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Last changes to gruvin9x

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This commit is contained in:
bsongis
2011-11-17 21:35:33 +00:00
parent 3772179692
commit 2b4823ab84
12 changed files with 927 additions and 563 deletions
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src/gruvin9x.cpp
+197 -202
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@@ -55,6 +55,8 @@ uint8_t toneOn = false;
bool warble = false;
uint8_t heartbeat;
const prog_char APM modi12x3[]=
"RUD ELE THR AIL "
"RUD THR ELE AIL "
@@ -295,8 +297,8 @@ void applyExpos(int16_t *anas)
}
}
static bool s_noStickInputs = false;
inline int16_t getValue(uint8_t i)
bool s_noStickInputs = false;
inline int16_t __attribute__ ((always_inline)) getValue(uint8_t i)
{
if(i<NUM_STICKS+NUM_POTS) return (s_noStickInputs ? 0 : calibratedStick[i]);
else if(i<MIX_FULL/*srcRaw is shifted +1!*/) return 1024; //FULL/MAX
@@ -309,6 +311,118 @@ inline int16_t getValue(uint8_t i)
else return 0;
}
volatile uint16_t s_last_switch_used;
volatile uint16_t s_last_switch_value;
bool __getSwitch(int8_t swtch)
{
bool result;
if (swtch == 0)
return s_last_switch_used & (1<<15);
uint8_t cs_idx = abs(swtch);
if (cs_idx == MAX_SWITCH) {
result = true;
}
else if (cs_idx < MAX_SWITCH-NUM_CSW) {
result = keyState((EnumKeys)(SW_BASE+cs_idx-1));
}
else {
cs_idx -= MAX_SWITCH-NUM_CSW;
volatile CustomSwData &cs = g_model.customSw[cs_idx];
if (cs.func == CS_OFF) return false;
uint8_t s = CS_STATE(cs.func);
if (s == CS_VBOOL) {
uint16_t mask = (1 << cs_idx);
if (s_last_switch_used & mask) {
result = (s_last_switch_value & mask);
}
else {
s_last_switch_used |= mask;
bool res1 = __getSwitch(cs.v1);
bool res2 = __getSwitch(cs.v2);
switch (cs.func) {
case CS_AND:
result = (res1 && res2);
break;
case CS_OR:
result = (res1 || res2);
break;
// case CS_XOR:
default:
result = (res1 ^ res2);
break;
}
}
if (result)
s_last_switch_value |= (1<<cs_idx);
else
s_last_switch_value &= ~(1<<cs_idx);
}
else {
int16_t x = getValue(cs.v1-1);
int16_t y;
if (s == CS_VOFS) {
#ifdef FRSKY
if (cs.v1 > CHOUT_BASE+NUM_CHNOUT)
y = 125+cs.v2;
else
#endif
y = calc100toRESX(cs.v2);
switch (cs.func) {
case CS_VPOS:
result = (x>y);
break;
case CS_VNEG:
result = (x<y);
break;
case CS_APOS:
result = (abs(x)>y);
break;
// case CS_ANEG:
default:
result = (abs(x)<y);
}
}
else {
y = getValue(cs.v2-1);
switch (cs.func) {
case CS_EQUAL:
result = (x==y);
break;
case CS_NEQUAL:
result = (x!=y);
break;
case CS_GREATER:
result = (x>y);
break;
case CS_LESS:
result = (x<y);
break;
case CS_EGREATER:
result = (x>=y);
break;
// case CS_ELESS:
default:
result = (x<=y);
}
}
}
}
return swtch > 0 ? result : !result;
}
bool getSwitch(int8_t swtch, bool nc)
{
s_last_switch_used = (nc<<15);
return __getSwitch(swtch);
}
uint8_t getFlightPhase()
{
for (uint8_t i=1; i<MAX_PHASES; i++) {
@@ -349,119 +463,6 @@ uint8_t getTrimFlightPhase(uint8_t idx, int8_t phase) // TODO uint8_t phase?
return 0;
}
bool getSwitch(int8_t swtch, bool nc, uint8_t level)
{
if(level>5) return false; //prevent recursive loop going too deep
switch(swtch){
case 0: return nc;
case MAX_SWITCH: return true;
case -MAX_SWITCH: return false;
}
uint8_t dir = swtch>0;
if(abs(swtch)<(MAX_SWITCH-NUM_CSW)) {
if(!dir) return ! keyState((EnumKeys)(SW_BASE-swtch-1));
return keyState((EnumKeys)(SW_BASE+swtch-1));
}
//custom switch, Issue 78
//use putsChnRaw
//input -> 1..4 -> sticks, 5..8 pots
//MAX,FULL - disregard
//ppm
CustomSwData &cs = g_model.customSw[abs(swtch)-(MAX_SWITCH-NUM_CSW)];
if(!cs.func) return false;
int8_t a = cs.v1;
int8_t b = cs.v2;
int16_t x = 0;
int16_t y = 0;
// init values only if needed
uint8_t s = CS_STATE(cs.func);
if(s == CS_VOFS)
{
x = getValue(cs.v1-1);
#ifdef FRSKY
if (cs.v1 > CHOUT_BASE+NUM_CHNOUT)
y = 125+cs.v2;
else
#endif
y = calc100toRESX(cs.v2);
}
else if(s == CS_VCOMP)
{
x = getValue(cs.v1-1);
y = getValue(cs.v2-1);
}
switch (cs.func) {
case (CS_VPOS):
return swtch>0 ? (x>y) : !(x>y);
break;
case (CS_VNEG):
return swtch>0 ? (x<y) : !(x<y);
break;
case (CS_APOS):
{
bool res = (abs(x)>y) ;
return swtch>0 ? res : !res ;
}
break;
case (CS_ANEG):
{
bool res = (abs(x)<y) ;
return swtch>0 ? res : !res ;
}
break;
case (CS_AND):
case (CS_OR):
case (CS_XOR):
{
bool res1 = getSwitch(a,0,level+1) ;
bool res2 = getSwitch(b,0,level+1) ;
if ( cs.func == CS_AND )
{
return res1 && res2 ;
}
else if ( cs.func == CS_OR )
{
return res1 || res2 ;
}
else // CS_XOR
{
return res1 ^ res2 ;
}
}
break;
case (CS_EQUAL):
return (x==y);
case (CS_NEQUAL):
return (x!=y);
case (CS_GREATER):
return (x>y);
case (CS_LESS):
return (x<y);
case (CS_EGREATER):
return (x>=y);
case (CS_ELESS):
return (x<=y);
default:
return false;
}
}
//#define CS_EQUAL 8
//#define CS_NEQUAL 9
//#define CS_GREATER 10
//#define CS_LESS 11
//#define CS_EGREATER 12
//#define CS_ELESS 13
#if defined (PCBV3) && !defined (PCBV4)
// The ugly scanned keys thing should be gone for PCBV4+. In the meantime ...
uint8_t keyDown()
@@ -1084,7 +1085,6 @@ uint16_t isqrt32(uint32_t n)
// static variables used in perOut - moved here so they don't interfere with the stack
// It's also easier to initialize them here.
uint16_t pulses2MHz[120] = {0};
int16_t anas [NUM_XCHNRAW] = {0};
int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0};
@@ -1654,70 +1654,6 @@ uint8_t ppmInState = 0; //0=unsync 1..8= wait for value i-1
#ifndef SIMU
#define HEART_TIMER2Mhz 1;
#define HEART_TIMER10ms 2;
uint8_t heartbeat;
ISR(TIMER1_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol;
static uint16_t *pulsePtr = pulses2MHz;
// TODO understand what Bryan did here
uint8_t i = 0;
while((TCNT1L < 10) && (++i < 50)) // Timer does not read too fast, so i
;
uint16_t dt=TCNT1;//-OCR1A;
//vinceofdrink@gmail harwared ppm
//Orginal bitbang for PPM
#ifndef DPPMPB7_HARDWARE
if(pulsePol)
{
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
pulsePol = 0;
}else{
PORTB &= ~(1<<OUT_B_PPM); // GCC optimisation should result in a single CBI instruction
pulsePol = 1;
}
g_tmr1Latency_max = max(dt,g_tmr1Latency_max); // max has leap, therefore vary in length
g_tmr1Latency_min = min(dt,g_tmr1Latency_min); // min has leap, therefore vary in length
#endif
OCR1A = *pulsePtr++;
//vinceofdrink@gmail harwared ppm
#if defined (DPPMPB7_HARDWARE)
OCR1C=OCR1A; //just copy the value of the OCR1A to OCR1C to test PPM out without to much change in the code not optimum but will not alter ppm precision
#endif
if( *pulsePtr == 0) {
//currpulse=0;
pulsePtr = pulses2MHz;
pulsePol = g_model.pulsePol;//0;
cli();
#if defined (PCBV3)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else
TIMSK &= ~(1<<OCIE1A); //stop reentrance
#endif
sei();
setupPulses();
cli();
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A);
#else
TIMSK |= (1<<OCIE1A);
#endif
sei();
}
heartbeat |= HEART_TIMER2Mhz;
}
volatile uint8_t g_tmr16KHz; //continuous timer 16ms (16MHz/1024/256) -- 8-bit counter overflow
#if defined (PCBV3)
ISR(TIMER2_OVF_vect)
@@ -1753,9 +1689,9 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#endif
{
cli();
#if defined (PCBV3)
static uint8_t accuracyWarble = 4; // becasue 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
#if defined (PCBV3)
TIMSK2 &= ~(1<<OCIE2A); //stop reentrance
OCR2A += bump;
#else
@@ -1763,6 +1699,8 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#if defined (BEEPSPKR)
OCR0 += 2; // run much faster, to generate speaker tones
#else
static uint8_t accuracyWarble = 4; // becasue 16M / 1024 / 100 = 156.25. So bump every 4.
uint8_t bump = (!(accuracyWarble++ & 0x03)) ? 157 : 156;
OCR0 += bump;
#endif
#endif
@@ -2055,6 +1993,32 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
beepWarn1();
}
#if defined (PCBV4)
// Rotary encoder interrupts
uint8_t volatile g_rotenc1, g_rotenc2 = 0;
ISR(INT2_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc1--;
}
ISR(INT3_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc1++;
}
ISR(INT5_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc2++;
}
ISR(INT6_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc2--;
}
#endif
#ifndef SIMU
extern unsigned char __bss_end ;
@@ -2077,13 +2041,13 @@ int main(void)
DDRA = 0xff; PORTA = 0x00; // LCD data
#if defined (PCBV4)
DDRB = 0b11000111; PORTB = 0b00111001; // 7:SPKR, 6:PPM_OUT, 5:TrainSW, 4:IDL2_SW, SDCARD[3:MISO 2:MOSI 1:SCK 0:CS]
DDRC = 0x3f; PORTC = 0xc0; // 7:AilDR, 6:EleDR, LCD[5,4,3,2,1[, 0:BackLight
DDRD = 0x00; PORTD = 0xfc; // 7/6:Spare3/4, 5:RENC2_PUSH, 4:RENC1_PUSH, 3:RENC2_B, 2:RENC2_A, 1:I2C_SDA, 0:I2C_SCL
DDRB = 0b11000111; PORTB = 0b00111111; // 7:SPKR, 6:PPM_OUT, 5:TrainSW, 4:IDL2_SW, SDCARD[3:MISO 2:MOSI 1:SCK 0:CS]
DDRC = 0x3f; PORTC = 0xc0; // 7:AilDR, 6:EleDR, LCD[5,4,3,2,1], 0:BackLight
DDRD = 0x00; PORTD = 0b11111100; // 7/6:Spare3/4, 5:RENC2_PUSH, 4:RENC1_PUSH, 3:RENC2_B, 2:RENC2_A, 1:I2C_SDA, 0:I2C_SCL
DDRE = 0b00001010; PORTE = 0b11110101; // 7:PPM_IN, 6: RENC1_B, 5:RENC1_A, 4:USB_DNEG, 3:BUZZER, 2:USB_DPOS, 1:TELEM_TX, 0:TELEM_RX
DDRF = 0x00; PORTF = 0x00; // 7-4:JTAG, 3:ADC_REF_1.2V input, 2-0:ADC_SPARE_2-0
DDRG = 0b00010000; PORTG = 0xff; // 7-6:N/A, 5:GearSW, 4: Sim_Ctrl[out], 3:IDL1_Sw, 2:TCut_Sw, 1:RF_Power[in], 0: RudDr_Sw
DDRH = 0x00; PORTH = 0xff; // 7:0 Spare port -- all inputer for now [Bit 2:VIB_OPTION -- setting to input for now]
DDRH = 0x00; PORTH = 0xff; // 7:0 Spare port -- all inputs for now [Bit 2:VIB_OPTION -- setting to input for now]
DDRJ = 0x00; PORTJ = 0xff; // 7-0:Trim switch inputs
DDRK = 0x00; PORTK = 0x00; // anain. No pull-ups!
DDRL = 0x00; PORTL = 0xff; // 7-6:Spare6/5 (inputs), 5-0: User Button inputs
@@ -2218,15 +2182,6 @@ int main(void)
clearKeyEvents(); //make sure no keys are down before proceeding
//addon Vinceofdrink@gmail (hardware ppm)
#if defined (DPPMPB7_HARDWARE)
TCCR1A |=(1<<COM1C0); // (COM1C1=0 and COM1C0=1 in TCCR1A) toogle the state of PB7 on each TCNT1=OCR1C
#endif
setupPulses();
wdt_enable(WDTO_500MS);
perOut(g_chans512);
lcdSetRefVolt(g_eeGeneral.contrast);
@@ -2234,14 +2189,6 @@ int main(void)
if(cModel!=g_eeGeneral.currModel) eeDirty(EE_GENERAL); // if model was quick-selected, make sure it sticks
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#endif
#if defined (PCBV3)
// Initialise global unix timestamp with current time from RTC chip on SD card interface
RTC rtc;
@@ -2257,6 +2204,54 @@ int main(void)
g_unixTime = mktime(&utm);
#endif
#if defined (PCBV4)
/***************************************************/
/* Rotary encoder interrupt set-up (V4 board only) */
// All external interrupts initialise to disabled. But maybe not after
// a WDT or BOD event? So to be safe ...
EIMSK = 0; // disable ALL external interrupts.
// encoder 1
EICRB = (1<<ISC60) | (1<<ISC50); // 01 = interrupt on any edge
EIFR = (3<<INTF5); // clear the int. flag in case it got set when changing modes
// encoder 2
EICRA = (1<<ISC30) | (1<<ISC20); // do the same for encoder 1
EIFR = (3<<INTF2);
EIMSK = (3<<INT5) | (3<<INT2); // enable the two rot. enc. ext. int. pairs.
/***************************************************/
#endif
/***********************************************************/
/*** Keep this code block directly before the main loop ****/
setupPulses();
#if defined (PCBV4)
OCR1B = 0xffff; /* Prevent any PPM_PUT pin toggle before the TCNT1 interrupt
fires for the first time and sets up the pulse period. */
// TCCR1A |= (1<<COM1B0); // (COM1B1=0 and COM1B0=1 in TCCR1A) toogle the state of PB6(OC1B) on each TCNT1==OCR1B
TCCR1A = (3<<COM1B0); // Connect OC1B to PPM_OUT pin (SET the state of PB6(OC1B) on next TCNT1==OCR1B)
#else
//addon Vinceofdrink@gmail (hardware ppm)
# if defined (DPPMPB7_HARDWARE)
OCR1C = 0xffff; // See comment for PCBV4, above
TCCR1A |= (1<<COM1C0); // (COM1C1=0 and COM1C0=1 in TCCR1A) toogle the state of PB7(OC1C) on each TCNT1==OCR1C
# endif
#endif
#if defined (PCBV3)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#endif
wdt_enable(WDTO_500MS);
/*** Keep this code block directly before the main loop ****/
/***********************************************************/
while(1){
uint16_t t0 = getTmr16KHz();
getADC[g_eeGeneral.filterInput]();