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Small RAM saving.

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Some code ported for the ersky9x board
Mavlink port commited
This commit is contained in:
bsongis
2012-03-21 18:31:00 +00:00
parent 45c685fab7
commit 2e5cf5a4f3
16 changed files with 16369 additions and 258 deletions
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src/drivers.cpp
+1 -216
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@@ -105,32 +105,6 @@ uint8_t getEvent()
return evt;
}
class Key
{
#define FILTERBITS 4
#ifdef SIMU
#define FFVAL 1
#else
#define FFVAL ((1<<FILTERBITS)-1)
#endif
#define KSTATE_OFF 0
#define KSTATE_RPTDELAY 95 // gruvin: delay state before key repeating starts
//#define KSTATE_SHORT 96
#define KSTATE_START 97
#define KSTATE_PAUSE 98
#define KSTATE_KILLED 99
uint8_t m_vals:FILTERBITS; // key debounce? 4 = 40ms
uint8_t m_dblcnt:2;
uint8_t m_cnt;
uint8_t m_state;
public:
void input(bool val, EnumKeys enuk);
bool state() { return m_vals==FFVAL; }
void pauseEvents() { m_state = KSTATE_PAUSE; m_cnt = 0;}
void killEvents() { m_state = KSTATE_KILLED; m_dblcnt=0; }
uint8_t getDbl() { return m_dblcnt; }
};
Key keys[NUM_KEYS];
void Key::input(bool val, EnumKeys enuk)
{
@@ -199,121 +173,6 @@ void Key::input(bool val, EnumKeys enuk)
}
}
bool keyState(EnumKeys enuk)
{
uint8_t result = 0 ;
if (enuk < (int)DIM(keys))
return keys[enuk].state() ? 1 : 0;
#if defined (PCBV4)
switch(enuk){
case SW_ElevDR:
result = PINC & (1<<INP_C_ElevDR);
break;
case SW_AileDR:
result = PINC & (1<<INP_C_AileDR);
break;
case SW_RuddDR:
result = PING & (1<<INP_G_RuddDR);
break;
// INP_G_ID1 INP_B_ID2
// id0 0 1
// id1 1 1
// id2 1 0
case SW_ID0:
result = !(PING & (1<<INP_G_ID1));
break;
case SW_ID1:
result = (PING & (1<<INP_G_ID1))&& (PINB & (1<<INP_B_ID2));
break;
case SW_ID2:
result = !(PINB & (1<<INP_B_ID2));
break;
case SW_Gear:
result = PING & (1<<INP_G_Gear);
break;
case SW_ThrCt:
result = PING & (1<<INP_G_ThrCt);
break;
case SW_Trainer:
result = PINB & (1<<INP_B_Trainer);
break;
default:
break;
}
#else
switch(enuk){
case SW_ElevDR:
result = PINE & (1<<INP_E_ElevDR);
break;
#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
case SW_AileDR:
result = PINC & (1<<INP_C_AileDR); //shad974: rerouted inputs to free up UART0
break;
#else
case SW_AileDR:
result = PINE & (1<<INP_E_AileDR);
break;
#endif
case SW_RuddDR:
result = PING & (1<<INP_G_RuddDR);
break;
// INP_G_ID1 INP_E_ID2
// id0 0 1
// id1 1 1
// id2 1 0
case SW_ID0:
result = !(PING & (1<<INP_G_ID1));
break;
case SW_ID1:
result = (PING & (1<<INP_G_ID1))&& (PINE & (1<<INP_E_ID2));
break;
case SW_ID2:
result = !(PINE & (1<<INP_E_ID2));
break;
case SW_Gear:
result = PINE & (1<<INP_E_Gear);
break;
//case SW_ThrCt : return PINE & (1<<INP_E_ThrCt);
#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
case SW_ThrCt:
result = PINC & (1<<INP_C_ThrCt); //shad974: rerouted inputs to free up UART0
break;
#else
case SW_ThrCt:
result = PINE & (1<<INP_E_ThrCt);
break;
#endif
case SW_Trainer:
result = PINE & (1<<INP_E_Trainer);
break;
default:
break;
}
#endif // defined (PCBV4)
return result;
}
void pauseEvents(uint8_t event)
{
event=event & EVT_KEY_MASK;
@@ -338,8 +197,6 @@ void per10ms()
g_tmr10ms++;
g_blinkTmr10ms++;
uint8_t enuk = KEY_MENU;
#if defined (PCBV4)
/* Update gloabal Date/Time every 100 per10ms cycles */
if (++g_ms100 == 100)
@@ -347,81 +204,9 @@ void per10ms()
g_unixTime++; // inc global unix timestamp one second
g_ms100 = 0;
}
/* Original keys were connected to PORTB as follows:
Bit Key
7 other use
6 LEFT
5 RIGHT
4 UP
3 DOWN
2 EXIT
1 MENU
0 other use
*/
keys[BTN_RE1].input(~PIND & 0x20, BTN_RE1);
keys[BTN_RE2].input(~PIND & 0x10, BTN_RE2);
uint8_t tin = ~PINL;
uint8_t in;
in = (tin & 0x0f) << 3;
in |= (tin & 0x30) >> 3;
#else
// User buttons ...
uint8_t in = ~PINB;
#endif
for(int i=1; i<7; i++)
{
//INP_B_KEY_MEN 1 .. INP_B_KEY_LFT 6
keys[enuk].input(in & (1<<i),(EnumKeys)enuk);
++enuk;
}
// End User buttons
// Trim switches ...
#if defined (PCBV4)
static const pm_uchar crossTrim[] PROGMEM ={
1<<INP_J_TRM_LH_DWN,
1<<INP_J_TRM_LH_UP,
1<<INP_J_TRM_LV_DWN,
1<<INP_J_TRM_LV_UP,
1<<INP_J_TRM_RV_DWN,
1<<INP_J_TRM_RV_UP,
1<<INP_J_TRM_RH_DWN,
1<<INP_J_TRM_RH_UP
};
#else // stock original board ...
static const pm_uchar crossTrim[] PROGMEM ={
1<<INP_D_TRM_LH_DWN, // bit 7
1<<INP_D_TRM_LH_UP,
1<<INP_D_TRM_LV_DWN,
1<<INP_D_TRM_LV_UP,
1<<INP_D_TRM_RV_DWN,
1<<INP_D_TRM_RV_UP,
1<<INP_D_TRM_RH_DWN,
1<<INP_D_TRM_RH_UP // bit 0
};
#endif
#if defined (PCBV4)
in = ~PINJ;
#else
in = ~PIND;
#endif
for (int i=0; i<8; i++) {
// INP_D_TRM_RH_UP 0 .. INP_D_TRM_LH_UP 7
keys[enuk].input(in & pgm_read_byte(crossTrim+i),(EnumKeys)enuk);
++enuk;
}
// End Trim Switches
/**** END KEY STATE READ ****/
readKeysAndTrims();
#ifdef MAVLINK
check_mavlink() ;