELEM && ed->scale > 0) {
v = limit(-1024, int((v * 1024) / convertTelemValue(ed->srcRaw-MIXSRC_FIRST_TELEM+1, ed->scale)), 1024);
}
}
#else
int16_t v = anas2[ed->chn];
#endif
if (EXPO_MODE_ENABLE(ed, v)) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = true;
#endif
cur_chn = ed->chn;
//========== CURVE=================
#if defined(PCBTARANIS)
if (ed->curve.value) {
v = applyCurve(v, ed->curve);
}
#else
int8_t curveParam = ed->curveParam;
if (curveParam) {
if (ed->curveMode == MODE_CURVE)
v = applyCurve(v, curveParam);
else
v = expo(v, GET_GVAR(curveParam, -100, 100, s_perout_flight_phase));
}
#endif
//========== WEIGHT ===============
int16_t weight = GET_GVAR(ed->weight, MIN_EXPO_WEIGHT, 100, s_perout_flight_phase);
weight = calc100to256(weight);
v = ((int32_t)v * weight) >> 8;
#if defined(PCBTARANIS)
//========== OFFSET ===============
int16_t offset = GET_GVAR(ed->offset, -100, 100, s_perout_flight_phase);
if (offset) v += calc100toRESX(offset);
//========== TRIMS ================
if (ed->carryTrim < TRIM_ON)
virtualInputsTrims[cur_chn] = -ed->carryTrim - 1;
else if (ed->carryTrim == TRIM_ON && ed->srcRaw >= MIXSRC_Rud && ed->srcRaw <= MIXSRC_Ail)
virtualInputsTrims[cur_chn] = ed->srcRaw - MIXSRC_Rud;
else
virtualInputsTrims[cur_chn] = -1;
#if defined(HELI)
if (ed->srcRaw == MIXSRC_Ele)
heliAnas[ELE_STICK] = v;
else if (ed->srcRaw == MIXSRC_Ail)
heliAnas[AIL_STICK] = v;
#endif
#endif
anas[cur_chn] = v;
}
}
}
}
#if !defined(CPUARM)
// #define CORRECT_NEGATIVE_SHIFTS
// open.20.fsguruh; shift right operations do the rounding different for negative values compared to positive values
// so all negative divisions round always further down, which give absolute values bigger compared to a usual division
// this is noticable on the display, because instead of -100.0 -99.9 is shown; While in praxis I doublt somebody will notice a
// difference this is more a mental thing. Maybe people are distracted, because the easy calculations are obviously wrong
// this define would correct this, but costs 34 bytes code for stock version
// currently we set this to active always, because it might cause a fault about 1% compared positive and negative values
// is done now in makefile
int16_t calc100to256_16Bits(int16_t x) // return x*2.56
{
// y = 2*x + x/2 +x/16-x/512-x/2048
// 512 and 2048 are out of scope from int8 input --> forget it
#ifdef CORRECT_NEGATIVE_SHIFTS
int16_t res=(int16_t)x<<1;
//int8_t sign=(uint8_t) x>>7;
int8_t sign=(x<0?1:0);
x-=sign;
res+=(x>>1);
res+=sign;
res+=(x>>4);
res+=sign;
return res;
#else
return ((int16_t)x<<1)+(x>>1)+(x>>4);
#endif
}
int16_t calc100to256(int8_t x) // return x*2.56
{
return calc100to256_16Bits(x);
}
int16_t calc100toRESX_16Bits(int16_t x) // return x*10.24
{
#ifdef CORRECT_NEGATIVE_SHIFTS
int16_t res= ((int16_t)x*41)>>2;
int8_t sign=(x<0?1:0);
//int8_t sign=(uint8_t) x>>7;
x-=sign;
res-=(x>>6);
res-=sign;
return res;
#else
// return (int16_t)x*10 + x/4 - x/64;
return ((x*41)>>2) - (x>>6);
#endif
}
int16_t calc100toRESX(int8_t x) // return x*10.24
{
return calc100toRESX_16Bits(x);
}
// return x*1.024
int16_t calc1000toRESX(int16_t x) // improve calc time by Pat MacKenzie
{
// return x + x/32 - x/128 + x/512;
int16_t y = x>>5;
x+=y;
y=y>>2;
x-=y;
return x+(y>>2);
}
int16_t calcRESXto1000(int16_t x) // return x/1.024
{
// *1000/1024 = x - x/32 + x/128
return (x - (x>>5) + (x>>7));
}
int8_t calcRESXto100(int16_t x)
{
return (x*25) >> 8;
}
#endif
// #define PREVENT_ARITHMETIC_OVERFLOW
// because of optimizations the reserves before overruns occurs is only the half
// this defines enables some checks the greatly improves this situation
// It should nearly prevent all overruns (is still a chance for it, but quite low)
// negative side is code cost 96 bytes flash
// we do it now half way, only in applyLimits, which costs currently 50bytes
// according opinion poll this topic is currently not very important
// the change below improves already the situation
// the check inside mixer would slow down mix a little bit and costs additionally flash
// also the check inside mixer still is not bulletproof, there may be still situations a overflow could occur
// a bulletproof implementation would take about additional 100bytes flash
// therefore with go with this compromize, interested people could activate this define
// @@@2 open.20.fsguruh ;
// channel = channelnumber -1;
// value = outputvalue with 100 mulitplied usual range -102400 to 102400; output -1024 to 1024
// changed rescaling from *100 to *256 to optimize performance
// rescaled from -262144 to 262144
int16_t applyLimits(uint8_t channel, int32_t value)
{
LimitData * lim = limitAddress(channel);
#if defined(PCBTARANIS)
if (lim->curve) {
// TODO we loose precision here, applyCustomCurve could work with int32_t on ARM boards...
if (lim->curve > 0)
value = 256 * applyCustomCurve(value/256, lim->curve-1);
else
value = 256 * applyCustomCurve(-value/256, -lim->curve-1);
}
#endif
int16_t ofs = LIMIT_OFS_RESX(lim);
int16_t lim_p = LIMIT_MAX_RESX(lim);
int16_t lim_n = LIMIT_MIN_RESX(lim);
if (ofs > lim_p) ofs = lim_p;
if (ofs < lim_n) ofs = lim_n;
// because the rescaling optimization would reduce the calculation reserve we activate this for all builds
// it increases the calculation reserve from factor 20,25x to 32x, which it slightly better as original
// without it we would only have 16x which is slightly worse as original, we should not do this
// thanks to gbirkus, he motivated this change, which greatly reduces overruns
// unfortunately the constants and 32bit compares generates about 50 bytes codes; didn't find a way to get it down.
value = limit(int32_t(-RESXl*256), value, int32_t(RESXl*256)); // saves 2 bytes compared to other solutions up to now
#if defined(PPM_LIMITS_SYMETRICAL)
if (value) {
int16_t tmp;
if (lim->symetrical)
tmp = (value > 0) ? (lim_p) : (-lim_n);
else
tmp = (value > 0) ? (lim_p - ofs) : (-lim_n + ofs);
value = (int32_t) value * tmp; // div by 1024*256 -> output = -1024..1024
#else
if (value) {
int16_t tmp = (value > 0) ? (lim_p - ofs) : (-lim_n + ofs);
value = (int32_t) value * tmp; // div by 1024*256 -> output = -1024..1024
#endif
#ifdef CORRECT_NEGATIVE_SHIFTS
int8_t sign = (value<0?1:0);
value -= sign;
tmp = value>>16; // that's quite tricky: the shiftright 16 operation is assmbled just with addressmove; just forget the two least significant bytes;
tmp >>= 2; // now one simple shift right for two bytes does the rest
tmp += sign;
#else
tmp = value>>16; // that's quite tricky: the shiftright 16 operation is assmbled just with addressmove; just forget the two least significant bytes;
tmp >>= 2; // now one simple shift right for two bytes does the rest
#endif
ofs += tmp; // ofs can to added directly because already recalculated,
}
if (ofs > lim_p) ofs = lim_p;
if (ofs < lim_n) ofs = lim_n;
if (lim->revert) ofs = -ofs; // finally do the reverse.
if (safetyCh[channel] != -128) // if safety channel available for channel check
ofs = calc100toRESX(safetyCh[channel]);
return ofs;
}
int16_t calibratedStick[NUM_STICKS+NUM_POTS];
int16_t channelOutputs[NUM_CHNOUT] = {0};
int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain;
// TODO same naming convention than the putsMixerSource
getvalue_t getValue(uint8_t i)
{
if (i==MIXSRC_NONE) return 0;
#if defined(PCBTARANIS)
else if (i <= MIXSRC_LAST_INPUT) {
return anas[i-MIXSRC_FIRST_INPUT];
}
#endif
#if defined(PCBTARANIS)
else if (i<MIXSRC_LAST_LUA) {
#if defined(LUA_MODEL_SCRIPTS)
div_t qr = div(i-MIXSRC_FIRST_LUA, MAX_SCRIPT_OUTPUTS);
return scriptInternalData[qr.quot].outputs[qr.rem].value;
#else
return 0;
#endif
}
#endif
else if (i<=MIXSRC_LAST_POT) return calibratedStick[i-MIXSRC_Rud];
#if defined(PCBGRUVIN9X) || defined(PCBMEGA2560) || defined(PCBSKY9X)
else if (i<=MIXSRC_LAST_ROTARY_ENCODER) return getRotaryEncoder(i-MIXSRC_REa);
#endif
else if (i==MIXSRC_MAX) return 1024;
else if (i<=MIXSRC_CYC3)
#if defined(HELI)
return cyc_anas[i-MIXSRC_CYC1];
#else
return 0;
#endif
else if (i<=MIXSRC_TrimAil) return calc1000toRESX((int16_t)8 * getTrimValue(s_perout_flight_phase, i-MIXSRC_TrimRud));
#if defined(PCBTARANIS)
else if (i==MIXSRC_SA) return (switchState(SW_SA0) ? -1024 : (switchState(SW_SA1) ? 0 : 1024));
else if (i==MIXSRC_SB) return (switchState(SW_SB0) ? -1024 : (switchState(SW_SB1) ? 0 : 1024));
else if (i==MIXSRC_SC) return (switchState(SW_SC0) ? -1024 : (switchState(SW_SC1) ? 0 : 1024));
else if (i==MIXSRC_SD) return (switchState(SW_SD0) ? -1024 : (switchState(SW_SD1) ? 0 : 1024));
else if (i==MIXSRC_SE) return (switchState(SW_SE0) ? -1024 : (switchState(SW_SE1) ? 0 : 1024));
else if (i==MIXSRC_SF) return (switchState(SW_SF0) ? -1024 : 1024);
else if (i==MIXSRC_SG) return (switchState(SW_SG0) ? -1024 : (switchState(SW_SG1) ? 0 : 1024));
else if (i==MIXSRC_SH) return (switchState(SW_SH0) ? -1024 : 1024);
else if (i<=MIXSRC_LAST_LOGICAL_SWITCH) return getSwitch(SWSRC_FIRST_CSW+i-MIXSRC_FIRST_LOGICAL_SWITCH) ? 1024 : -1024;
#else
else if (i==MIXSRC_3POS) return (getSwitch(SW_ID0-SW_BASE+1) ? -1024 : (getSwitch(SW_ID1-SW_BASE+1) ? 0 : 1024));
// don't use switchState directly to give getSwitch possibility to hack values if needed for switch warning
#if defined(EXTRA_3POS)
else if (i==MIXSRC_3POS2) return (getSwitch(SW_ID3-SW_BASE+1) ? -1024 : (getSwitch(SW_ID4-SW_BASE+1) ? 0 : 1024));
// don't use switchState directly to give getSwitch possibility to hack values if needed for switch warning
#endif
else if (i<=MIXSRC_LAST_LOGICAL_SWITCH) return getSwitch(SWSRC_THR+i-MIXSRC_THR) ? 1024 : -1024;
#endif
else if (i<=MIXSRC_LAST_TRAINER) { int16_t x = g_ppmIns[i-MIXSRC_FIRST_TRAINER]; if (i<MIXSRC_FIRST_TRAINER+NUM_CAL_PPM) { x-= g_eeGeneral.trainer.calib[i-MIXSRC_FIRST_TRAINER]; } return x*2; }
else if (i<=MIXSRC_LAST_CH) return ex_chans[i-MIXSRC_CH1];
#if defined(GVARS)
else if (i<=MIXSRC_LAST_GVAR) return GVAR_VALUE(i-MIXSRC_GVAR1, getGVarFlightPhase(s_perout_flight_phase, i-MIXSRC_GVAR1));
#endif
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_TX_VOLTAGE) return g_vbat100mV;
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_TM2) return timersStates[i-MIXSRC_FIRST_TELEM+1-TELEM_TM1].val;
#if defined(FRSKY)
#if defined(CPUARM)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_SWR) return frskyData.swr.value;
#endif
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RSSI_TX) return frskyData.rssi[1].value;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RSSI_RX) return frskyData.rssi[0].value;
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_A2) return frskyData.analog[i-MIXSRC_FIRST_TELEM+1-TELEM_A1].value;
#if defined(FRSKY_SPORT)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ALT) return frskyData.hub.baroAltitude;
#elif defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ALT) return TELEMETRY_RELATIVE_BARO_ALT_BP;
#endif
#if defined(FRSKY_HUB)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RPM) return frskyData.hub.rpm;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_FUEL) return frskyData.hub.fuelLevel;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_T1) return frskyData.hub.temperature1;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_T2) return frskyData.hub.temperature2;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_SPEED) return TELEMETRY_GPS_SPEED_BP;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_DIST) return frskyData.hub.gpsDistance;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_GPSALT) return TELEMETRY_RELATIVE_GPS_ALT_BP;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CELL) return (int16_t)TELEMETRY_MIN_CELL_VOLTAGE;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CELLS_SUM) return (int16_t)frskyData.hub.cellsSum;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_VFAS) return (int16_t)frskyData.hub.vfas;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CURRENT) return (int16_t)frskyData.hub.current;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CONSUMPTION) return frskyData.hub.currentConsumption;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_POWER) return frskyData.hub.power;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCx) return frskyData.hub.accelX;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCy) return frskyData.hub.accelY;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCz) return frskyData.hub.accelZ;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_HDG) return frskyData.hub.gpsCourse_bp;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_VSPEED) return frskyData.hub.varioSpeed;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ASPEED) return frskyData.hub.airSpeed;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_DTE) return frskyData.hub.dTE;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_MIN_A1) return frskyData.analog[0].min;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_MIN_A2) return frskyData.analog[1].min;
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_CSW_MAX) return *(((int16_t*)(&frskyData.hub.minAltitude))+i-(MIXSRC_FIRST_TELEM-1+TELEM_MIN_ALT));
#endif
#endif
else return 0;
}
#if defined(CPUARM)
#define GETSWITCH_RECURSIVE_TYPE uint32_t
#else
#define GETSWITCH_RECURSIVE_TYPE uint16_t
#endif
volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used = 0;
volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_value = 0;
#if defined(CPUARM)
uint32_t cswDelays[NUM_LOGICAL_SWITCH];
uint32_t cswDurations[NUM_LOGICAL_SWITCH];
uint8_t cswStates[NUM_LOGICAL_SWITCH];
#endif
#if defined(PCBTARANIS)
tmr10ms_t switchesMidposStart[6] = { 0 };
uint32_t switchesPos = 0;
tmr10ms_t potsLastposStart[NUM_XPOTS];
uint8_t potsPos[NUM_XPOTS];
uint32_t check2PosSwitchPosition(EnumKeys sw)
{
uint32_t result;
uint32_t index;
if (switchState(sw))
index = sw - SW_SA0;
else
index = sw - SW_SA0 + 1;
result = (1 << index);
if (!(switchesPos & result)) {
PLAY_SWITCH_MOVED(index);
}
return result;
}
#define DELAY_SWITCH_3POS 15/*150ms*/
uint32_t check3PosSwitchPosition(uint8_t idx, EnumKeys sw, bool startup)
{
uint32_t result;
uint32_t index;
if (switchState(sw)) {
index = sw - SW_SA0;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else if (switchState(EnumKeys(sw+2))) {
index = sw - SW_SA0 + 2;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else if (startup || (switchesPos & (1 << (sw - SW_SA0 + 1))) || (switchesMidposStart[idx] && (tmr10ms_t)(get_tmr10ms() - switchesMidposStart[idx]) > DELAY_SWITCH_3POS)) {
index = sw - SW_SA0 + 1;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else {
index = sw - SW_SA0 + 1;
if (!switchesMidposStart[idx]) {
switchesMidposStart[idx] = get_tmr10ms();
}
result = (switchesPos & (0x7 << (sw - SW_SA0)));
}
if (!(switchesPos & result)) {
PLAY_SWITCH_MOVED(index);
}
return result;
}
#define CHECK_2POS(sw) newPos |= check2PosSwitchPosition(sw ## 0)
#define CHECK_3POS(idx, sw) newPos |= check3PosSwitchPosition(idx, sw ## 0, startup)
void getSwitchesPosition(bool startup)
{
uint32_t newPos = 0;
CHECK_3POS(0, SW_SA);
CHECK_3POS(1, SW_SB);
CHECK_3POS(2, SW_SC);
CHECK_3POS(3, SW_SD);
CHECK_3POS(4, SW_SE);
CHECK_2POS(SW_SF);
CHECK_3POS(5, SW_SG);
CHECK_2POS(SW_SH);
switchesPos = newPos;
for (int i=0; i<NUM_XPOTS; i++) {
if (g_eeGeneral.potsType & (1 << i)) {
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT1+i];
if (calib->count>0 && calib->count<XPOTS_MULTIPOS_COUNT) {
uint8_t pos = anaIn(POT1+i) / (2*RESX/calib->count);
uint8_t previousPos = potsPos[i] >> 4;
uint8_t previousStoredPos = potsPos[i] & 0x0F;
if (pos != previousPos) {
potsLastposStart[i] = get_tmr10ms();
potsPos[i] = (pos << 4) | previousStoredPos;
}
else if (startup || (tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
potsLastposStart[i] = 0;
potsPos[i] = (pos << 4) | pos;
if (previousStoredPos != pos) {
PLAY_SWITCH_MOVED(SWSRC_LAST_SWITCH+i*XPOTS_MULTIPOS_COUNT+pos);
}
}
}
}
}
}
#define SWITCH_POSITION(sw) (switchesPos & (1<<(sw)))
#define POT_POSITION(sw) ((potsPos[(sw)/XPOTS_MULTIPOS_COUNT] & 0x0f) == ((sw) % XPOTS_MULTIPOS_COUNT))
#else
#define getSwitchesPosition(...)
#define SWITCH_POSITION(idx) switchState((EnumKeys)(SW_BASE+(idx)))
#endif
int16_t csLastValue[NUM_LOGICAL_SWITCH];
#define CS_LAST_VALUE_INIT -32768
/* recursive function. stack as of today (16/03/2012) grows by 8bytes at each call, which is ok! */
bool getSwitch(int8_t swtch)
{
bool result;
if (swtch == SWSRC_NONE)
return true;
uint8_t cs_idx = abs(swtch);
if (cs_idx == SWSRC_ON) {
result = true;
}
else if (cs_idx <= SWSRC_LAST_SWITCH) {
result = SWITCH_POSITION(cs_idx-SWSRC_FIRST_SWITCH);
#if defined(MODULE_ALWAYS_SEND_PULSES)
if (startupWarningState < STARTUP_WARNING_DONE) {
// if throttle or switch warning is currently active, ignore actual stick position and use wanted values
if (cs_idx <= 3) {
if (!(g_model.nSwToWarn&1)) { // ID1 to ID3 is just one bit in nSwToWarn
result = (cs_idx)==((g_model.switchWarningStates&3)+1); // overwrite result with desired value
}
}
else if (!(g_model.nSwToWarn & (1<<(cs_idx-3)))) {
// current switch should not be ignored for warning
result = g_model.switchWarningStates & (1<<(cs_idx-2)); // overwrite result with desired value
}
}
#endif
}
#if defined(PCBTARANIS)
else if (cs_idx <= SWSRC_LAST_MULTIPOS_SWITCH) {
result = POT_POSITION(cs_idx-SWSRC_FIRST_MULTIPOS_SWITCH);
}
#endif
else if (cs_idx <= SWSRC_LAST_TRIM) {
uint8_t idx = cs_idx - SWSRC_FIRST_TRIM;
idx = (CONVERT_MODE(idx/2) << 1) + (idx & 1);
result = trimDown(idx);
}
#if ROTARY_ENCODERS > 0
else if (cs_idx == SWSRC_REa) {
result = REA_DOWN();
}
#endif
#if ROTARY_ENCODERS > 1
else if (cs_idx == SWSRC_REb) {
result = REB_DOWN();
}
#endif
else {
cs_idx -= SWSRC_FIRST_CSW;
GETSWITCH_RECURSIVE_TYPE mask = ((GETSWITCH_RECURSIVE_TYPE)1 << cs_idx);
if (s_last_switch_used & mask) {
result = (s_last_switch_value & mask);
}
else {
s_last_switch_used |= mask;
LogicalSwitchData * cs = cswAddress(cs_idx);
#if defined(CPUARM)
int8_t s = cs->andsw;
#else
uint8_t s = cs->andsw;
if (s > SWSRC_LAST_SWITCH) {
s += SWSRC_SW1-SWSRC_LAST_SWITCH-1;
}
#endif
if (cs->func == LS_FUNC_NONE || (s && !getSwitch(s))) {
csLastValue[cs_idx] = CS_LAST_VALUE_INIT;
result = false;
}
else if ((s=cswFamily(cs->func)) == LS_FAMILY_BOOL) {
bool res1 = getSwitch(cs->v1);
bool res2 = getSwitch(cs->v2);
switch (cs->func) {
case LS_FUNC_AND:
result = (res1 && res2);
break;
case LS_FUNC_OR:
result = (res1 || res2);
break;
// case LS_FUNC_XOR:
default:
result = (res1 ^ res2);
break;
}
}
else if (s == LS_FAMILY_TIMER) {
result = (csLastValue[cs_idx] <= 0);
}
else if (s == LS_FAMILY_STICKY) {
result = (csLastValue[cs_idx] & (1<<0));
}
#if defined(CPUARM)
else if (s == LS_FAMILY_STAY) {
result = (csLastValue[cs_idx] & (1<<0));
}
#endif
else {
getvalue_t x = getValue(cs->v1);
getvalue_t y;
if (s == LS_FAMILY_COMP) {
y = getValue(cs->v2);
switch (cs->func) {
case LS_FUNC_EQUAL:
result = (x==y);
break;
case LS_FUNC_GREATER:
result = (x>y);
break;
default:
result = (x<y);
break;
}
}
else {
uint8_t v1 = cs->v1;
#if defined(FRSKY)
// Telemetry
if (v1 >= MIXSRC_FIRST_TELEM) {
if ((!TELEMETRY_STREAMING() && v1 >= MIXSRC_FIRST_TELEM+TELEM_FIRST_STREAMED_VALUE-1) || IS_FAI_FORBIDDEN(v1-1))
return swtch > 0 ? false : true;
y = convertCswTelemValue(cs);
#if defined(FRSKY_HUB) && defined(GAUGES)
if (s == LS_FAMILY_OFS) {
uint8_t idx = v1-MIXSRC_FIRST_TELEM+1-TELEM_ALT;
if (idx < THLD_MAX) {
// Fill the threshold array
barsThresholds[idx] = 128 + cs->v2;
}
}
#endif
}
else if (v1 >= MIXSRC_GVAR1) {
y = cs->v2;
}
else {
y = calc100toRESX(cs->v2);
}
#else
if (v1 >= MIXSRC_FIRST_TELEM) {
y = (int16_t)3 * (128+cs->v2); // it's a Timer
}
else if (v1 >= MIXSRC_GVAR1) {
y = cs->v2; // it's a GVAR
}
else {
y = calc100toRESX(cs->v2);
}
#endif
switch (cs->func) {
#if defined(CPUARM)
case LS_FUNC_VEQUAL:
result = (x==y);
break;
#endif
case LS_FUNC_VALMOSTEQUAL:
#if defined(GVARS)
if (v1 >= MIXSRC_GVAR1 && v1 <= MIXSRC_LAST_GVAR)
result = (x==y);
else
#endif
result = (abs(x-y) < (1024 / STICK_TOLERANCE));
break;
case LS_FUNC_VPOS:
result = (x>y);
break;
case LS_FUNC_VNEG:
result = (x<y);
break;
case LS_FUNC_APOS:
result = (abs(x)>y);
break;
case LS_FUNC_ANEG:
result = (abs(x)<y);
break;
default:
{
if (csLastValue[cs_idx] == CS_LAST_VALUE_INIT)
csLastValue[cs_idx] = x;
int16_t diff = x - csLastValue[cs_idx];
if (cs->func == LS_FUNC_DIFFEGREATER)
result = (y >= 0 ? (diff >= y) : (diff <= y));
else
result = (abs(diff) >= y);
if (result)
csLastValue[cs_idx] = x;
break;
}
}
}
}
#if defined(CPUARM)
if (cs->delay) {
if (result) {
if (cswDelays[cs_idx] > get_tmr10ms())
result = false;
}
else {
cswDelays[cs_idx] = get_tmr10ms() + (cs->delay*10);
}
}
if (cs->duration) {
if (result && !cswStates[cs_idx]) {
cswDurations[cs_idx] = get_tmr10ms() + (cs->duration*10);
}
cswStates[cs_idx] = result;
result = false;
if (cswDurations[cs_idx] > get_tmr10ms()) {
result = true;
}
}
#endif
if (result) {
if (!(s_last_switch_value&mask)) PLAY_LOGICAL_SWITCH_ON(cs_idx);
s_last_switch_value |= mask;
}
else {
if (s_last_switch_value&mask) PLAY_LOGICAL_SWITCH_OFF(cs_idx);
s_last_switch_value &= ~mask;
}
}
}
return swtch > 0 ? result : !result;
}
swstate_t switches_states = 0;
int8_t getMovedSwitch()
{
static tmr10ms_t s_move_last_time = 0;
int8_t result = 0;
#if defined(PCBTARANIS)
for (uint8_t i=0; i<NUM_SWITCHES; i++) {
swstate_t mask = (0x03 << (i*2));
uint8_t prev = (switches_states & mask) >> (i*2);
uint8_t next = (1024+getValue(MIXSRC_SA+i)) / 1024;
if (prev != next) {
switches_states = (switches_states & (~mask)) | (next << (i*2));
if (i<5)
result = 1+(3*i)+next;
else if (i==5)
result = 1+(3*5)+(next!=0);
else if (i==6)
result = 1+(3*5)+2+next;
else
result = 1+(3*5)+2+3+(next!=0);
}
}
#else
// return delivers 1 to 3 for ID1 to ID3
// 4..8 for all other switches if changed to true
// -4..-8 for all other switches if changed to false
// 9 for Trainer switch if changed to true; Change to false is ignored
swstate_t mask = 0x80;
for (uint8_t i=NUM_PSWITCH; i>1; i--) {
bool prev;
prev = (switches_states & mask);
// don't use getSwitch here to always get the proper value, even getSwitch manipulates
bool next = switchState((EnumKeys)(SW_BASE+i-1));
if (prev != next) {
if (((i<NUM_PSWITCH) && (i>3)) || next==true)
result = next ? i : -i;
if (i<=3 && result==0) result = 1;
switches_states ^= mask;
}
mask >>= 1;
}
#endif
if ((tmr10ms_t)(get_tmr10ms() - s_move_last_time) > 10)
result = 0;
s_move_last_time = get_tmr10ms();
return result;
}
#if defined(AUTOSOURCE)
int8_t getMovedSource(GET_MOVED_SOURCE_PARAMS)
{
int8_t result = 0;
static tmr10ms_t s_move_last_time = 0;
#if defined(PCBTARANIS)
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) {
result = MIXSRC_FIRST_INPUT+i;
break;
}
}
}
#endif
static int16_t sourcesStates[NUM_STICKS+NUM_POTS];
if (result == 0) {
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) {
if (abs(calibratedStick[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(PCBTARANIS)
memcpy(inputsStates, anas, sizeof(inputsStates));
#endif
memcpy(sourcesStates, calibratedStick, sizeof(sourcesStates));
}
s_move_last_time = get_tmr10ms();
return result;
}
#endif
#if defined(FLIGHT_MODES)
uint8_t getFlightPhase()
{
for (uint8_t i=1; i<MAX_PHASES; i++) {
PhaseData *phase = &g_model.phaseData[i];
if (phase->swtch && getSwitch(phase->swtch)) {
return i;
}
}
return 0;
}
#endif
trim_t getRawTrimValue(uint8_t phase, uint8_t idx)
{
PhaseData *p = phaseAddress(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(PCBTARANIS)
int result = 0;
for (uint8_t i=0; i<MAX_PHASES; 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(getTrimFlightPhase(phase, idx), idx);
#endif
}
void setTrimValue(uint8_t phase, uint8_t idx, int trim)
{
#if defined(PCBTARANIS)
for (uint8_t i=0; i<MAX_PHASES; i++) {
trim_t & v = phaseAddress(phase)->trim[idx];
if (v.mode == TRIM_MODE_NONE)
return;
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;
}
}
#elif defined(PCBSTD)
PhaseData *p = phaseAddress(phase);
p->trim[idx] = (int8_t)(trim >> 2);
idx <<= 1;
p->trim_ext = (p->trim_ext & ~(0x03 << idx)) + (((trim & 0x03) << idx));
#else
PhaseData *p = phaseAddress(phase);
p->trim[idx] = trim;
#endif
eeDirty(EE_MODEL);
}
#if !defined(PCBTARANIS)
uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
{
for (uint8_t i=0; i<MAX_PHASES; 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 getRotaryEncoderFlightPhase(uint8_t idx)
{
uint8_t phase = s_perout_flight_phase;
for (uint8_t i=0; i<MAX_PHASES; i++) {
if (phase == 0) return 0;
#if ROTARY_ENCODERS > 2
int16_t value;
if(idx<(NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA))
value = phaseAddress(phase)->rotaryEncoders[idx];
else
value = g_model.rotaryEncodersExtra[phase][idx-(NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA)];
#else
int16_t value = phaseAddress(phase)->rotaryEncoders[idx];
#endif
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)
{
#if ROTARY_ENCODERS > 2
if(idx >= (NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA))
return g_model.rotaryEncodersExtra[getRotaryEncoderFlightPhase(idx)][idx-(NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA)];
#endif
return phaseAddress(getRotaryEncoderFlightPhase(idx))->rotaryEncoders[idx];
}
void incRotaryEncoder(uint8_t idx, int8_t inc)
{
g_rotenc[idx] += inc;
#if ROTARY_ENCODERS > 2
int16_t *value;
if (idx < (NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA))
value = &(phaseAddress(getRotaryEncoderFlightPhase(idx))->rotaryEncoders[idx]);
else
value = &(g_model.rotaryEncodersExtra[getRotaryEncoderFlightPhase(idx)][idx-(NUM_ROTARY_ENCODERS - NUM_ROTARY_ENCODERS_EXTRA)]);
#else
int16_t *value = &(phaseAddress(getRotaryEncoderFlightPhase(idx))->rotaryEncoders[idx]);
#endif
*value = limit((int16_t)-1024, (int16_t)(*value + (inc * 8)), (int16_t)+1024);
eeDirty(EE_MODEL);
}
#endif
#if defined(GVARS)
#if defined(PCBSTD)
#define SET_GVAR_VALUE(idx, phase, value) \
(GVAR_VALUE(idx, phase) = value, eeDirty(EE_MODEL))
#else
#define SET_GVAR_VALUE(idx, phase, value) \
GVAR_VALUE(idx, phase) = value; \
eeDirty(EE_MODEL); \
if (g_model.gvars[idx].popup) { \
s_gvar_last = idx; \
s_gvar_timer = GVAR_DISPLAY_TIME; \
}
#endif
#if defined(PCBSTD)
int16_t getGVarValue(int16_t x, int16_t min, int16_t max)
{
if (GV_IS_GV_VALUE(x, min, max)) {
int8_t idx = GV_INDEX_CALCULATION(x, max);
int8_t mul = 1;
if (idx < 0) {
idx = -1-idx;
mul = -1;
}
x = GVAR_VALUE(idx, -1) * mul;
}
return limit(min, x, max);
}
void setGVarValue(uint8_t idx, int8_t value)
{
if (GVAR_VALUE(idx, -1) != value) {
SET_GVAR_VALUE(idx, -1, value);
}
}
#else
uint8_t s_gvar_timer = 0;
uint8_t s_gvar_last = 0;
uint8_t getGVarFlightPhase(uint8_t phase, uint8_t idx)
{
for (uint8_t i=0; i<MAX_PHASES; i++) {
if (phase == 0) return 0;
int16_t val = GVAR_VALUE(idx, phase); // TODO phase at the end everywhere to be consistent!
if (val <= GVAR_MAX) return phase;
uint8_t result = val-GVAR_MAX-1;
if (result >= phase) result++;
phase = result;
}
return 0;
}
int16_t getGVarValue(int16_t x, int16_t min, int16_t max, int8_t phase)
{
if (GV_IS_GV_VALUE(x, min, max)) {
int8_t idx = GV_INDEX_CALCULATION(x, max);
int8_t mul = 1;
if (idx < 0) {
idx = -1-idx;
mul = -1;
}
x = GVAR_VALUE(idx, getGVarFlightPhase(phase, idx)) * mul;
}
return limit(min, x, max);
}
void setGVarValue(uint8_t idx, int16_t value, int8_t phase)
{
phase = getGVarFlightPhase(phase, idx);
if (GVAR_VALUE(idx, phase) != value) {
SET_GVAR_VALUE(idx, phase, value);
}
}
#endif
#endif
#if defined(FRSKY)
ls_telemetry_value_t minTelemValue(uint8_t channel)
{
switch (channel) {
case TELEM_FUEL:
#if defined(CPUARM)
case TELEM_SWR:
#endif
case TELEM_RSSI_TX:
case TELEM_RSSI_RX:
return 0;
case TELEM_HDG:
return 0;
#if defined(CPUARM)
default:
return -30000;
#else
default:
return 0;
#endif
}
}
ls_telemetry_value_t maxTelemValue(uint8_t channel)
{
switch (channel) {
case TELEM_FUEL:
#if defined(CPUARM)
case TELEM_SWR:
#endif
case TELEM_RSSI_TX:
case TELEM_RSSI_RX:
return 100;
case TELEM_HDG:
return 180;
#if defined(CPUARM)
default:
return 30000;
#else
default:
return 255;
#endif
}
}
#endif
#if defined(CPUARM)
getvalue_t convert16bitsTelemValue(uint8_t channel, ls_telemetry_value_t value)
{
getvalue_t result;
switch (channel) {
#if defined(FRSKY_SPORT)
case TELEM_ALT:
result = value * 100;
break;
#endif
case TELEM_VSPEED:
result = value * 10;
break;
default:
result = value;
break;
}
return result;
}
ls_telemetry_value_t max8bitsTelemValue(uint8_t channel)
{
return min<ls_telemetry_value_t>(255, maxTelemValue(channel));
}
#endif
getvalue_t convert8bitsTelemValue(uint8_t channel, ls_telemetry_value_t value)
{
getvalue_t result;
switch (channel) {
case TELEM_TM1:
case TELEM_TM2:
result = value * 5;
break;
#if defined(FRSKY)
case TELEM_ALT:
#if defined(CPUARM)
result = 100 * (value * 8 - 500);
break;
#endif
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:
result = value * 2;
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 * 40;
break;
case TELEM_VSPEED:
result = ((getvalue_t)value - 125) * 10;
break;
#endif
default:
result = value;
break;
}
return result;
}
getvalue_t convertCswTelemValue(LogicalSwitchData * cs)
{
getvalue_t val;
#if defined(CPUARM)
val = convert16bitsTelemValue(cs->v1 - MIXSRC_FIRST_TELEM + 1, cs->v2);
#else
if (cswFamily(cs->func)==LS_FAMILY_OFS)
val = convert8bitsTelemValue(cs->v1 - MIXSRC_FIRST_TELEM + 1, 128+cs->v2);
else
val = convert8bitsTelemValue(cs->v1 - MIXSRC_FIRST_TELEM + 1, 128+cs->v2) - convert8bitsTelemValue(cs->v1 - MIXSRC_FIRST_TELEM + 1, 128);
#endif
return val;
}
#if defined(FRSKY) || defined(CPUARM)
FORCEINLINE void convertUnit(getvalue_t & val, uint8_t & unit)
{
if (IS_IMPERIAL_ENABLE()) {
if (unit == UNIT_TEMPERATURE) {
val += 18;
val *= 115;
val >>= 6;
}
if (unit == UNIT_DIST) {
// m to ft *105/32
val = val * 3 + (val >> 2) + (val >> 5);
}
if (unit == UNIT_FEET) {
unit = UNIT_DIST;
}
if (unit == UNIT_KTS) {
// kts to mph
unit = UNIT_SPEED;
val = (val * 31) / 27;
}
}
else {
if (unit == UNIT_KTS) {
// kts to km/h
unit = UNIT_SPEED;
val = (val * 50) / 27;
}
}
if (unit == UNIT_HDG) {
unit = UNIT_TEMPERATURE;
}
}
#endif
#define INAC_DEV_SHIFT 6 // shift right value for stick movement
bool inputsMoved()
{
uint8_t sum = 0;
for (uint8_t i=0; i<NUM_STICKS; i++)
sum += anaIn(i) >> INAC_DEV_SHIFT;
for (uint8_t i=0; i<NUM_SWITCHES; i++)
sum += getValue(MIXSRC_FIRST_SWITCH+i) >> 10;
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_ON();
else
BACKLIGHT_OFF();
#if defined(PCBSTD) && defined(VOICE) && !defined(SIMU)
Voice.voice_process() ;
#endif
}
}
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)
inline void Splash()
{
lcd_clear();
#if defined(PCBTARANIS)
lcd_bmp(0, 0, splash_lbm);
#else
lcd_img(0, 0, splash_lbm, 0, 0);
#endif
#if MENUS_LOCK == 1
if (readonly == false) {
lcd_filled_rect((LCD_W-(sizeof(TR_UNLOCKED)-1)*FW)/2 - 9, 50, (sizeof(TR_UNLOCKED)-1)*FW+16, 11, SOLID, ERASE|ROUND);
lcd_puts((LCD_W-(sizeof(TR_UNLOCKED)-1)*FW)/2 , 53, STR_UNLOCKED);
}
#endif
lcdRefresh();
}
void doSplash()
{
if (SPLASH_NEEDED()) {
Splash();
#if !defined(CPUARM)
AUDIO_TADA();
#endif
#if defined(PCBSTD)
lcdSetContrast();
#elif !defined(PCBTARANIS)
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)
if (!(g_eeGeneral.splashMode & 0x04))
#endif
if (keyDown() || inputsMoved()) return;
if (pwrCheck()==e_power_off) return;
#if !defined(PCBTARANIS) && !defined(PCBSTD)
if (curTime < get_tmr10ms()) {
curTime += 10;
if (contrast < g_eeGeneral.contrast) {
contrast += 1;
lcdSetRefVolt(contrast);
}
}
#endif
checkBacklight();
}
}
}
#else
#define Splash()
#define doSplash()
#endif
void checkAll()
{
#if !defined(PCBSKY9X)
checkLowEEPROM();
#endif
#if defined(MODULE_ALWAYS_SEND_PULSES)
startupWarningState = STARTUP_WARNING_THROTTLE;
#else
checkTHR();
checkSwitches();
#endif
#if defined(PCBTARANIS)
if (g_model.displayText && modelHasNotes()) {
pushModelNotes();
}
#endif
clearKeyEvents();
SKIP_AUTOMATIC_PROMPTS();
}
#if defined(MODULE_ALWAYS_SEND_PULSES)
void checkStartupWarnings()
{
if (startupWarningState < STARTUP_WARNING_DONE) {
if (startupWarningState == STARTUP_WARNING_THROTTLE)
checkTHR();
else
checkSwitches();
}
}
#endif
#if !defined(PCBSKY9X)
void checkLowEEPROM()
{
if (g_eeGeneral.disableMemoryWarning) return;
if (EeFsGetFree() < 100) {
ALERT(STR_EEPROMWARN, STR_EEPROMLOWMEM, AU_ERROR);
}
}
#endif
void checkTHR()
{
uint8_t thrchn = ((g_model.thrTraceSrc==0) || (g_model.thrTraceSrc>NUM_POTS)) ? 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) 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 = calibratedStick[thrchn];
if (v<=THRCHK_DEADBAND-1024 || g_model.disableThrottleWarning || pwrCheck()==e_power_off || keyDown()) {
startupWarningState = STARTUP_WARNING_THROTTLE+1;
}
else {
calibratedStick[thrchn] = -1024;
#if !defined(PCBTARANIS)
rawAnas[thrchn] = anas[thrchn] = calibratedStick[thrchn];
#endif
MESSAGE(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_THROTTLE_ALERT);
}
#else
if (g_model.disableThrottleWarning) return;
getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
int16_t v = calibratedStick[thrchn];
if (v<=(THRCHK_DEADBAND-1024)) return; // prevent warning if throttle input OK
// first - display warning; also deletes inputs if any have been before
MESSAGE(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_THROTTLE_ALERT);
while (1) {
SIMU_SLEEP(1);
getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
v = calibratedStick[thrchn];
if (pwrCheck()==e_power_off || keyDown() || v<=(THRCHK_DEADBAND-1024))
break;
checkBacklight();
wdt_reset();
}
#endif
}
void checkAlarm() // added by Gohst
{
if (g_eeGeneral.disableAlarmWarning)
return;
if (IS_SOUND_OFF())
ALERT(STR_ALARMSWARN, STR_ALARMSDISABLED, AU_ERROR);
}
void checkSwitches()
{
#if defined(MODULE_ALWAYS_SEND_PULSES)
static swstate_t last_bad_switches = 0xff;
#else
swstate_t last_bad_switches = 0xff;
#endif
swstate_t states = g_model.switchWarningStates;
#if defined(PCBTARANIS)
uint8_t bad_pots = 0, last_bad_pots = 0xff;
#endif
#if !defined(MODULE_ALWAYS_SEND_PULSES)
while (1) {
#if defined(TELEMETRY_MOD_14051) || defined(PCBTARANIS)
getADC();
#endif
#endif // !defined(MODULE_ALWAYS_SEND_PULSES)
getMovedSwitch();
bool warn = false;
#if defined(PCBTARANIS)
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
if (!(g_model.nSwToWarn & (1<<i))) {
swstate_t mask = (0x03 << (i*2));
if (!((states & mask) == (switches_states & mask))) {
warn = true;
}
}
}
uint8_t potMode = g_model.nPotsToWarn >> 6;
if (potMode) {
perOut(e_perout_mode_normal, 0);
bad_pots = 0;
for (uint8_t i=0; i<NUM_POTS; i++) {
if (!(g_model.nPotsToWarn & (1 << i)) && (abs(g_model.potPosition[i] - (getValue(MIXSRC_FIRST_POT+i) >> 4)) > 1)) {
warn = true;
bad_pots |= (1<<i);
}
}
}
#else
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
if (!(g_model.nSwToWarn & (1<<i))) {
if (i == 0) {
if ((states & 0x03) != (switches_states & 0x03)) {
warn = true;
}
}
else if ((states & (1<<(i+1))) != (switches_states & (1<<(i+1)))) {
warn = true;
}
}
}
#endif
if (!warn) {
#if defined(MODULE_ALWAYS_SEND_PULSES)
startupWarningState = STARTUP_WARNING_SWITCHES+1;
last_bad_switches = 0xff;
#endif
return;
}
// first - display warning
#if defined(PCBTARANIS)
if ((last_bad_switches != switches_states) || (last_bad_pots != bad_pots)) {
MESSAGE(STR_SWITCHWARN, NULL, STR_PRESSANYKEYTOSKIP, ((last_bad_switches == 0xff) || (last_bad_pots == 0xff)) ? AU_SWITCH_ALERT : AU_NONE);
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
if (!(g_model.nSwToWarn & (1<<i))) {
swstate_t mask = (0x03 << (i*2));
uint8_t attr = ((states & mask) == (switches_states & mask)) ? 0 : INVERS;
char c = "\300-\301"[(states & mask) >> (i*2)];
lcd_putcAtt(60+i*(2*FW+FW/2), 4*FH+3, 'A'+i, attr);
lcd_putcAtt(60+i*(2*FW+FW/2)+FW, 4*FH+3, c, attr);
}
}
if (potMode) {
for (uint8_t i=0; i<NUM_POTS; i++) {
if (!(g_model.nPotsToWarn & (1 << i))) {
uint8_t flags = 0;
if (abs(g_model.potPosition[i] - (getValue(MIXSRC_FIRST_POT+i) >> 4)) > 1) {
switch (i) {
case 0:
case 1:
case 2:
lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > (getValue(MIXSRC_FIRST_POT+i) >> 4) ? 126 : 127);
break;
case 3:
case 4:
lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > (getValue(MIXSRC_FIRST_POT+i) >> 4) ? '\300' : '\301');
break;
}
flags = INVERS;
}
lcd_putsiAtt(60+i*(5*FW), 6*FH-2, STR_VSRCRAW, NUM_STICKS+1+i, flags);
}
}
}
last_bad_pots = bad_pots;
#else
if (last_bad_switches != switches_states) {
MESSAGE(STR_SWITCHWARN, NULL, STR_PRESSANYKEYTOSKIP, last_bad_switches == 0xff ? AU_SWITCH_ALERT : AU_NONE);
uint8_t x = 2;
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
uint8_t attr;
if (i == 0)
attr = ((states & 0x03) != (switches_states & 0x03)) ? INVERS : 0;
else
attr = (states & (1 << (i+1))) == (switches_states & (1 << (i+1))) ? 0 : INVERS;
if (!(g_model.nSwToWarn & (1<<i)))
putsSwitches(x, 5*FH, (i>0?(i+3):(states&0x3)+1), attr);
x += 3*FW+FW/2;
}
#endif
lcdRefresh();
last_bad_switches = switches_states;
}
#if defined(MODULE_ALWAYS_SEND_PULSES)
if (pwrCheck()==e_power_off || keyDown()) {
startupWarningState = STARTUP_WARNING_SWITCHES+1;
last_bad_switches = 0xff;
}
#else
if (pwrCheck()==e_power_off || keyDown()) return;
checkBacklight();
wdt_reset();
SIMU_SLEEP(1);
}
#endif
}
void alert(const pm_char * t, const pm_char *s MESSAGE_SOUND_ARG)
{
MESSAGE(t, s, STR_PRESSANYKEY, sound);
while(1)
{
SIMU_SLEEP(1);
if (pwrCheck() == e_power_off) {
// the radio has been powered off during the ALERT
pwrOff(); // turn power off now
}
if (keyDown()) return; // wait for key release
checkBacklight();
wdt_reset();
}
}
void message(const pm_char *title, const pm_char *t, const char *last MESSAGE_SOUND_ARG)
{
lcd_clear();
#if LCD_W >= 212
lcd_bmp(0, 0, asterisk_lbm);
#define TITLE_LCD_OFFSET 60
#define MESSAGE_LCD_OFFSET 60
#else
lcd_img(2, 0, asterisk_lbm, 0, 0);
#define TITLE_LCD_OFFSET 6*FW
#define MESSAGE_LCD_OFFSET 0
#endif
#if defined(TRANSLATIONS_FR) || defined(TRANSLATIONS_IT) || defined(TRANSLATIONS_CZ)
lcd_putsAtt(TITLE_LCD_OFFSET, 0, STR_WARNING, DBLSIZE);
lcd_putsAtt(TITLE_LCD_OFFSET, 2*FH, title, DBLSIZE);
#else
lcd_putsAtt(TITLE_LCD_OFFSET, 0, title, DBLSIZE);
lcd_putsAtt(TITLE_LCD_OFFSET, 2*FH, STR_WARNING, DBLSIZE);
#endif
#if LCD_W >= 212
lcd_filled_rect(60, 0, LCD_W-MESSAGE_LCD_OFFSET, 32);
if (t) lcd_puts(MESSAGE_LCD_OFFSET, 5*FH, t);
if (last) {
lcd_puts(MESSAGE_LCD_OFFSET, 7*FH, last);
AUDIO_ERROR_MESSAGE(sound);
}
#else
lcd_filled_rect(0, 0, LCD_W-MESSAGE_LCD_OFFSET, 32);
if (t) lcd_putsLeft(5*FH, t);
if (last) {
lcd_putsLeft(7*FH, last);
AUDIO_ERROR_MESSAGE(sound);
}
#endif
lcdRefresh();
lcdSetContrast();
clearKeyEvents();
}
#if defined(GVARS)
int8_t trimGvar[NUM_STICKS] = { -1, -1, -1, -1 };
#define TRIM_REUSED(idx) trimGvar[idx] >= 0
#else
#define TRIM_REUSED(idx) 0
#endif
#if defined(CPUARM)
void checkTrims()
{
uint8_t event = getEvent(true);
if (event && !IS_KEY_BREAK(event)) {
int8_t k = EVT_KEY_MASK(event) - TRM_BASE;
#else
uint8_t checkTrim(uint8_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(GVARS)
if (TRIM_REUSED(idx)) {
#if defined(PCBSTD)
phase = 0;
#else
phase = getGVarFlightPhase(s_perout_flight_phase, trimGvar[idx]);
#endif
before = GVAR_VALUE(trimGvar[idx], phase);
thro = false;
}
else {
phase = getTrimFlightPhase(s_perout_flight_phase, idx);
#if defined(PCBTARANIS)
before = getTrimValue(phase, idx);
#else
before = getRawTrimValue(phase, idx);
#endif
thro = (idx==THR_STICK && g_model.thrTrim);
}
#else
phase = getTrimFlightPhase(s_perout_flight_phase, idx);
#if defined(PCBTARANIS)
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
#if defined(CPUARM)
uint8_t beepTrim = 0;
#else
bool beepTrim = false;
#endif
for (int16_t mark=TRIM_MIN; mark<=TRIM_MAX; mark+=TRIM_MAX) {
if ((mark!=0 || !thro) && ((mark!=TRIM_MIN && after>=mark && before<mark) || (mark!=TRIM_MAX && after<=mark && before>mark))) {
after = mark;
beepTrim = (mark == 0 ? 1 : 2);
}
}
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 {
setTrimValue(phase, idx, after);
}
#else
setTrimValue(phase, idx, after);
#endif
#if defined(AUDIO)
// toneFreq higher/lower according to trim position
// limit the frequency, range -125 to 125 = toneFreq: 19 to 101
if (after > TRIM_MAX)
after = TRIM_MAX;
if (after < TRIM_MIN)
after = TRIM_MIN;
#if defined(CPUARM)
after <<= 3;
after += 120*16;
#else
after >>= 2;
after += 60;
#endif
#endif
if (beepTrim) {
if (beepTrim == 1) {
AUDIO_TRIM_MIDDLE(after);
pauseEvents(event);
}
else {
AUDIO_TRIM_END(after);
killEvents(event);
}
}
else {
AUDIO_TRIM(event, after);
}
#if !defined(CPUARM)
return 0;
#endif
}
#if !defined(CPUARM)
return event;
#endif
}
#if defined(PCBSKY9X) && !defined(REVA)
uint16_t Current_analogue;
uint16_t Current_max;
uint32_t Current_accumulator;
uint32_t Current_used;
#endif
#if defined(CPUARM) && !defined(REVA)
uint16_t sessionTimer;
#endif
#if !defined(SIMU)
static uint16_t s_anaFilt[NUMBER_ANALOG];
#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(SIMU)
uint16_t anaIn(uint8_t chan)
{
#if defined(PCBTARANIS)
// crossAna[]={LH,LV,RH,RV,S1,S2,LS,RS,BAT
// s_anaFilt[]={LH,LV,RH,RV,S1,S2,LS,RS,_BAT
return s_anaFilt[chan];
#elif defined(PCBSKY9X) && !defined(REVA)
static const uint8_t crossAna[]={1,5,7,0,4,6,2,3};
if (chan == TX_CURRENT) {
return Current_analogue ;
}
volatile uint16_t *p = &s_anaFilt[pgm_read_byte(crossAna+chan)];
return *p;
#else
static const pm_char crossAna[] PROGMEM = {3,1,2,0,4,5,6,7};
uint16_t temp = s_anaFilt[pgm_read_byte(crossAna+chan)];
#if defined(FRSKY_STICKS)
if (chan < NUM_STICKS && (g_eeGeneral.stickReverse & (1 << chan))) {
temp = 2048 - temp;
}
#endif
return temp;
#endif
}
#if defined(CPUARM)
void getADC()
{
uint16_t temp[NUMBER_ANALOG] = { 0 };
for (uint32_t i=0; i<4; i++) {
adcRead();
for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
temp[x] += Analog_values[x];
}
#if defined(PCBTARANIS)
if (s_noScroll) break;
#endif
}
for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
uint16_t v = temp[x] >> 3;
#if defined(PCBTARANIS)
if (s_noScroll) v = temp[x] >> 1;
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
if (!s_noScroll && IS_POT_MULTIPOS(x) && calib->count>0 && calib->count<XPOTS_MULTIPOS_COUNT) {
uint8_t vShifted = (v >> 4);
s_anaFilt[x] = 2*RESX;
for (int i=0; i<calib->count; i++) {
if (vShifted < calib->steps[i]) {
s_anaFilt[x] = i*2*RESX/calib->count;
break;
}
}
}
else
#endif
s_anaFilt[x] = v;
}
}
#else
/**
* Read ADC using 10 bits
*/
inline uint16_t read_adc10(uint8_t adc_input)
{
uint16_t temp_ana;
ADMUX = adc_input|ADC_VREF_TYPE;
#if defined(TELEMETRY_MOD_14051)
ADCSRA &= 0x87;
#endif
ADCSRA |= 1 << ADSC; // Start the AD conversion
while (ADCSRA & (1 << ADSC)); // Wait for the AD conversion to complete
temp_ana = ADC;
ADCSRA |= 1 << ADSC; // Start the second AD conversion
while (ADCSRA & (1 << ADSC)); // Wait for the AD conversion to complete
temp_ana += ADC;
return temp_ana;
}
#if defined(TELEMETRY_MOD_14051)
enum MuxInput {
MUX_BATT,
MUX_THR,
MUX_AIL,
MUX_MAX = MUX_AIL
};
uint8_t pf7_digital[2];
/**
* Update ADC PF7 using 14051 multiplexer
* X0 : Battery voltage
* X1 : THR SW
* X2 : AIL SW
*/
void readMultiplexAna()
{
static uint8_t muxNum = MUX_BATT;
uint16_t temp_ana;
uint8_t nextMuxNum = muxNum-1;
DDRC |= 0xC1;
temp_ana = read_adc10(7);
switch (muxNum) {
case MUX_BATT:
s_anaFilt[TX_VOLTAGE] = temp_ana;
nextMuxNum = MUX_MAX;
break;
case MUX_THR:
case MUX_AIL:
// Digital switch depend from input voltage
// take half voltage to determine digital state
pf7_digital[muxNum-1] = (temp_ana >= (s_anaFilt[TX_VOLTAGE] / 2)) ? 1 : 0;
break;
}
// set the mux number for the next ADC convert,
// stabilize voltage before ADC read.
muxNum = nextMuxNum;
PORTC &= ~((1 << PC7) | (1 << PC6) | (1 << PC0)); // Clear CTRL ABC
switch (muxNum) {
case 1:
PORTC |= (1 << PC6); // Mux CTRL A : SW_THR
break;
case 2:
PORTC |= (1 << PC7); // Mux CTRL B : SW_AIL
break;
}
}
#endif
void getADC()
{
#if defined(TELEMETRY_MOD_14051)
readMultiplexAna();
#define ADC_READ_COUNT 7
#else
#define ADC_READ_COUNT 8
#endif
for (uint8_t adc_input=0; adc_input<ADC_READ_COUNT; adc_input++) {
s_anaFilt[adc_input] = read_adc10(adc_input);
}
}
#endif
#if !defined(CPUARM)
void getADC_bandgap()
{
#if defined(CPUM2560)
static uint8_t s_bgCheck = 0;
static uint16_t s_bgSum = 0;
ADCSRA|=0x40; // request sample
s_bgCheck += 32;
while ((ADCSRA & 0x10)==0); ADCSRA|=0x10; // wait for sample
if (s_bgCheck == 0) { // 8x over-sample (256/32=8)
BandGap = s_bgSum+ADC;
s_bgSum = 0;
}
else {
s_bgSum += ADC;
}
ADCSRB |= (1<<MUX5);
#else
// TODO is the next line needed (because it has been called before perMain)?
ADMUX = 0x1E|ADC_VREF_TYPE; // Switch MUX to internal 1.22V reference
/*
MCUCR|=0x28; // enable Sleep (bit5) enable ADC Noise Reduction (bit2)
asm volatile(" sleep \n\t"); // if _SLEEP() is not defined use this
// ADCSRA|=0x40;
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10; // take sample clear flag?
BandGap=ADC;
MCUCR&=0x08; // disable sleep
*/
ADCSRA |= 0x40;
while (ADCSRA & 0x40);
BandGap = ADC;
#endif
}
#endif
#endif // SIMU
uint8_t g_vbat100mV = 0;
uint16_t lightOffCounter;
uint8_t flashCounter = 0;
uint16_t s_timeCumTot;
uint16_t s_timeCumThr; // THR in 1/16 sec
uint16_t s_timeCum16ThrP; // THR% in 1/16 sec
uint8_t trimsCheckTimer = 0;
void resetTimer(uint8_t idx)
{
TimerState & timerState = timersStates[idx];
timerState.state = TMR_OFF; // is changed to RUNNING dep from mode
timerState.val = g_model.timers[idx].start;
timerState.val_10ms = 0 ;
}
bool s_mixer_first_run_done = false;
void resetAll()
{
static bool firstReset = true;
if (firstReset)
firstReset = false;
else
AUDIO_RESET();
resetTimer(0);
resetTimer(1);
#if defined(FRSKY)
resetTelemetry();
#endif
for (uint8_t i=0; i<NUM_LOGICAL_SWITCH; i++) {
csLastValue[i] = CS_LAST_VALUE_INIT;
}
s_last_switch_value = 0;
s_mixer_first_run_done = false;
SKIP_AUTOMATIC_PROMPTS();
RESET_THR_TRACE();
}
TimerState timersStates[MAX_TIMERS] = { { 0 }, { 0 } };
#if defined(THRTRACE)
uint8_t s_traceBuf[MAXTRACE];
uint8_t s_traceWr;
int s_traceCnt;
uint8_t s_cnt_10s;
uint16_t s_cnt_samples_thr_10s;
uint16_t s_sum_samples_thr_10s;
#endif
#if defined(HELI) || defined(FRSKY_HUB)
uint16_t isqrt32(uint32_t n)
{
uint16_t c = 0x8000;
uint16_t g = 0x8000;
for (;;) {
if ((uint32_t)g*g > n)
g ^= c;
c >>= 1;
if(c == 0)
return g;
g |= c;
}
}
#endif
FORCEINLINE void evalTrims()
{
uint8_t phase = s_perout_flight_phase;
for (uint8_t i=0; i<NUM_STICKS; i++) {
// do trim -> throttle trim if applicable
int16_t trim = getTrimValue(phase, i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_model.throttleReversed)
trim = -trim;
int16_t v = anas[i];
int32_t vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)>>(RESX_SHIFT+1);
trim = vv;
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
trims[i] = trim*2;
}
}
void evalInputs(uint8_t mode)
{
BeepANACenter anaCenter = 0;
#if defined(HELI)
uint16_t d = 0;
if (g_model.swashR.value) {
uint32_t v = (int32_t(calibratedStick[ELE_STICK])*calibratedStick[ELE_STICK] + int32_t(calibratedStick[AIL_STICK])*calibratedStick[AIL_STICK]);
uint32_t q = calc100toRESX(g_model.swashR.value);
q *= q;
if (v > q) {
d = isqrt32(v);
}
}
#endif
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS; i++) {
// normalization [0..2048] -> [-1024..1024]
uint8_t ch = (i < NUM_STICKS ? CONVERT_MODE(i) : i);
#if defined(ROTARY_ENCODERS)
int16_t v = ((i < NUM_STICKS+NUM_POTS) ? anaIn(i) : getRotaryEncoder(i-(NUM_STICKS+NUM_POTS)));
#else
int16_t v = anaIn(i);
#endif
#if !defined(SIMU)
if (i < NUM_STICKS+NUM_POTS) {
if (IS_POT_MULTIPOS(i)) {
v -= RESX;
}
else {
CalibData * calib = &g_eeGeneral.calib[i];
v -= calib->mid;
v = v * (int32_t)RESX / (max((int16_t)100, (v>0 ? calib->spanPos : calib->spanNeg)));
}
}
#endif
if (v < -RESX) v = -RESX;
if (v > RESX) v = RESX;
#if defined(PCBTARANIS)
if (i==POT1 || i==SLIDER1) {
v = -v;
}
#endif
if (g_model.throttleReversed && ch==THR_STICK) {
v = -v;
}
#if defined(EXTRA_3POS)
if (i == POT1+EXTRA_3POS-1) {
if (v < -RESX/2)
v = -RESX;
else if (v > +RESX/2)
v = +RESX;
else
v = 0;
}
#endif
BeepANACenter mask = (BeepANACenter)1 << ch;
if (i < NUM_STICKS+NUM_POTS) {
calibratedStick[ch] = v; // for show in expo
// filtering for center beep
uint8_t tmp = (uint16_t)abs(v) / 16;
#if defined(CPUARM)
if (mode == e_perout_mode_normal) {
if (tmp==0 || (tmp==1 && (bpanaCenter & mask))) {
anaCenter |= mask;
if ((g_model.beepANACenter & mask) && !(bpanaCenter & mask)) {
AUDIO_POT_MIDDLE(i);
}
}
}
#else
if (tmp <= 1) anaCenter |= (tmp==0 ? mask : (bpanaCenter & mask));
#endif
}
else {
// rotary encoders
if (v == 0) anaCenter |= mask;
}
if (ch < NUM_STICKS) { //only do this for sticks
#if defined(PCBTARANIS)
if (mode & e_perout_mode_nosticks) {
calibratedStick[ch] = 0;
}
#endif
if (mode <= e_perout_mode_inactive_phase && isFunctionActive(FUNCTION_TRAINER+ch) && ppmInValid) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
uint8_t chStud = td->srcChn;
int32_t vStud = (g_ppmIns[chStud]- g_eeGeneral.trainer.calib[chStud]);
vStud *= td->studWeight;
vStud /= 50;
switch (td->mode) {
case 1: v += vStud; break; // add-mode
case 2: v = vStud; break; // subst-mode
}
#if defined(PCBTARANIS)
calibratedStick[ch] = v;
#endif
}
}
#if defined(HELI)
if (d && (ch==ELE_STICK || ch==AIL_STICK)) {
v = (int32_t(v) * calc100toRESX(g_model.swashR.value)) / int32_t(d);
}
#if defined(PCBTARANIS)
heliAnas[ch] = v;
#endif
#endif
#if !defined(PCBTARANIS)
rawAnas[ch] = v;
anas[ch] = v; //set values for mixer
#endif
}
}
/* TRIMs */
evalTrims();
/* EXPOs */
applyExpos(anas, mode);
if (mode == e_perout_mode_normal) {
#if !defined(CPUARM)
anaCenter &= g_model.beepANACenter;
if(((bpanaCenter ^ anaCenter) & anaCenter)) AUDIO_POT_MIDDLE();
#endif
bpanaCenter = anaCenter;
}
}
#if defined(DEBUG)
/*
* This is a test function for debugging purpose, you may insert there your code and compile with the option DEBUG=YES
*/
void testFunc()
{
#ifdef SIMU
printf("testFunc\n"); fflush(stdout);
#endif
}
#endif
MASK_FUNC_TYPE activeFunctions = 0;
MASK_CFN_TYPE activeFnSwitches = 0;
tmr10ms_t lastFunctionTime[NUM_CFN] = { 0 };
#if defined(VOICE)
PLAY_FUNCTION(playValue, uint8_t idx)
{
if (IS_FAI_FORBIDDEN(idx))
return;
getvalue_t val = getValue(idx);
switch (idx) {
case MIXSRC_FIRST_TELEM+TELEM_TX_VOLTAGE-1:
PLAY_NUMBER(val, 1+UNIT_VOLTS, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_TM1-1:
case MIXSRC_FIRST_TELEM+TELEM_TM2-1:
PLAY_DURATION(val);
break;
#if defined(CPUARM)
case MIXSRC_FIRST_TELEM+TELEM_SWR-1:
PLAY_NUMBER(val, 0, 0);
break;
#endif
#if defined(FRSKY)
case MIXSRC_FIRST_TELEM+TELEM_RSSI_TX-1:
case MIXSRC_FIRST_TELEM+TELEM_RSSI_RX-1:
PLAY_NUMBER(val, 1+UNIT_DBM, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_MIN_A1-1:
case MIXSRC_FIRST_TELEM+TELEM_MIN_A2-1:
idx -= TELEM_MIN_A1-TELEM_A1;
// no break
case MIXSRC_FIRST_TELEM+TELEM_A1-1:
case MIXSRC_FIRST_TELEM+TELEM_A2-1:
// A1 and A2
idx -= (MIXSRC_FIRST_TELEM+TELEM_A1-1);
{
if (TELEMETRY_STREAMING()) {
uint8_t att = 0;
int16_t converted_value = div10_and_round(applyChannelRatio(idx, val));;
if (g_model.frsky.channels[idx].type < UNIT_RAW) {
att = PREC1;
}
PLAY_NUMBER(converted_value, 1+g_model.frsky.channels[idx].type, att);
}
break;
}
case MIXSRC_FIRST_TELEM+TELEM_CELL-1:
case MIXSRC_FIRST_TELEM+TELEM_MIN_CELL-1:
PLAY_NUMBER(div10_and_round(val), 1+UNIT_VOLTS, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_VFAS-1:
case MIXSRC_FIRST_TELEM+TELEM_CELLS_SUM-1:
case MIXSRC_FIRST_TELEM+TELEM_MIN_CELLS_SUM-1:
case MIXSRC_FIRST_TELEM+TELEM_MIN_VFAS-1:
PLAY_NUMBER(val, 1+UNIT_VOLTS, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_CURRENT-1:
case MIXSRC_FIRST_TELEM+TELEM_MAX_CURRENT-1:
PLAY_NUMBER(val, 1+UNIT_AMPS, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_ACCx-1:
case MIXSRC_FIRST_TELEM+TELEM_ACCy-1:
case MIXSRC_FIRST_TELEM+TELEM_ACCz-1:
PLAY_NUMBER(div10_and_round(val), 1+UNIT_G, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_VSPEED-1:
PLAY_NUMBER(div10_and_round(val), 1+UNIT_METERS_PER_SECOND, PREC1);
break;
case MIXSRC_FIRST_TELEM+TELEM_ASPEED-1:
case MIXSRC_FIRST_TELEM+TELEM_MAX_ASPEED-1:
PLAY_NUMBER(val, 1+UNIT_KTS, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_CONSUMPTION-1:
PLAY_NUMBER(val, 1+UNIT_MAH, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_POWER-1:
PLAY_NUMBER(val, 1+UNIT_WATTS, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_ALT-1:
#if defined(PCBTARANIS)
PLAY_NUMBER(div10_and_round(val), 1+UNIT_DIST, PREC1);
break;
#endif
case MIXSRC_FIRST_TELEM+TELEM_MIN_ALT-1:
case MIXSRC_FIRST_TELEM+TELEM_MAX_ALT-1:
#if defined(WS_HOW_HIGH)
if (IS_IMPERIAL_ENABLE() && IS_USR_PROTO_WS_HOW_HIGH())
PLAY_NUMBER(val, 1+UNIT_FEET, 0);
else
#endif
PLAY_NUMBER(val, 1+UNIT_DIST, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_RPM-1:
case MIXSRC_FIRST_TELEM+TELEM_MAX_RPM-1:
PLAY_NUMBER(val, 1+UNIT_RPMS, 0);
break;
case MIXSRC_FIRST_TELEM+TELEM_HDG-1:
PLAY_NUMBER(val, 1+UNIT_HDG, 0);
break;
default:
{
uint8_t unit = 1;
if (idx < MIXSRC_GVAR1)
val = calcRESXto100(val);
if (idx >= MIXSRC_FIRST_TELEM+TELEM_ALT-1 && idx <= MIXSRC_FIRST_TELEM+TELEM_GPSALT-1)
unit = idx - (MIXSRC_FIRST_TELEM+TELEM_ALT-1);
else if (idx >= MIXSRC_FIRST_TELEM+TELEM_MAX_T1-1 && idx <= MIXSRC_FIRST_TELEM+TELEM_MAX_DIST-1)
unit = 3 + idx - (MIXSRC_FIRST_TELEM+TELEM_MAX_T1-1);
unit = pgm_read_byte(bchunit_ar+unit);
PLAY_NUMBER(val, unit == UNIT_RAW ? 0 : unit+1, 0);
break;
}
#else
default:
{
PLAY_NUMBER(val, 0, 0);
break;
}
#endif
}
}
#endif
#if !defined(PCBSTD)
uint8_t mSwitchDuration[1+NUM_ROTARY_ENCODERS] = { 0 };
#define CFN_PRESSLONG_DURATION 100
#endif
#if defined(CPUARM)
#define VOLUME_HYSTERESIS 10 // how much must a input value change to actually be considered for new volume setting
uint8_t currentSpeakerVolume = 255;
uint8_t requiredSpeakerVolume;
getvalue_t requiredSpeakerVolumeRawLast = 1024 + 1; //initial value must be outside normal range
uint8_t fnSwitchDuration[NUM_CFN] = { 0 };
inline void playCustomFunctionFile(CustomFnData *sd, uint8_t id)
{
if (sd->play.name[0] != '\0') {
char filename[sizeof(SOUNDS_PATH)+sizeof(sd->play.name)+sizeof(SOUNDS_EXT)] = SOUNDS_PATH "/";
strncpy(filename+SOUNDS_PATH_LNG_OFS, currentLanguagePack->id, 2);
strncpy(filename+sizeof(SOUNDS_PATH), sd->play.name, sizeof(sd->play.name));
filename[sizeof(SOUNDS_PATH)+sizeof(sd->play.name)] = '\0';
strcat(filename+sizeof(SOUNDS_PATH), SOUNDS_EXT);
PLAY_FILE(filename, sd->func==FUNC_BACKGND_MUSIC ? PLAY_BACKGROUND : 0, id);
}
}
#endif
#if defined(CPUARM)
bool evalFunctionsFirstTime = true;
#endif
void evalFunctions()
{
MASK_FUNC_TYPE newActiveFunctions = 0;
MASK_CFN_TYPE newActiveFnSwitches = 0;
#if defined(ROTARY_ENCODERS) && defined(GVARS)
static rotenc_t rePreviousValues[ROTARY_ENCODERS];
#endif
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
safetyCh[i] = -128; // not defined
}
#if defined(GVARS)
for (uint8_t i=0; i<NUM_STICKS; i++) {
trimGvar[i] = -1;
}
#endif
for (uint8_t i=0; i<NUM_CFN; i++) {
CustomFnData *sd = &g_model.funcSw[i];
int8_t swtch = CFN_SWITCH(sd);
if (swtch) {
MASK_CFN_TYPE switch_mask = ((MASK_CFN_TYPE)1 << i);
bool active = getSwitch(swtch);
if (HAS_ENABLE_PARAM(CFN_FUNC(sd))) {
active &= (bool)CFN_ACTIVE(sd);
}
if (active || IS_PLAY_BOTH_FUNC(CFN_FUNC(sd))) {
switch (CFN_FUNC(sd)) {
case FUNC_SAFETY_CHANNEL:
safetyCh[CFN_CH_INDEX(sd)] = CFN_PARAM(sd);
break;
case FUNC_TRAINER:
{
uint8_t mask = 0x0f;
if (CFN_CH_INDEX(sd) > 0) {
mask = (1<<(CFN_CH_INDEX(sd)-1));
}
newActiveFunctions |= mask;
break;
}
case FUNC_INSTANT_TRIM:
newActiveFunctions |= (1 << FUNCTION_INSTANT_TRIM);
if (!isFunctionActive(FUNCTION_INSTANT_TRIM)) {
if (g_menuStack[0] == menuMainView
#if defined(FRSKY)
|| g_menuStack[0] == menuTelemetryFrsky
#endif
#if defined(PCBTARANIS)
|| g_menuStack[0] == menuMainViewChannelsMonitor
|| g_menuStack[0] == menuChannelsView
#endif
) {
instantTrim();
}
}
break;
case FUNC_RESET:
switch (CFN_PARAM(sd)) {
case FUNC_RESET_TIMER1:
case FUNC_RESET_TIMER2:
resetTimer(CFN_PARAM(sd));
break;
case FUNC_RESET_ALL:
resetAll();
break;
#if defined(FRSKY)
case FUNC_RESET_TELEMETRY:
resetTelemetry();
break;
#endif
#if ROTARY_ENCODERS > 0
case FUNC_RESET_ROTENC1:
#if ROTARY_ENCODERS > 1
case FUNC_RESET_ROTENC2:
#endif
g_rotenc[CFN_PARAM(sd)-FUNC_RESET_ROTENC1] = 0;
break;
#endif
}
break;
#if defined(CPUARM)
case FUNC_SET_TIMER:
{
TimerState & timerState = timersStates[CFN_TIMER_INDEX(sd)];
timerState.state = TMR_OFF; // is changed to RUNNING dep from mode
timerState.val = CFN_PARAM(sd);
timerState.val_10ms = 0 ;
break;
}
#endif
#if defined(GVARS)
case FUNC_ADJUST_GVAR:
if (CFN_GVAR_MODE(sd) == 0) {
SET_GVAR(CFN_GVAR_INDEX(sd), CFN_PARAM(sd), s_perout_flight_phase);
}
else if (CFN_GVAR_MODE(sd) == 2) {
SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_PARAM(sd), s_perout_flight_phase), s_perout_flight_phase);
}
else if (CFN_GVAR_MODE(sd) == 3) {
if (!(activeFnSwitches & switch_mask)) {
SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_perout_flight_phase, CFN_GVAR_INDEX(sd))) + (CFN_PARAM(sd) ? +1 : -1), s_perout_flight_phase);
}
}
else if (CFN_PARAM(sd) >= MIXSRC_TrimRud && CFN_PARAM(sd) <= MIXSRC_TrimAil) {
trimGvar[CFN_PARAM(sd)-MIXSRC_TrimRud] = CFN_GVAR_INDEX(sd);
}
#if defined(ROTARY_ENCODERS)
else if (CFN_PARAM(sd) >= MIXSRC_REa && CFN_PARAM(sd) < MIXSRC_TrimRud) {
int8_t scroll = rePreviousValues[CFN_PARAM(sd)-MIXSRC_REa] - (g_rotenc[CFN_PARAM(sd)-MIXSRC_REa] / ROTARY_ENCODER_GRANULARITY);
if (scroll) {
SET_GVAR(CFN_GVAR_INDEX(sd), GVAR_VALUE(CFN_GVAR_INDEX(sd), getGVarFlightPhase(s_perout_flight_phase, CFN_GVAR_INDEX(sd))) + scroll, s_perout_flight_phase);
}
}
#endif
else {
SET_GVAR(CFN_GVAR_INDEX(sd), limit((getvalue_t)-LIMIT_EXT_MAX, getValue(CFN_PARAM(sd)), (getvalue_t)LIMIT_EXT_MAX) / 10, s_perout_flight_phase);
}
break;
#endif
#if defined(CPUARM) && defined(SDCARD)
case FUNC_VOLUME:
{
getvalue_t raw = getValue(CFN_PARAM(sd));
//only set volume if input changed more than hysteresis
if (abs(requiredSpeakerVolumeRawLast - raw) > VOLUME_HYSTERESIS) {
requiredSpeakerVolumeRawLast = raw;
}
requiredSpeakerVolume = ((1024 + requiredSpeakerVolumeRawLast) * VOLUME_LEVEL_MAX) / 2048;
break;
}
#endif
#if defined(CPUARM) && defined(SDCARD)
case FUNC_PLAY_SOUND:
case FUNC_PLAY_TRACK:
case FUNC_PLAY_VALUE:
#if defined(HAPTIC)
case FUNC_HAPTIC:
#endif
{
tmr10ms_t tmr10ms = get_tmr10ms();
uint8_t repeatParam = CFN_PLAY_REPEAT(sd);
if (evalFunctionsFirstTime && repeatParam == CFN_PLAY_REPEAT_NOSTART)
lastFunctionTime[i] = tmr10ms;
if (!lastFunctionTime[i] || (repeatParam && repeatParam!=CFN_PLAY_REPEAT_NOSTART && (signed)(tmr10ms-lastFunctionTime[i])>=100*repeatParam)) {
if (!IS_PLAYING(i+1)) {
lastFunctionTime[i] = tmr10ms;
if (CFN_FUNC(sd) == FUNC_PLAY_SOUND) {
AUDIO_PLAY(AU_FRSKY_FIRST+CFN_PARAM(sd));
}
else if (CFN_FUNC(sd) == FUNC_PLAY_VALUE) {
PLAY_VALUE(CFN_PARAM(sd), i+1);
}
#if defined(HAPTIC)
else if (CFN_FUNC(sd) == FUNC_HAPTIC) {
haptic.event(AU_FRSKY_LAST+CFN_PARAM(sd));
}
#endif
else {
playCustomFunctionFile(sd, i+1);
}
}
}
break;
}
case FUNC_BACKGND_MUSIC:
newActiveFunctions |= (1 << FUNCTION_BACKGND_MUSIC);
if (!IS_PLAYING(i+1)) {
playCustomFunctionFile(sd, i+1);
}
break;
case FUNC_BACKGND_MUSIC_PAUSE:
newActiveFunctions |= (1 << FUNCTION_BACKGND_MUSIC_PAUSE);
break;
#elif defined(VOICE)
case FUNC_PLAY_SOUND:
case FUNC_PLAY_TRACK:
case FUNC_PLAY_BOTH:
case FUNC_PLAY_VALUE:
{
tmr10ms_t tmr10ms = get_tmr10ms();
uint8_t repeatParam = CFN_PLAY_REPEAT(sd);
if (!lastFunctionTime[i] || (CFN_FUNC(sd)==FUNC_PLAY_BOTH && active!=(bool)(activeFnSwitches&switch_mask)) || (repeatParam && (signed)(tmr10ms-lastFunctionTime[i])>=1000*repeatParam)) {
lastFunctionTime[i] = tmr10ms;
uint8_t param = CFN_PARAM(sd);
if (CFN_FUNC(sd) == FUNC_PLAY_SOUND) {
AUDIO_PLAY(AU_FRSKY_FIRST+param);
}
else if (CFN_FUNC(sd) == FUNC_PLAY_VALUE) {
PLAY_VALUE(param, i+1);
}
else {
#if defined(GVARS)
if (CFN_FUNC(sd) == FUNC_PLAY_TRACK && param > 250)
param = GVAR_VALUE(param-251, getGVarFlightPhase(s_perout_flight_phase, param-251));
#endif
PUSH_CUSTOM_PROMPT(active ? param : param+1, i+1);
}
}
break;
}
#else
case FUNC_PLAY_SOUND:
{
tmr10ms_t tmr10ms = get_tmr10ms();
uint8_t repeatParam = CFN_PLAY_REPEAT(sd);
if (!lastFunctionTime[i] || (repeatParam && (signed)(tmr10ms-lastFunctionTime[i])>=1000*repeatParam)) {
lastFunctionTime[i] = tmr10ms;
AUDIO_PLAY(AU_FRSKY_FIRST+CFN_PARAM(sd));
}
break;
}
#endif
#if defined(FRSKY) && defined(VARIO)
case FUNC_VARIO:
newActiveFunctions |= (1 << FUNCTION_VARIO);
break;
#endif
#if defined(HAPTIC) && !defined(CPUARM)
case FUNC_HAPTIC:
haptic.event(AU_FRSKY_LAST+CFN_PARAM(sd));
break;
#endif
#if defined(SDCARD)
case FUNC_LOGS:
newActiveFunctions |= (1 << FUNCTION_LOGS);
logDelay = CFN_PARAM(sd);
break;
#endif
case FUNC_BACKLIGHT:
newActiveFunctions |= (1 << FUNCTION_BACKLIGHT);
break;
#if defined(DEBUG)
case FUNC_TEST:
testFunc();
break;
#endif
}
newActiveFnSwitches |= switch_mask;
}
else {
lastFunctionTime[i] = 0;
#if defined(CPUARM)
fnSwitchDuration[i] = 0;
#endif
}
}
}
activeFnSwitches = newActiveFnSwitches;
activeFunctions = newActiveFunctions;
#if defined(ROTARY_ENCODERS) && defined(GVARS)
for (uint8_t i=0; i<ROTARY_ENCODERS; i++) {
rePreviousValues[i] = (g_rotenc[i] / ROTARY_ENCODER_GRANULARITY);
}
#endif
#if defined(CPUARM)
evalFunctionsFirstTime = false;
#endif
}
#if defined(PCBTARANIS)
#define HELI_ANAS_ARRAY heliAnas
#else
#define HELI_ANAS_ARRAY anas
#endif
uint8_t s_perout_flight_phase;
void perOut(uint8_t mode, uint8_t tick10ms)
{
evalInputs(mode);
#if defined(MODULE_ALWAYS_SEND_PULSES)
checkStartupWarnings();
#endif
#if defined(HELI)
if (g_model.swashR.value) {
uint32_t v = ((int32_t)HELI_ANAS_ARRAY[ELE_STICK]*HELI_ANAS_ARRAY[ELE_STICK] + (int32_t)HELI_ANAS_ARRAY[AIL_STICK]*HELI_ANAS_ARRAY[AIL_STICK]);
uint32_t q = calc100toRESX(g_model.swashR.value);
q *= q;
if (v>q) {
uint16_t d = isqrt32(v);
int16_t tmp = calc100toRESX(g_model.swashR.value);
HELI_ANAS_ARRAY[ELE_STICK] = (int32_t) HELI_ANAS_ARRAY[ELE_STICK]*tmp/d;
HELI_ANAS_ARRAY[AIL_STICK] = (int32_t) HELI_ANAS_ARRAY[AIL_STICK]*tmp/d;
}
}
#define REZ_SWASH_X(x) ((x) - (x)/8 - (x)/128 - (x)/512) // 1024*sin(60) ~= 886
#define REZ_SWASH_Y(x) ((x)) // 1024 => 1024
if (g_model.swashR.type) {
getvalue_t vp = HELI_ANAS_ARRAY[ELE_STICK]+trims[ELE_STICK];
getvalue_t vr = HELI_ANAS_ARRAY[AIL_STICK]+trims[AIL_STICK];
getvalue_t vc = 0;
if (g_model.swashR.collectiveSource)
vc = getValue(g_model.swashR.collectiveSource);
if (g_model.swashR.invertELE) vp = -vp;
if (g_model.swashR.invertAIL) vr = -vr;
if (g_model.swashR.invertCOL) vc = -vc;
switch (g_model.swashR.type) {
case SWASH_TYPE_120:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_X(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp/2 + vr;
cyc_anas[2] = vc + vp/2 - vr;
break;
case SWASH_TYPE_120X:
vp = REZ_SWASH_X(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vr;
cyc_anas[1] = vc + vr/2 + vp;
cyc_anas[2] = vc + vr/2 - vp;
break;
case SWASH_TYPE_140:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp + vr;
cyc_anas[2] = vc + vp - vr;
break;
case SWASH_TYPE_90:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vr;
cyc_anas[2] = vc - vr;
break;
default:
break;
}
}
#endif
memclear(chans, sizeof(chans)); // All outputs to 0
//========== MIXER LOOP ===============
uint8_t lv_mixWarning = 0;
uint8_t pass = 0;
bitfield_channels_t dirtyChannels = (bitfield_channels_t)-1; // all dirty when mixer starts
do {
bitfield_channels_t passDirtyChannels = 0;
for (uint8_t i=0; i<MAX_MIXERS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal && pass==0) swOn[i].activeMix = 0;
#endif
MixData *md = mixAddress(i);
if (md->srcRaw == 0) break;
uint8_t stickIndex = md->srcRaw - MIXSRC_Rud;
if (!(dirtyChannels & ((bitfield_channels_t)1 << md->destCh))) continue;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
if (i == 0 || md->destCh != (md-1)->destCh) {
chans[md->destCh] = 0;
}
//========== PHASE && SWITCH =====
bool mixCondition = (md->phases != 0 || md->swtch);
delayval_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch);
if (mixEnabled && md->srcRaw >= MIXSRC_FIRST_TRAINER && md->srcRaw <= MIXSRC_LAST_TRAINER && !ppmInValid) {
mixEnabled = 0;
}
//========== VALUE ===============
getvalue_t v = 0;
if (mode > e_perout_mode_inactive_phase) {
#if defined(PCBTARANIS)
if (!mixEnabled) {
continue;
}
else {
v = getValue(md->srcRaw);
}
#else
if (!mixEnabled || stickIndex >= NUM_STICKS || (stickIndex == THR_STICK && g_model.thrTrim)) {
continue;
}
else {
if (!(mode & e_perout_mode_nosticks)) v = anas[stickIndex];
}
#endif
}
else {
#if !defined(PCBTARANIS)
if (stickIndex < NUM_STICKS) {
v = md->noExpo ? rawAnas[stickIndex] : anas[stickIndex];
}
else
#endif
{
int8_t srcRaw = MIXSRC_Rud + stickIndex;
v = getValue(srcRaw);
srcRaw -= MIXSRC_CH1;
if (srcRaw>=0 && srcRaw<=MIXSRC_LAST_CH-MIXSRC_CH1 && md->destCh != srcRaw) {
if (dirtyChannels & ((bitfield_channels_t)1 << srcRaw) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (srcRaw < md->destCh || pass > 0)
v = chans[srcRaw] >> 8;
}
}
if (!mixCondition) {
mixEnabled = v >> DELAY_POS_SHIFT;
}
}
bool apply_offset_and_curve = true;
//========== DELAYS ===============
delayval_t _swOn = swOn[i].now;
delayval_t _swPrev = swOn[i].prev;
bool swTog = (mixEnabled != _swOn);
if (mode==e_perout_mode_normal && swTog) {
if (!swOn[i].delay) _swPrev = _swOn;
swOn[i].delay = (mixEnabled > _swOn ? md->delayUp : md->delayDown) * (100/DELAY_STEP);
swOn[i].now = mixEnabled;
swOn[i].prev = _swPrev;
}
if (mode==e_perout_mode_normal && swOn[i].delay > 0) {
swOn[i].delay = max<int16_t>(0, (int16_t)swOn[i].delay - tick10ms);
if (!mixCondition)
v = _swPrev << DELAY_POS_SHIFT;
else if (mixEnabled)
continue;
}
else if (!mixEnabled) {
if ((md->speedDown || md->speedUp) && md->mltpx!=MLTPX_REP) {
if (mixCondition) {
v = (md->mltpx == MLTPX_ADD ? 0 : RESX);
apply_offset_and_curve = false;
}
}
else if (mixCondition) {
continue;
}
}
if (mode==e_perout_mode_normal && (!mixCondition || mixEnabled || swOn[i].delay)) {
if (md->mixWarn) lv_mixWarning |= 1 << (md->mixWarn - 1);
#if defined(BOLD_FONT)
swOn[i].activeMix = true;
#endif
}
if (apply_offset_and_curve) {
#if !defined(PCBTARANIS) // OFFSET is now applied AFTER weight on Taranis
//========== OFFSET / SOURCE ===============
int16_t offset = GET_GVAR(MD_OFFSET(md), GV_RANGELARGE_NEG, GV_RANGELARGE, s_perout_flight_phase);
if (offset) v += calc100toRESX_16Bits(offset);
#endif
//========== TRIMS ================
if (!(mode & e_perout_mode_notrims)) {
#if defined(PCBTARANIS)
if (md->carryTrim == 0) {
int8_t mix_trim;
if (stickIndex < NUM_STICKS)
mix_trim = stickIndex;
else if (md->srcRaw <= MIXSRC_LAST_INPUT)
mix_trim = virtualInputsTrims[md->srcRaw-1];
else
mix_trim = -1;
if (mix_trim >= 0) {
int16_t trim = trims[mix_trim];
if (mix_trim == THR_STICK && g_model.throttleReversed)
v -= trim;
else
v += trim;
}
}
#else
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
mix_trim = -mix_trim - 1;
else if (mix_trim == TRIM_ON && stickIndex < NUM_STICKS)
mix_trim = stickIndex;
else
mix_trim = -1;
if (mix_trim >= 0) {
int16_t trim = trims[mix_trim];
if (mix_trim == THR_STICK && g_model.throttleReversed)
v -= trim;
else
v += trim;
}
#endif
}
}
// saves 12 bytes code if done here and not together with weight; unknown reason
int16_t weight = GET_GVAR(MD_WEIGHT(md), GV_RANGELARGE_NEG, GV_RANGELARGE, s_perout_flight_phase);
weight = calc100to256_16Bits(weight);
//========== SPEED ===============
// now its on input side, but without weight compensation. More like other remote controls
// lower weight causes slower movement
if (mode <= e_perout_mode_inactive_phase && (md->speedUp || md->speedDown)) { // there are delay values
#define DEL_MULT_SHIFT 8
// we recale to a mult 256 higher value for calculation
int32_t tact = act[i];
int16_t diff = v - (tact>>DEL_MULT_SHIFT);
if (diff) {
// open.20.fsguruh: speed is defined in % movement per second; In menu we specify the full movement (-100% to 100%) = 200% in total
// the unit of the stored value is the value from md->speedUp or md->speedDown divide SLOW_STEP seconds; e.g. value 4 means 4/SLOW_STEP = 2 seconds for CPU64
// because we get a tick each 10msec, we need 100 ticks for one second
// the value in md->speedXXX gives the time it should take to do a full movement from -100 to 100 therefore 200%. This equals 2048 in recalculated internal range
if (tick10ms || !s_mixer_first_run_done) {
// only if already time is passed add or substract a value according the speed configured
int32_t rate = (int32_t) tick10ms << (DEL_MULT_SHIFT+11); // = DEL_MULT*2048*tick10ms
// rate equals a full range for one second; if less time is passed rate is accordingly smaller
// if one second passed, rate would be 2048 (full motion)*256(recalculated weight)*100(100 ticks needed for one second)
int32_t currentValue = ((int32_t) v<<DEL_MULT_SHIFT);
if (diff > 0) {
if (s_mixer_first_run_done && md->speedUp > 0) {
// if a speed upwards is defined recalculate the new value according configured speed; the higher the speed the smaller the add value is
int32_t newValue = tact+rate/((int16_t)(100/SLOW_STEP)*md->speedUp);
if (newValue<currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
}
else { // if is <0 because ==0 is not possible
if (s_mixer_first_run_done && md->speedDown > 0) {
// see explanation in speedUp
int32_t newValue = tact-rate/((int16_t)(100/SLOW_STEP)*md->speedDown);
if (newValue>currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
}
act[i] = tact = currentValue;
// open.20.fsguruh: this implementation would save about 50 bytes code
} // endif tick10ms ; in case no time passed assign the old value, not the current value from source
v = (tact >> DEL_MULT_SHIFT);
}
}
//========== CURVES ===============
#if defined(PCBTARANIS)
if (apply_offset_and_curve && md->curve.type != CURVE_REF_DIFF && md->curve.value) {
v = applyCurve(v, md->curve);
}
#else
if (apply_offset_and_curve && md->curveParam && md->curveMode == MODE_CURVE) {
v = applyCurve(v, md->curveParam);
}
#endif
//========== WEIGHT ===============
int32_t dv = (int32_t) v * weight;
//========== OFFSET / AFTER ===============
#if defined(PCBTARANIS)
if (apply_offset_and_curve) {
int16_t offset = GET_GVAR(MD_OFFSET(md), GV_RANGELARGE_NEG, GV_RANGELARGE, s_perout_flight_phase);
if (offset) dv += calc100toRESX_16Bits(offset) << 8;
}
#endif
//========== DIFFERENTIAL =========
#if defined(PCBTARANIS)
if (md->curve.type == CURVE_REF_DIFF && md->curve.value) {
dv = applyCurve(dv, md->curve);
}
#else
if (md->curveMode == MODE_DIFFERENTIAL) {
// @@@2 also recalculate curveParam to a 256 basis which ease the calculation later a lot
int16_t curveParam = calc100to256(GET_GVAR(md->curveParam, -100, 100, s_perout_flight_phase));
if (curveParam > 0 && dv < 0)
dv = (dv * (256 - curveParam)) >> 8;
else if (curveParam < 0 && dv > 0)
dv = (dv * (256 + curveParam)) >> 8;
}
#endif
int32_t *ptr = &chans[md->destCh]; // Save calculating address several times
switch (md->mltpx) {
case MLTPX_REP:
*ptr = dv;
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) {
for (uint8_t m=i-1; m<MAX_MIXERS && mixAddress(m)->destCh==md->destCh; m--)
swOn[m].activeMix = false;
}
#endif
break;
case MLTPX_MUL:
// @@@2 we have to remove the weight factor of 256 in case of 100%; now we use the new base of 256
dv >>= 8;
dv *= *ptr;
dv >>= RESX_SHIFT; // same as dv /= RESXl;
*ptr = dv;
break;
default: // MLTPX_ADD
*ptr += dv; //Mixer output add up to the line (dv + (dv>0 ? 100/2 : -100/2))/(100);
break;
} //endswitch md->mltpx
#ifdef PREVENT_ARITHMETIC_OVERFLOW
/*
// a lot of assumptions must be true, for this kind of check; not really worth for only 4 bytes flash savings
// this solution would save again 4 bytes flash
int8_t testVar=(*ptr<<1)>>24;
if ( (testVar!=-1) && (testVar!=0 ) ) {
// this devices by 64 which should give a good balance between still over 100% but lower then 32x100%; should be OK
*ptr >>= 6; // this is quite tricky, reduces the value a lot but should be still over 100% and reduces flash need
} */
PACK( union u_int16int32_t {
struct {
int16_t lo;
int16_t hi;
} words_t;
int32_t dword;
});
u_int16int32_t tmp;
tmp.dword=*ptr;
if (tmp.dword<0) {
if ((tmp.words_t.hi&0xFF80)!=0xFF80) tmp.words_t.hi=0xFF86; // set to min nearly
}
else {
if ((tmp.words_t.hi|0x007F)!=0x007F) tmp.words_t.hi=0x0079; // set to max nearly
}
*ptr = tmp.dword;
// this implementation saves 18bytes flash
/* dv=*ptr>>8;
if (dv>(32767-RESXl)) {
*ptr=(32767-RESXl)<<8;
} else if (dv<(-32767+RESXl)) {
*ptr=(-32767+RESXl)<<8;
}*/
// *ptr=limit( int32_t(int32_t(-1)<<23), *ptr, int32_t(int32_t(1)<<23)); // limit code cost 72 bytes
// *ptr=limit( int32_t((-32767+RESXl)<<8), *ptr, int32_t((32767-RESXl)<<8)); // limit code cost 80 bytes
#endif
} //endfor mixers
tick10ms = 0;
dirtyChannels &= passDirtyChannels;
} while (++pass < 5 && dirtyChannels);
mixWarning = lv_mixWarning;
}
#define TIME_TO_WRITE() (s_eeDirtyMsk && (tmr10ms_t)(get_tmr10ms() - s_eeDirtyTime10ms) >= (tmr10ms_t)WRITE_DELAY_10MS)
int32_t sum_chans512[NUM_CHNOUT] = {0};
#if defined(CPUARM)
bool doMixerCalculations()
#else
void doMixerCalculations()
#endif
{
#if defined(PCBGRUVIN9X) && defined(DEBUG) && !defined(VOICE)
PORTH |= 0x40; // PORTH:6 LOW->HIGH signals start of mixer interrupt
#endif
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
#if !defined(CPUARM)
lastTMR = tmr10ms;
#endif
getADC();
getSwitchesPosition(lastTMR == 0);
#if defined(CPUARM)
lastTMR = tmr10ms;
#endif
#if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
Current_analogue = (Current_analogue*31 + s_anaFilt[8] ) >> 5 ;
if (Current_analogue > Current_max)
Current_max = Current_analogue ;
#elif defined(CPUM2560) && !defined(SIMU)
// For PCB V4, use our own 1.2V, external reference (connected to ADC3)
ADCSRB &= ~(1<<MUX5);
ADMUX = 0x03|ADC_VREF_TYPE; // Switch MUX to internal reference
#elif defined(PCBSTD) && !defined(SIMU)
ADMUX = 0x1E|ADC_VREF_TYPE; // Switch MUX to internal reference
#endif
#define MAX_ACT 0xffff
static uint16_t fp_act[MAX_PHASES] = {0};
static uint16_t delta = 0;
static ACTIVE_PHASES_TYPE s_fade_flight_phases = 0;
static uint8_t s_last_phase = 255; // TODO reinit everything here when the model changes, no???
s_last_switch_used = 0;
uint8_t phase = getFlightPhase();
if (s_last_phase != phase) {
if (s_last_phase != 255) PLAY_PHASE_OFF(s_last_phase);
PLAY_PHASE_ON(phase);
if (s_last_phase == 255) {
fp_act[phase] = MAX_ACT;
}
else {
uint8_t fadeTime = max(g_model.phaseData[s_last_phase].fadeOut, g_model.phaseData[phase].fadeIn);
ACTIVE_PHASES_TYPE transitionMask = ((ACTIVE_PHASES_TYPE)1 << s_last_phase) + ((ACTIVE_PHASES_TYPE)1 << phase);
if (fadeTime) {
s_fade_flight_phases |= transitionMask;
delta = (MAX_ACT / (100/SLOW_STEP)) / fadeTime;
}
else {
s_fade_flight_phases &= ~transitionMask;
fp_act[s_last_phase] = 0;
fp_act[phase] = MAX_ACT;
}
}
s_last_phase = phase;
}
int32_t weight = 0;
if (s_fade_flight_phases) {
memclear(sum_chans512, sizeof(sum_chans512));
for (uint8_t p=0; p<MAX_PHASES; p++) {
s_last_switch_used = 0;
if (s_fade_flight_phases & ((ACTIVE_PHASES_TYPE)1 << p)) {
s_perout_flight_phase = p;
perOut(p==phase ? e_perout_mode_normal : e_perout_mode_inactive_phase, p==phase ? tick10ms : 0);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
weight += fp_act[p];
}
s_last_switch_used = 0;
}
assert(weight);
s_perout_flight_phase = phase;
}
else {
s_perout_flight_phase = phase;
perOut(e_perout_mode_normal, tick10ms);
}
s_mixer_first_run_done = true;
//========== FUNCTIONS ===============
// must be done after mixing because some functions use the inputs/channels values
// must be done before limits because of the applyLimit function: it checks for safety switches which would be not initialized otherwise
if (tick10ms) {
#if defined(CPUARM)
requiredSpeakerVolume = g_eeGeneral.speakerVolume + VOLUME_LEVEL_DEF;
#endif
evalFunctions();
}
//========== LIMITS ===============
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
// chans[i] holds data from mixer. chans[i] = v*weight => 1024*256
// later we multiply by the limit (up to 100) and then we need to normalize
// at the end chans[i] = chans[i]/256 => -1024..1024
// interpolate value with min/max so we get smooth motion from center to stop
// this limits based on v original values and min=-1024, max=1024 RESX=1024
int32_t q = (s_fade_flight_phases ? (sum_chans512[i] / weight) << 4 : chans[i]);
#if defined(PCBSTD)
ex_chans[i] = q >> 8;
#else
ex_chans[i] = q / 256;
#endif
int16_t value = applyLimits(i, q); // applyLimits will remove the 256 100% basis
cli();
channelOutputs[i] = value; // copy consistent word to int-level
sei();
}
#if defined(PCBGRUVIN9X) && defined(DEBUG) && !defined(VOICE)
PORTH &= ~0x40; // PORTH:6 HIGH->LOW signals end of mixer interrupt
#endif
// Bandgap has had plenty of time to settle...
#if !defined(CPUARM)
getADC_bandgap();
#endif
#if defined(CPUARM)
if (!tick10ms) return false; //make sure the rest happen only every 10ms.
#else
if (!tick10ms) return; //make sure the rest happen only every 10ms.
#endif
#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) {
uint8_t ch = g_model.thrTraceSrc-NUM_POTS-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 {
#ifdef PCBTARANIS
val = RESX + calibratedStick[g_model.thrTraceSrc == 0 ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1];
#else
val = RESX + rawAnas[g_model.thrTraceSrc == 0 ? THR_STICK : 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
// Timers start
for (uint8_t i=0; i<MAX_TIMERS; i++) {
int8_t tm = g_model.timers[i].mode;
uint16_t tv = g_model.timers[i].start;
TimerState * timerState = &timersStates[i];
if (tm) {
if (timerState->state == TMR_OFF) {
timerState->state = TMR_RUNNING;
timerState->cnt = 0;
timerState->sum = 0;
}
// value for time described in timer->mode
// OFFABSTHsTH%THt
if (tm == TMRMODE_THR_REL) {
timerState->cnt++;
timerState->sum+=val;
}
if ((timerState->val_10ms += tick10ms) >= 100) {
timerState->val_10ms -= 100 ;
int16_t newTimerVal = timerState->val;
if (tv) newTimerVal = tv - newTimerVal;
if (tm == TMRMODE_ABS) {
newTimerVal++;
}
else if (tm == TMRMODE_THR) {
if (val) newTimerVal++;
}
else if (tm == TMRMODE_THR_REL) {
// @@@ open.20.fsguruh: why so complicated? we have already a s_sum field; use it for the half seconds (not showable) as well
// check for s_cnt[i]==0 is not needed because we are shure it is at least 1
#if defined(ACCURAT_THROTTLE_TIMER)
if ((timerState->sum/timerState->cnt)>=128) { // throttle was normalized to 0 to 128 value (throttle/64*2 (because - range is added as well)
newTimerVal++; // add second used of throttle
timerState->sum-=128*timerState->cnt;
}
#else
if ((timerState->sum/timerState->cnt)>=32) { // throttle was normalized to 0 to 32 value (throttle/16*2 (because - range is added as well)
newTimerVal++; // add second used of throttle
timerState->sum-=32*timerState->cnt;
}
#endif
timerState->cnt=0;
}
else if (tm == TMRMODE_THR_TRG) {
if (val || newTimerVal > 0)
newTimerVal++;
}
else {
if (tm > 0) tm -= (TMR_VAROFS-1);
if (getSwitch(tm))
newTimerVal++;
}
switch (timerState->state) {
case TMR_RUNNING:
if (tv && newTimerVal>=(int16_t)tv) {
AUDIO_TIMER_00(g_model.timers[i].countdownBeep);
timerState->state = TMR_NEGATIVE;
}
break;
case TMR_NEGATIVE:
if (newTimerVal >= (int16_t)tv + MAX_ALERT_TIME) timerState->state = TMR_STOPPED;
break;
}
if (tv) newTimerVal = tv - newTimerVal; // if counting backwards - display backwards
if (newTimerVal != timerState->val) {
timerState->val = newTimerVal;
if (timerState->state == TMR_RUNNING) {
if (g_model.timers[i].countdownBeep && g_model.timers[i].start) {
if (newTimerVal==30) AUDIO_TIMER_30();
if (newTimerVal==20) AUDIO_TIMER_20();
if (newTimerVal<=10) AUDIO_TIMER_LT10(g_model.timers[i].countdownBeep, newTimerVal);
}
if (g_model.timers[i].minuteBeep && (newTimerVal % 60)==0) {
AUDIO_TIMER_MINUTE(newTimerVal);
}
}
}
}
}
} //endfor timer loop (only two)
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;
for (uint8_t i=0; i<NUM_LOGICAL_SWITCH; i++) {
LogicalSwitchData * cs = cswAddress(i);
if (cs->func == LS_FUNC_TIMER) {
int16_t *lastValue = &csLastValue[i];
if (*lastValue == 0 || *lastValue == CS_LAST_VALUE_INIT) {
*lastValue = -cswTimerValue(cs->v1);
}
else if (*lastValue < 0) {
if (++(*lastValue) == 0)
*lastValue = cswTimerValue(cs->v2);
}
else { // if (*lastValue > 0)
*lastValue -= 1;
}
}
else if (cs->func == LS_FUNC_STICKY) {
PACK(typedef struct {
uint8_t state;
uint8_t last;
}) cs_sticky_struct;
cs_sticky_struct & lastValue = (cs_sticky_struct &)csLastValue[i];
bool before = lastValue.last & 0x01;
if (lastValue.state) {
bool now = getSwitch(cs->v2);
if (now != before) {
lastValue.last ^= 1;
if (!before) {
lastValue.state = 0;
}
}
}
else {
bool now = getSwitch(cs->v1);
if (before != now) {
lastValue.last ^= 1;
if (!before) {
lastValue.state = 1;
}
}
}
}
#if defined(CPUARM)
else if (cs->func == LS_FUNC_STAY) {
PACK(typedef struct {
uint8_t state:1;
uint16_t duration:15;
}) cs_stay_struct;
cs_stay_struct & lastValue = (cs_stay_struct &)csLastValue[i];
lastValue.state = false;
bool state = getSwitch(cs->v1);
if (state) {
if (cs->v3 == 0 && lastValue.duration == cswTimerValue(cs->v2))
lastValue.state = true;
if (lastValue.duration < 1000)
lastValue.duration++;
}
else {
if (lastValue.duration > cswTimerValue(cs->v2) && lastValue.duration <= cswTimerValue(cs->v2+cs->v3))
lastValue.state = true;
lastValue.duration = 0;
}
}
#endif
}
if (s_cnt_1s >= 10) { // 1sec
s_cnt_1s -= 10;
s_timeCumTot += 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 ((s_timeCumTot&0x03)==0) AUDIO_MIX_WARNING(1);
if (mixWarning & 2) if ((s_timeCumTot&0x03)==1) AUDIO_MIX_WARNING(2);
if (mixWarning & 4) if ((s_timeCumTot&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++] = val;
if (s_traceWr >= MAXTRACE) s_traceWr = 0;
if (s_traceCnt >= 0) s_traceCnt++;
}
#endif
s_cnt_samples_thr_1s = 0;
s_sum_samples_thr_1s = 0;
}
}
if (s_fade_flight_phases) {
uint16_t tick_delta = delta * tick10ms;
for (uint8_t p=0; p<MAX_PHASES; p++) {
ACTIVE_PHASES_TYPE phaseMask = ((ACTIVE_PHASES_TYPE)1 << p);
if (s_fade_flight_phases & phaseMask) {
if (p == phase) {
if (MAX_ACT - fp_act[p] > tick_delta)
fp_act[p] += tick_delta;
else {
fp_act[p] = MAX_ACT;
s_fade_flight_phases -= phaseMask;
}
}
else {
if (fp_act[p] > tick_delta)
fp_act[p] -= tick_delta;
else {
fp_act[p] = 0;
s_fade_flight_phases -= phaseMask;
}
}
}
}
} //endif s_fade_fligh_phases
#if defined(DSM2)
static uint8_t count_dsm_range = 0;
if (dsm2Flag & (DSM2_BIND_FLAG | DSM2_RANGECHECK_FLAG)) {
if (++count_dsm_range >= 200) {
AUDIO_PLAY(AU_FRSKY_CHEEP);
count_dsm_range = 0;
}
}
#endif
#if defined(PXX)
static uint8_t count_pxx = 0;
for (uint8_t i = 0; i < NUM_MODULES; i++) {
if (pxxFlag[i] & (PXX_SEND_RANGECHECK | PXX_SEND_RXNUM)) {
if (++count_pxx >= 250) {
AUDIO_PLAY(AU_FRSKY_CHEEP);
count_pxx = 0;
}
}
}
#endif
#if defined(CPUARM)
return true;
#endif
}
#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 = calibratedStick[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
void opentxStart()
{
doSplash();
#if defined(PCBSKY9X) && defined(SDCARD) && !defined(SIMU)
for (int i=0; i<500 && !Card_initialized; i++) {
CoTickDelay(1); // 2ms
}
#endif
#if defined(CPUARM)
eeLoadModel(g_eeGeneral.currModel);
#endif
checkAlarm();
checkAll();
if (g_eeGeneral.chkSum != evalChkSum()) {
chainMenu(menuFirstCalib);
}
}
#if defined(CPUARM) || defined(CPUM2560)
void opentxClose()
{
#if defined(FRSKY)
FRSKY_End();
#endif
#if defined(SDCARD)
closeLogs();
sdDone();
#endif
#if defined(HAPTIC)
hapticOff();
#endif
saveTimers();
#if defined(CPUARM) && defined(FRSKY)
if ((g_model.frsky.mAhPersistent) && (g_model.frsky.storedMah != frskyData.hub.currentConsumption)) {
g_model.frsky.storedMah = frskyData.hub.currentConsumption;
eeDirty(EE_MODEL);
}
else if((!g_model.frsky.mAhPersistent) && (g_model.frsky.storedMah != 0)){
g_model.frsky.storedMah = 0;
eeDirty(EE_MODEL);
}
#endif
#if defined(PCBSKY9X)
uint32_t mAhUsed = g_eeGeneral.mAhUsed + Current_used * (488 + g_eeGeneral.currentCalib) / 8192 / 36;
if (g_eeGeneral.mAhUsed != mAhUsed) {
g_eeGeneral.mAhUsed = mAhUsed;
}
#endif
#if defined(PCBTARANIS)
if ((g_model.nPotsToWarn >> 6) == 2) {
for (uint8_t i=0; i<NUM_POTS ; i++)
if (!(g_model.nPotsToWarn & (1 << i)))
g_model.potPosition[i] = getValue(MIXSRC_FIRST_POT+i) >> 3;
eeDirty(EE_MODEL);
}
#endif
g_eeGeneral.unexpectedShutdown = 0;
eeDirty(EE_GENERAL);
eeCheck(true);
}
#endif
#if defined(PCBTARANIS) && !defined(SIMU)
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/*
Prepare and send new USB data packet
The format of HID_Buffer is defined by
USB endpoint description can be found in
file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
*/
void usbJoystickUpdate(void)
{
static uint8_t HID_Buffer[HID_IN_PACKET];
//buttons
HID_Buffer[0] = 0; //buttons
for (int i = 0; i < 8; ++i) {
if ( channelOutputs[i+8] > 0 ) {
HID_Buffer[0] |= (1 << i);
}
}
//analog values
//uint8_t * p = HID_Buffer + 1;
for (int i = 0; i < 8; ++i) {
int16_t value = channelOutputs[i] / 8;
if ( value > 127 ) value = 127;
else if ( value < -127 ) value = -127;
HID_Buffer[i+1] = static_cast<int8_t>(value);
}
USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
}
#endif //#if defined(PCBTARANIS) && !defined(SIMU)
void perMain()
{
#if defined(SIMU)
doMixerCalculations();
#elif !defined(CPUARM)
uint16_t t0 = getTmr16KHz();
int16_t delta = (nextMixerEndTime - lastMixerDuration) - t0;
if (delta > 0 && delta < MAX_MIXER_DELTA) {
#if defined(PCBSTD) && defined(ROTARY_ENCODER_NAVIGATION)
rotencPoll();
#endif
// @@@ open.20.fsguruh
// SLEEP(); // wouldn't that make sense? should save a lot of battery power!!!
/* for future use; currently very very beta... */
#if defined(POWER_SAVE)
ADCSRA&=0x7F; // disable ADC for power saving
ACSR&=0xF7; // disable ACIE Interrupts
ACSR|=0x80; // disable Analog Comparator
// maybe we disable here a lot more hardware components in future to save even more power
MCUCR|=0x20; // enable Sleep (bit5)
// MCUCR|=0x28; // enable Sleep (bit5) enable ADC Noise Reduction (bit3)
// first tests showed: simple sleep would reduce cpu current from 40.5mA to 32.0mA
// noise reduction sleep would reduce it down to 28.5mA; However this would break pulses in theory
// however with standard module, it will need about 95mA. Therefore the drop to 88mA is not much noticable
do {
asm volatile(" sleep \n\t"); // if _SLEEP() is not defined use this
t0=getTmr16KHz();
delta= (nextMixerEndTime - lastMixerDuration) - t0;
} while ((delta>0) && (delta<MAX_MIXER_DELTA));
// reenabling of the hardware components needed here
MCUCR&=0x00; // disable sleep
ADCSRA|=0x80; // enable ADC
#endif
return;
}
nextMixerEndTime = t0 + MAX_MIXER_DELTA;
// this is a very tricky implementation; lastMixerEndTime is just like a default value not to stop mixcalculations totally;
// the real value for lastMixerEndTime is calculated inside pulses_XXX.cpp which aligns the timestamp to the pulses generated
// nextMixerEndTime is actually defined inside pulses_XXX.h
doMixerCalculations();
t0 = getTmr16KHz() - t0;
lastMixerDuration = t0;
if (t0 > maxMixerDuration) maxMixerDuration = t0;
#endif
// TODO same code here + integrate the timer which could be common
#if defined(CPUARM)
if (!Tenms) return;
Tenms = 0 ;
#endif
#if defined(PCBSKY9X)
Current_accumulator += Current_analogue ;
static uint32_t OneSecTimer;
if (++OneSecTimer >= 100) {
OneSecTimer -= 100 ;
sessionTimer += 1;
Current_used += Current_accumulator / 100 ; // milliAmpSeconds (but scaled)
Current_accumulator = 0 ;
}
#endif
#if defined(PCBTARANIS)
sessionTimer = s_timeCumTot;
#endif
#if defined(CPUARM)
if (currentSpeakerVolume != requiredSpeakerVolume) {
currentSpeakerVolume = requiredSpeakerVolume;
setVolume(currentSpeakerVolume);
}
#endif
#if defined(MODULE_ALWAYS_SEND_PULSES)
if (startupWarningState < STARTUP_WARNING_DONE) {
// don't do menu's until throttle and switch warnings are handled
return;
}
#endif
if (!usbPlugged()) {
// TODO merge these 2 branches
#if defined(PCBSKY9X)
if (Eeprom32_process_state != E32_IDLE)
ee32_process();
else if (TIME_TO_WRITE())
eeCheck(false);
#elif defined(CPUARM)
if (theFile.isWriting())
theFile.nextWriteStep();
else if (TIME_TO_WRITE())
eeCheck(false);
#else
if (!eeprom_buffer_size) {
if (theFile.isWriting())
theFile.nextWriteStep();
else if (TIME_TO_WRITE())
eeCheck(false);
}
#endif
}
#if defined(SDCARD)
sdMountPoll();
writeLogs();
#endif
#if defined(CPUARM) && defined(SIMU)
checkTrims();
#endif
#if defined(CPUARM)
uint8_t evt = getEvent(false);
#else
uint8_t evt = getEvent();
evt = checkTrim(evt);
#endif
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
checkBacklight();
#if !defined(CPUARM) && (defined(FRSKY) || defined(MAVLINK))
telemetryWakeup();
#endif
#if defined(PCBTARANIS)
uint8_t requiredTrainerMode = g_model.trainerMode;
if (requiredTrainerMode != currentTrainerMode) {
currentTrainerMode = requiredTrainerMode;
if (requiredTrainerMode) {
// slave
stop_trainer_capture();
init_trainer_ppm();
}
else {
// master
stop_trainer_ppm();
init_trainer_capture();
}
}
#endif
#if defined(PCBTARANIS) && !defined(SIMU)
static bool usbStarted = false;
if (!usbStarted && usbPlugged()) {
usbStart();
usbStarted = true;
}
if (usbStarted) {
if (!usbPlugged()) {
//disable USB
usbStop();
usbStarted = false;
}
else {
usbJoystickUpdate();
}
}
#endif //#if defined(PCBTARANIS) && !defined(SIMU)
#if defined(NAVIGATION_STICKS)
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 ;
#endif
const char *warn = s_warning;
uint8_t menu = s_menu_count;
if (!LCD_LOCKED()) {
lcd_clear();
g_menuStack[g_menuStackPtr]((warn || menu) ? 0 : evt);
if (warn) DISPLAY_WARNING(evt);
#if defined(NAVIGATION_MENUS)
if (menu) {
const char * result = displayMenu(evt);
if (result) {
menuHandler(result);
putEvent(EVT_MENU_UP);
}
}
#endif
#if defined(LUA)
evt = 0;
#endif
}
#if defined(LUA)
luaTask(evt);
#endif
drawStatusLine();
lcdRefresh();
if (SLAVE_MODE()) {
JACK_PPM_OUT();
}
else {
JACK_PPM_IN();
}
static uint8_t counter = 0;
if (g_menuStack[g_menuStackPtr] == menuGeneralDiagAna) {
g_vbat100mV = 0;
counter = 0;
}
if (counter-- == 0) {
counter = 10;
int32_t instant_vbat = anaIn(TX_VOLTAGE);
#if defined(PCBTARANIS)
instant_vbat = (instant_vbat + instant_vbat*(g_eeGeneral.vBatCalib)/128) * BATT_SCALE;
instant_vbat >>= 11;
instant_vbat += 2; // because of the diode
#elif defined(PCBSKY9X)
instant_vbat = (instant_vbat + instant_vbat*(g_eeGeneral.vBatCalib)/128) * 4191;
instant_vbat /= 55296;
#elif defined(CPUM2560)
instant_vbat = (instant_vbat*1112 + instant_vbat*g_eeGeneral.vBatCalib + (BandGap<<2)) / (BandGap<<3);
#else
instant_vbat = (instant_vbat*16 + instant_vbat*g_eeGeneral.vBatCalib/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 (g_vbat100mV <= g_eeGeneral.vBatWarn && g_vbat100mV>50) {
AUDIO_TX_BATTERY_LOW();
}
#if defined(PCBSKY9X)
else if (g_eeGeneral.temperatureWarn && getTemperature() >= g_eeGeneral.temperatureWarn) {
AUDIO_TX_TEMP_HIGH();
}
else if (g_eeGeneral.mAhWarn && (g_eeGeneral.mAhUsed + Current_used * (488 + g_eeGeneral.currentCalib)/8192/36) / 500 >= g_eeGeneral.mAhWarn) {
AUDIO_TX_MAH_HIGH();
}
#endif
}
}
}
int16_t g_ppmIns[NUM_TRAINER];
uint8_t ppmInState = 0; // 0=unsync 1..8= wait for value i-1
uint8_t ppmInValid = 0;
#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
{
static uint16_t lastCapt;
uint16_t capture=ICR3;
// Prevent rentrance for this IRQ only
PAUSE_PPMIN_INTERRUPT();
sei(); // enable other interrupts
uint16_t val = (capture - lastCapt) / 2;
// G: We process g_ppmIns immediately here, to make servo movement as smooth as possible
// while under trainee control
if (val>4000 && val < 16000) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
}
else {
if (ppmInState>0 && ppmInState<=8) {
if (val>800 && val<2200) { // if valid pulse-width range
ppmInValid = 100;
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500) * (uint8_t)(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
lastCapt = capture;
cli(); // disable other interrupts for stack pops before this function's RETI
RESUME_PPMIN_INTERRUPT();
}
#endif
/*
USART0 Transmit Data Register Emtpy ISR
Used to transmit FrSky data packets and DSM2 protocol
*/
// TODO serial_arm and serial_avr
#if defined(FRSKY) && !defined(CPUARM)
// TODO in frsky.cpp?
FORCEINLINE void FRSKY_USART0_vect()
{
if (frskyTxBufferCount > 0) {
UDR0 = frskyTxBuffer[--frskyTxBufferCount];
}
else {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#if defined(DSM2_SERIAL) && !defined(CPUARM)
FORCEINLINE void DSM2_USART0_vect()
{
UDR0 = *((uint16_t*)pulses2MHzRPtr); // transmit next byte
pulses2MHzRPtr += sizeof(uint16_t);
if (pulses2MHzRPtr == pulses2MHzWPtr) { // if reached end of DSM2 data buffer ...
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#if !defined(SIMU) && !defined(CPUARM)
#if defined (FRSKY) || defined(DSM2_SERIAL)
ISR(USART0_UDRE_vect)
{
#if defined(FRSKY) && defined(DSM2_SERIAL)
if (IS_DSM2_PROTOCOL(g_model.protocol)) { // TODO not s_current_protocol?
DSM2_USART0_vect();
}
else {
FRSKY_USART0_vect();
}
#elif defined(FRSKY)
FRSKY_USART0_vect();
#else
DSM2_USART0_vect();
#endif
}
#endif
#endif
void instantTrim()
{
evalInputs(e_perout_mode_notrainer);
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (i!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightPhase(s_perout_flight_phase, i);
#if defined(PCBTARANIS)
int16_t trim = limit<int16_t>(TRIM_EXTENDED_MIN, (calibratedStick[i] + trims[i]) / 2, TRIM_EXTENDED_MAX);
#else
int16_t trim = limit<int16_t>(TRIM_EXTENDED_MIN, (anas[i] + trims[i]) / 2, TRIM_EXTENDED_MAX);
#endif
setTrimValue(trim_phase, i, trim);
}
}
eeDirty(EE_MODEL);
AUDIO_WARNING2();
}
void copyTrimsToOffset(uint8_t ch)
{
pauseMixerCalculations();
int32_t zero = (int32_t)channelOutputs[ch];
perOut(e_perout_mode_nosticks+e_perout_mode_notrainer, 0);
int32_t val = chans[ch];
LimitData *ld = limitAddress(ch);
limit_min_max_t lim = LIMIT_MAX(ld);
if (val < 0) {
val = -val;
lim = LIMIT_MIN(ld);
}
#if defined(CPUARM)
zero = (zero*100000 - val*lim) / (102400-val);
#else
zero = (zero*100000 - 10*val*lim) / (102400-val);
#endif
ld->offset = (ld->revert) ? -zero : zero;
resumeMixerCalculations();
eeDirty(EE_MODEL);
}
void moveTrimsToOffsets() // copy state of 3 primary to subtrim
{
int16_t zeros[NUM_CHNOUT];
pauseMixerCalculations();
perOut(e_perout_mode_noinput, 0); // do output loop - zero input sticks and trims
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
zeros[i] = applyLimits(i, chans[i]);
}
perOut(e_perout_mode_noinput-e_perout_mode_notrims, 0); // do output loop - only trims
for (uint8_t i=0; i<NUM_CHNOUT; 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; i++) {
if (i!=THR_STICK || !g_model.thrTrim) {
int16_t original_trim = getTrimValue(s_perout_flight_phase, i);
for (uint8_t phase=0; phase<MAX_PHASES; phase++) {
#if defined(PCBTARANIS)
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();
eeDirty(EE_MODEL);
AUDIO_WARNING2();
}
#if defined(CPUARM) || defined(CPUM2560)
void saveTimers()
{
for (uint8_t i=0; i<MAX_TIMERS; i++) {
if (g_model.timers[i].persistent) {
TimerState *timerState = &timersStates[i];
if (g_model.timers[i].value != (uint16_t)timerState->val) {
g_model.timers[i].value = timerState->val;
eeDirty(EE_MODEL);
}
}
}
#if defined(CPUARM) && !defined(REVA)
if (sessionTimer > 0) {
g_eeGeneral.globalTimer += sessionTimer;
}
#endif
}
#endif
#if defined(ROTARY_ENCODERS)
volatile rotenc_t g_rotenc[ROTARY_ENCODERS] = {0};
#elif defined(ROTARY_ENCODER_NAVIGATION)
volatile rotenc_t g_rotenc[1] = {0};
#endif
#ifndef SIMU
#if defined(CPUARM)
void stack_paint()
{
for (uint16_t i=0; i<MENUS_STACK_SIZE; i++)
menusStack[i] = 0x55555555;
for (uint16_t i=0; i<MIXER_STACK_SIZE; i++)
mixerStack[i] = 0x55555555;
for (uint16_t i=0; i<AUDIO_STACK_SIZE; i++)
audioStack[i] = 0x55555555;
}
uint16_t stack_free(uint8_t tid)
{
OS_STK *stack;
uint16_t size;
switch(tid) {
case 0:
stack = menusStack;
size = MENUS_STACK_SIZE;
break;
case 1:
stack = mixerStack;
size = MIXER_STACK_SIZE;
break;
case 2:
stack = audioStack;
size = AUDIO_STACK_SIZE;
break;
default:
return 0;
}
uint16_t i=0;
for (; i<size; i++)
if (stack[i] != 0x55555555)
break;
return i*4;
}
#else
extern unsigned char __bss_end ;
#define STACKPTR _SFR_IO16(0x3D)
void stack_paint()
{
// 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 stack_free()
{
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
inline void opentxInit(OPENTX_INIT_ARGS)
{
#if defined(PCBTARANIS)
CoTickDelay(100); //200ms
lcdInit();
BACKLIGHT_ON();
CoTickDelay(20); //20ms
Splash();
#endif
eeReadAll();
#if MENUS_LOCK == 1
getMovedSwitch();
if (TRIMS_PRESSED() && g_eeGeneral.switchUnlockStates==switches_states) {
readonly = false;
}
#endif
#if defined(CPUARM)
if (UNEXPECTED_SHUTDOWN())
unexpectedShutdown = 1;
#endif
#if defined(VOICE)
setVolume(g_eeGeneral.speakerVolume+VOLUME_LEVEL_DEF);
#endif
#if defined(CPUARM)
audioQueue.start();
setBacklight(g_eeGeneral.backlightBright);
#endif
#if defined(PCBSKY9X)
// Set ADC gains here
setSticksGain(g_eeGeneral.sticksGain);
#endif
#if defined(BLUETOOTH)
btInit();
#endif
#if defined(RTCLOCK)
rtcInit();
#endif
LUA_INIT();
if (g_eeGeneral.backlightMode != e_backlight_mode_off) backlightOn(); // on Tx start turn the light on
if (UNEXPECTED_SHUTDOWN()) {
#if !defined(CPUARM)
// is done above on ARM
unexpectedShutdown = 1;
#endif
#if defined(CPUARM)
eeLoadModel(g_eeGeneral.currModel);
#endif
}
else {
opentxStart();
}
#if defined(CPUARM) || defined(CPUM2560)
if (!g_eeGeneral.unexpectedShutdown) {
g_eeGeneral.unexpectedShutdown = 1;
eeDirty(EE_GENERAL);
}
#endif
lcdSetContrast();
backlightOn();
#if defined(PCBTARANIS)
uart3Init(g_eeGeneral.uart3Mode);
#endif
#if defined(CPUARM)
init_trainer_capture();
#endif
#if !defined(CPUARM)
doMixerCalculations();
#endif
startPulses();
wdt_enable(WDTO_500MS);
}
#if defined(CPUARM)
void mixerTask(void * pdata)
{
s_pulses_paused = true;
while(1) {
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();
CoEnterMutexSection(mixerMutex);
bool tick10ms = doMixerCalculations();
CoLeaveMutexSection(mixerMutex);
if (tick10ms) checkTrims();
#if defined(FRSKY) || defined(MAVLINK)
telemetryWakeup();
#endif
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;
}
t0 = getTmr2MHz() - t0;
if (t0 > maxMixerDuration) maxMixerDuration = t0 ;
}
CoTickDelay(1); // 2ms for now
}
}
void menusTask(void * pdata)
{
opentxInit();
while (pwrCheck() != e_power_off) {
perMain();
#if defined(PCBSKY9X)
for (uint8_t i=0; i<5; i++) {
usbMassStorage();
CoTickDelay(1); // 5*2ms for now
}
#else
CoTickDelay(5); // 5*2ms for now
#endif
}
lcd_clear();
displayPopup(STR_SHUTDOWN);
opentxClose();
lcd_clear();
lcdRefresh();
lcdSetRefVolt(0);
SysTick->CTRL = 0; // turn off systick
pwrOff(); // Only turn power off if necessary
}
extern void audioTask(void* pdata);
#endif
int main(void)
{
// 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
#elif defined(PCBSTD)
uint8_t mcusr = MCUCSR;
MCUCSR = 0;
#endif
#if defined(PCBTARANIS)
g_eeGeneral.contrast=30;
#endif
wdt_disable();
boardInit();
#if !defined(PCBTARANIS)
lcdInit();
#endif
stack_paint();
g_menuStack[0] = menuMainView;
#if MENUS_LOCK != 2/*no menus*/
g_menuStack[1] = menuModelSelect;
#endif
lcdSetRefVolt(25);
sei(); // interrupts needed for FRSKY_Init and eeReadAll.
#if defined(FRSKY) && !defined(DSM2_SERIAL)
FRSKY_Init();
#endif
#if defined(DSM2_SERIAL) && !defined(FRSKY)
DSM2_Init();
#endif
#ifdef JETI
JETI_Init();
#endif
#ifdef ARDUPILOT
ARDUPILOT_Init();
#endif
#ifdef NMEA
NMEA_Init();
#endif
#ifdef MAVLINK
MAVLINK_Init();
#endif
#ifdef MENU_ROTARY_SW
init_rotary_sw();
#endif
#if !defined(CPUARM)
opentxInit(mcusr);
#endif
#if defined(CPUARM)
if (BOOTLOADER_REQUEST()) {
pwrOff(); // Only turn power off if necessary
#if defined(HAPTIC)
hapticOff();
#endif
g_eeGeneral.optrexDisplay = 1;
lcd_clear();
lcdRefresh();
g_eeGeneral.optrexDisplay = 0;
g_eeGeneral.backlightBright = 0;
g_eeGeneral.contrast = 25;
BACKLIGHT_ON();
lcd_clear();
lcd_putcAtt( 48, 24, 'U', DBLSIZE ) ;
lcd_putcAtt( 60, 24, 'S', DBLSIZE ) ;
lcd_putcAtt( 72, 24, 'B', DBLSIZE ) ;
lcdRefresh() ;
usbBootloader();
}
CoInitOS();
#if defined(CPUARM) && defined(DEBUG)
debugTaskId = CoCreateTaskEx(debugTask, NULL, 10, &debugStack[DEBUG_STACK_SIZE-1], DEBUG_STACK_SIZE, 1, false);
#endif
#if defined(BLUETOOTH)
btTaskId = CoCreateTask(btTask, NULL, 15, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
#endif
mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
audioMutex = CoCreateMutex();
mixerMutex = CoCreateMutex();
CoStartOS();
#else
#if defined(CPUM2560)
uint8_t shutdown_state = 0;
#endif
while(1) {
#if defined(CPUM2560)
if ((shutdown_state=pwrCheck()) > e_power_trainer)
break;
#endif
perMain();
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;
}
}
#endif
#if defined(CPUM2560)
// Time to switch off
lcd_clear();
displayPopup(STR_SHUTDOWN);
opentxClose();
lcd_clear() ;
lcdRefresh() ;
pwrOff(); // Only turn power off if necessary
wdt_disable();
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
}
#endif // !SIMU
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