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Makefile now ok with the ersky9x board

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This commit is contained in:
bsongis
2012-03-23 23:46:41 +00:00
parent bdda7c3ddf
commit 35ba45c1d5
12 changed files with 900 additions and 394 deletions
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src/beeper.h
+11
View File
@@ -44,6 +44,17 @@ extern bool warbleC;
extern uint8_t hapticTick;
#endif
#if defined(PCBARM)
#include "ersky9x/sound.h"
inline void _beep(uint8_t b) {
buzzer_sound(b);
}
#else
inline void _beep(uint8_t b) {
g_beepCnt = b;
}
#endif
extern void beep(uint8_t val);
#define AUDIO_KEYPAD_UP() beep(0)
src/board_ersky9x.cpp
+267 -132
View File
@@ -32,6 +32,34 @@
*/
#include "open9x.h"
#include "AT91SAM3S2.h"
#include "core_cm3.h"
uint32_t Master_frequency ;
/** Console baudrate 9600. */
#define CONSOLE_BAUDRATE 9600
/** Usart Hw interface used by the console (UART0). */
#define CONSOLE_USART UART0
/** Usart Hw ID used by the console (UART0). */
#define CONSOLE_ID ID_UART0
/** Pins description corresponding to Rxd,Txd, (UART pins) */
#define CONSOLE_PINS {PINS_UART}
/** Second serial baudrate 9600. */
#define SECOND_BAUDRATE 9600
/** Usart Hw interface used by the console (UART0). */
#define SECOND_USART USART0
/** Usart Hw ID used by the console (UART0). */
#define SECOND_ID ID_USART0
/** Pins description corresponding to Rxd,Txd, (UART pins) */
#define SECOND_PINS {PINS_USART0}
#define BT_USART UART1
#define BT_ID ID_UART1
#define CPU_INT int32_t
#define CPU_UINT uint32_t
#ifdef REVB
inline void init_soft_power()
@@ -288,6 +316,36 @@ inline void start_timer0()
ptc->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
}
// TODO where used
volatile uint32_t Tenms ;
extern "C" void TC2_IRQHandler()
{
register uint32_t dummy;
static uint32_t pre_scale ; // Used to get 10 Hz counter
/* Clear status bit to acknowledge interrupt */
dummy = TC0->TC_CHANNEL[2].TC_SR;
(void) dummy ; // Discard value - prevents compiler warning
Tenms |= 1 ; // 10 mS has passed
/* TODO if ( Buzzer_count )
{
if ( --Buzzer_count == 0 )
{
buzzer_off() ;
}
} */
if ( ++pre_scale >= 10 )
{
// TODO needed? Timer2_count += 1 ;
pre_scale = 0 ;
}
per10ms();
// heartbeat |= HEART_TIMER10ms;
}
// Settings for mode register ADC_MR
// USEQ off - silicon problem, doesn't work
// TRANSFER = 1
@@ -413,71 +471,6 @@ void init_pwm()
#endif
}
inline void start_sound()
{
register Pio *pioptr ;
start_timer1() ;
init_dac() ;
init_twi() ;
pioptr = PIOA ;
#ifdef REVB
pioptr->PIO_CODR = 0x02000000L ; // Set bit A25 OFF
pioptr->PIO_PER = 0x02000000L ; // Enable bit A25 (Stock buzzer)
pioptr->PIO_OER = 0x02000000L ; // Set bit A25 as output
#else
pioptr->PIO_CODR = 0x00010000L ; // Set bit A16 OFF
pioptr->PIO_PER = 0x00010000L ; // Enable bit A16 (Stock buzzer)
pioptr->PIO_OER = 0x00010000L ; // Set bit A16 as output
#endif
}
// SPI i/f to EEPROM (4Mb)
// Peripheral ID 21 (0x00200000)
// Connections:
// SS PA11 (peripheral A)
// MISO PA12 (peripheral A)
// MOSI PA13 (peripheral A)
// SCK PA14 (peripheral A)
// Set clock to 3 MHz, AT25 device is rated to 70MHz, 18MHz would be better
inline void init_spi()
{
register Pio *pioptr ;
register Spi *spiptr ;
register uint32_t timer ;
register uint8_t *p ;
uint8_t spi_buf[4] ;
PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
/* Configure PIO */
pioptr = PIOA ;
pioptr->PIO_ABCDSR[0] &= ~0x00007800 ; // Peripheral A bits 14,13,12,11
pioptr->PIO_ABCDSR[1] &= ~0x00007800 ; // Peripheral A
pioptr->PIO_PDR = 0x00007800 ; // Assign to peripheral
spiptr = SPI ;
timer = ( Master_frequency / 3000000 ) << 8 ; // Baud rate 3Mb/s
spiptr->SPI_MR = 0x14000011 ; // 0001 0100 0000 0000 0000 0000 0001 0001 Master
spiptr->SPI_CSR[0] = 0x01180009 | timer ; // 0000 0001 0001 1000 xxxx xxxx 0000 1001
NVIC_EnableIRQ(SPI_IRQn) ;
p = spi_buf ;
// *p = 0x39 ; // Unprotect sector command
// *(p+1) = 0 ;
// *(p+2) = 0 ;
// *(p+3) = 0 ; // 3 bytes address
// spi_operation( p, spi_buf, 4 ) ;
eeprom_write_enable() ;
*p = 1 ; // Write status register command
*(p+1) = 0 ;
spi_operation( p, spi_buf, 2 ) ;
}
// LCD i/o pins
// LCD_RES PC27
// LCD_CS1 PC26
@@ -504,72 +497,11 @@ inline void init_spi()
#define LCD_CS1 0x04000000L
#define LCD_RES 0x08000000L
inline void lcd_init()
extern void start_sound(); // TODO elsewhere
void board_init()
{
register Pio *pioptr ;
// /home/thus/txt/datasheets/lcd/KS0713.pdf
// ~/txt/flieger/ST7565RV17.pdf from http://www.glyn.de/content.asp?wdid=132&sid=
#ifdef REVB
pioptr = PIOA ;
pioptr->PIO_PER = LCD_A0 ; // Enable bit 7 (LCD-A0)
pioptr->PIO_CODR = LCD_A0 ;
pioptr->PIO_OER = LCD_A0 ; // Set bit 7 output
pioptr = PIOC ;
pioptr->PIO_PER = 0x0C0030FFL ; // Enable bits 27,26,13,12,7-0
pioptr->PIO_CODR = LCD_E | LCD_RnW ;
pioptr->PIO_SODR = LCD_RES | LCD_CS1 ;
pioptr->PIO_OER = 0x0C0030FFL ; // Set bits 27,26,13,12,7-0 output
pioptr->PIO_OWER = 0x000000FFL ; // Allow write to ls 8 bits in ODSR
#else
pioptr = PIOC ;
pioptr->PIO_PER = 0x0C00B0FFL ; // Enable bits 27,26,15,13,12,7-0
pioptr->PIO_CODR = LCD_E | LCD_RnW | LCD_A0 ;
pioptr->PIO_SODR = LCD_RES | LCD_CS1 ;
pioptr->PIO_OER = 0x0C00B0FFL ; // Set bits 27,26,15,13,12,7-0 output
pioptr->PIO_OWER = 0x000000FFL ; // Allow write to ls 8 bits in ODSR
#endif
pioptr->PIO_CODR = LCD_RES ; // Reset LCD
TC0->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
while ( TC0->TC_CHANNEL[0].TC_CV < 12 ) // 2 uS, Value depends on MCK/2 (used 6MHz)
{
// Wait
}
pioptr->PIO_SODR = LCD_RES ; // Remove LCD reset
TC0->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
while ( TC0->TC_CHANNEL[0].TC_CV < 9000 ) // 1500 uS, Value depends on MCK/2 (used 6MHz)
{
// Wait
}
lcdSendCtl(0xe2); //Initialize the internal functions
lcdSendCtl(0xae); //DON = 0: display OFF
lcdSendCtl(0xa1); //ADC = 1: reverse direction(SEG132->SEG1)
lcdSendCtl(0xA6); //REV = 0: non-reverse display
lcdSendCtl(0xA4); //EON = 0: normal display. non-entire
lcdSendCtl(0xA2); // Select LCD bias=0
lcdSendCtl(0xC0); //SHL = 0: normal direction (COM1->COM64)
lcdSendCtl(0x2F); //Control power circuit operation VC=VR=VF=1
lcdSendCtl(0x25); //Select int resistance ratio R2 R1 R0 =5
lcdSendCtl(0x81); //Set reference voltage Mode
lcdSendCtl(0x22); // 24 SV5 SV4 SV3 SV2 SV1 SV0 = 0x18
lcdSendCtl(0xAF); //DON = 1: display ON
// g_eeGeneral.contrast = 0x22;
#ifdef REVB
pioptr->PIO_ODR = 0x0000003AL ; // Set bits 1, 3, 4, 5 input
pioptr->PIO_PUER = 0x0000003AL ; // Set bits 1, 3, 4, 5 with pullups
pioptr->PIO_ODSR = 0 ; // Drive D0 low
#else
pioptr->PIO_ODR = 0x0000003CL ; // Set bits 2, 3, 4, 5 input
pioptr->PIO_PUER = 0x0000003CL ; // Set bits 2, 3, 4, 5 with pullups
pioptr->PIO_ODSR = 0 ; // Drive D0 low
#endif
}
inline void board_init()
{
register uint32_t goto_usb ;
// register uint32_t goto_usb ;
register Pio *pioptr ;
// Debug variable
// uint32_t both_on ;
@@ -650,10 +582,166 @@ inline void board_init()
start_sound() ;
init_spi() ;
// init_spi() ; // TODO in eeprom_arm
}
inline uint8_t keyDown()
/*TODO not here...*/
void eeDirty(uint8_t msk) { }
void eeCheck(bool immediately) {}
uint16_t eeLoadModelName(uint8_t id, char *name)
{
memset(name, 0, sizeof(g_model.name));
return 0;
}
int8_t eeFindEmptyModel(uint8_t id, bool down) { return 0;}
void eeLoadModel(uint8_t id) {}
void eeReadAll()
{
generalDefault();
modelDefault(0);
}
uint16_t getTmr2MHz()
{
return TC1->TC_CHANNEL[0].TC_CV ;
}
// keys:
// KEY_EXIT PA31 (PC24)
// KEY_MENU PB6 (PB5)
// KEY_DOWN LCD5 PC3 (PC5)
// KEY_UP LCD6 PC2 (PC1)
// KEY_RIGHT LCD4 PC4 (PC4)
// KEY_LEFT LCD3 PC5 (PC3)
// Reqd. bit 6 LEFT, 5 RIGHT, 4 UP, 3 DOWN 2 EXIT 1 MENU
// LCD pins 5 DOWN, 4 RIGHT, 3 LEFT, 1 UP
uint32_t read_keys()
{
register uint32_t x ;
register uint32_t y ;
x = PIOC->PIO_PDSR << 1 ; // 6 LEFT, 5 RIGHT, 4 DOWN, 3 UP ()
#ifdef REVB
y = x & 0x00000020 ; // RIGHT
if ( x & 0x00000004 )
{
y |= 0x00000010 ; // UP
}
if ( x & 0x00000010 )
{
y |= 0x00000040 ; // LEFT
}
if ( x & 0x00000040 )
{
y |= 0x00000008 ; // DOWN
}
#else
y = x & 0x00000060 ;
if ( x & 0x00000008 )
{
y |= 0x00000010 ;
}
if ( x & 0x00000010 )
{
y |= 0x00000008 ;
}
#endif
#ifdef REVB
if ( PIOC->PIO_PDSR & 0x01000000 )
#else
if ( PIOA->PIO_PDSR & 0x80000000 )
#endif
{
y |= 4 ; // EXIT
}
#ifdef REVB
if ( PIOB->PIO_PDSR & 0x000000020 )
#else
if ( PIOB->PIO_PDSR & 0x000000040 )
#endif
{
y |= 2 ; // MENU
}
return y ;
}
uint32_t read_trims()
{
uint32_t trims ;
trims = 0 ;
// TRIM_LH_DOWN PA7 (PA23)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00800000 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x0080 ) == 0 )
#endif
{
trims |= 1 ;
}
// TRIM_LH_UP PB4
if ( ( PIOB->PIO_PDSR & 0x10 ) == 0 )
{
trims |= 2 ;
}
// TRIM_LV_DOWN PA27 (PA24)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x01000000 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x08000000 ) == 0 )
#endif
{
trims |= 4 ;
}
// TRIM_LV_UP PC28
if ( ( PIOC->PIO_PDSR & 0x10000000 ) == 0 )
{
trims |= 8 ;
}
// TRIM_RV_DOWN PC10
if ( ( PIOC->PIO_PDSR & 0x00000400 ) == 0 )
{
trims |= 0x10 ;
}
// TRIM_RV_UP PA30 (PA1)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00000002 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x40000000 ) == 0 )
#endif
{
trims |= 0x20 ;
}
// TRIM_RH_DOWN PA29 (PA0)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00000001 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x20000000 ) == 0 )
#endif
{
trims |= 0x40 ;
}
// TRIM_RH_UP PC9
if ( ( PIOC->PIO_PDSR & 0x00000200 ) == 0 )
{
trims |= 0x80 ;
}
return trims ;
}
uint8_t keyDown()
{
return ~read_keys() & 0x7E ;
}
@@ -752,3 +840,50 @@ void read_9_adc()
// Power save
// PMC->PMC_PCER0 &= ~0x20000000L ; // Disable peripheral clock to ADC
}
void readKeysAndTrims()
{
register uint32_t i ;
if ( PIOC->PIO_ODSR & 0x00080000 )
{
PIOC->PIO_CODR = 0x00200000L ; // Set bit C19 OFF
}
else
{
PIOC->PIO_SODR = 0x00200000L ; // Set bit C19 ON
}
uint8_t enuk = KEY_MENU;
uint8_t in = ~read_keys() ;
for( i=1; i<7; i++)
{
//INP_B_KEY_MEN 1 .. INP_B_KEY_LFT 6
keys[enuk].input(in & (1<<i),(EnumKeys)enuk);
++enuk;
}
// static const uint8_t crossTrim[]={
// 1<<INP_D_TRM_LH_DWN,
// 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
// };
in = read_trims() ;
for( i=1; i<256; i<<=1)
{
// INP_D_TRM_RH_UP 0 .. INP_D_TRM_LH_UP 7
keys[enuk].input(in & i,(EnumKeys)enuk);
++enuk;
}
}
void end_ppm_capture()
{
TC1->TC_CHANNEL[0].TC_IDR = TC_IDR0_LDRAS ;
NVIC_DisableIRQ(TC3_IRQn) ;
}
src/eeprom_arm.cpp
+151 -12
View File
@@ -21,9 +21,7 @@
#include "inttypes.h"
#include "string.h"
extern PROGMEM s9xsplash[] ;
volatile uint32_t Spi_complete ;
// Logic for storing to EERPOM/loading from EEPROM
// If main needs to wait for the eeprom, call mainsequence without actioning menus
@@ -265,6 +263,105 @@ void ee32_update_name( uint32_t id, uint8_t *source )
}
}
uint32_t spi_PDC_action( register uint8_t *command, register uint8_t *tx, register uint8_t *rx, register uint32_t comlen, register uint32_t count )
{
register Spi *spiptr ;
// register uint32_t result ;
register uint32_t condition ;
static uint8_t discard_rx_command[4] ;
// PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
Spi_complete = 0 ;
if ( comlen > 4 )
{
Spi_complete = 1 ;
return 0x4FFFF ;
}
condition = SPI_SR_TXEMPTY ;
spiptr = SPI ;
spiptr->SPI_CR = 1 ; // Enable
(void) spiptr->SPI_RDR ; // Dump any rx data
(void) spiptr->SPI_SR ; // Clear error flags
spiptr->SPI_RPR = (uint32_t)discard_rx_command ;
spiptr->SPI_RCR = comlen ;
if ( rx )
{
spiptr->SPI_RNPR = (uint32_t)rx ;
spiptr->SPI_RNCR = count ;
condition = SPI_SR_RXBUFF ;
}
spiptr->SPI_TPR = (uint32_t)command ;
spiptr->SPI_TCR = comlen ;
if ( tx )
{
spiptr->SPI_TNPR = (uint32_t)tx ;
}
else
{
spiptr->SPI_TNPR = (uint32_t)rx ;
}
spiptr->SPI_TNCR = count ;
spiptr->SPI_PTCR = SPI_PTCR_RXTEN | SPI_PTCR_TXTEN ; // Start transfers
// Wait for things to get started, avoids early interrupt
for ( count = 0 ; count < 1000 ; count += 1 )
{
if ( ( spiptr->SPI_SR & SPI_SR_TXEMPTY ) == 0 )
{
break ;
}
}
spiptr->SPI_IER = condition ;
return 0 ;
}
uint32_t eeprom_write_one( uint8_t byte, uint8_t count )
{
register Spi *spiptr ;
register uint32_t result ;
spiptr = SPI ;
spiptr->SPI_CR = 1 ; // Enable
(void) spiptr->SPI_RDR ; // Dump any rx data
spiptr->SPI_TDR = byte ;
result = 0 ;
while( ( spiptr->SPI_SR & SPI_SR_RDRF ) == 0 )
{
// wait for received
if ( ++result > 10000 )
{
break ;
}
}
if ( count == 0 )
{
spiptr->SPI_CR = 2 ; // Disable
return spiptr->SPI_RDR ;
}
(void) spiptr->SPI_RDR ; // Dump the rx data
spiptr->SPI_TDR = 0 ;
result = 0 ;
while( ( spiptr->SPI_SR & SPI_SR_RDRF ) == 0 )
{
// wait for received
if ( ++result > 10000 )
{
break ;
}
}
spiptr->SPI_CR = 2 ; // Disable
return spiptr->SPI_RDR ;
}
void eeprom_write_enable()
{
eeprom_write_one( 6, 0 ) ;
}
// Read eeprom data starting at random address
uint32_t read32_eeprom_data( uint32_t eeAddress, register uint8_t *buffer, uint32_t size, uint32_t immediate )
@@ -435,15 +532,9 @@ bool ee32LoadGeneral()
read32_eeprom_data( ( File_system[0].block_no << 12) + sizeof( struct t_eeprom_header), ( uint8_t *)&g_eeGeneral, size, 0 ) ;
}
for(uint8_t i=0; i<sizeof(g_eeGeneral.ownerName);i++) // makes sure name is valid
{
uint8_t idx = char2idx(g_eeGeneral.ownerName[i]);
g_eeGeneral.ownerName[i] = idx2char(idx);
}
if(g_eeGeneral.myVers<MDVERS)
/*if(g_eeGeneral.myVers<MDVERS)
sysFlags |= sysFLAG_OLD_EEPROM; // if old EEPROM - Raise flag
*/
g_eeGeneral.myVers = MDVERS; // update myvers
uint16_t sum=0;
@@ -539,6 +630,54 @@ void fill_file_index()
}
}
// TODO => eeprom_arm
// SPI i/f to EEPROM (4Mb)
// Peripheral ID 21 (0x00200000)
// Connections:
// SS PA11 (peripheral A)
// MISO PA12 (peripheral A)
// MOSI PA13 (peripheral A)
// SCK PA14 (peripheral A)
// Set clock to 3 MHz, AT25 device is rated to 70MHz, 18MHz would be better
void init_spi()
{
register Pio *pioptr ;
register Spi *spiptr ;
register uint32_t timer ;
register uint8_t *p ;
uint8_t spi_buf[4] ;
PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
/* Configure PIO */
pioptr = PIOA ;
pioptr->PIO_ABCDSR[0] &= ~0x00007800 ; // Peripheral A bits 14,13,12,11
pioptr->PIO_ABCDSR[1] &= ~0x00007800 ; // Peripheral A
pioptr->PIO_PDR = 0x00007800 ; // Assign to peripheral
spiptr = SPI ;
timer = ( Master_frequency / 3000000 ) << 8 ; // Baud rate 3Mb/s
spiptr->SPI_MR = 0x14000011 ; // 0001 0100 0000 0000 0000 0000 0001 0001 Master
spiptr->SPI_CSR[0] = 0x01180009 | timer ; // 0000 0001 0001 1000 xxxx xxxx 0000 1001
NVIC_EnableIRQ(SPI_IRQn) ;
p = spi_buf ;
// *p = 0x39 ; // Unprotect sector command
// *(p+1) = 0 ;
// *(p+2) = 0 ;
// *(p+3) = 0 ; // 3 bytes address
// spi_operation( p, spi_buf, 4 ) ;
eeprom_write_enable() ;
*p = 1 ; // Write status register command
*(p+1) = 0 ;
spi_operation( p, spi_buf, 2 ) ;
}
void init_ee32()
{
fill_file_index() ;
@@ -1458,5 +1597,5 @@ uint32_t unprotect_eeprom()
//}
}
src/ersky9x/sam3s2c_flash.ld
+144
View File
@@ -0,0 +1,144 @@
/****************************************************************************
* Copyright (c) 2011 by Michael Fischer. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the author nor the names of its contributors may
* be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
* THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
* THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
*****************************************************************************
* History:
*
* 22.05.2011 mifi First Version
****************************************************************************/
/*
* In this linker script there is no heap available.
* The stack start at the end of the ram segment.
*/
/*
* Take a look in the "The GNU linker" manual, here you get
* the following information about the "MEMORY":
*
* "The MEMORY command describes the location and size of
* blocks of memory in the target."
*/
MEMORY
{
FLASH (rx) : ORIGIN = 0x00400000, LENGTH = 128K
RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 32K
}
/*
* And the "SECTION" is used for:
*
* "The SECTIONS command tells the linker how to map input
* sections into output sections, and how to place the output
* sections in memory.
*/
SECTIONS
{
/*
* The ".text" section is used for the code, and
* read only (.rodata) data. Even the vectors (.vectors)
* MUST be saved at the start of this section.
*/
.text :
{
_stext = .; /* Provide the name for the start of this section */
CREATE_OBJECT_SYMBOLS
KEEP(*(.vectors))
*(.text)
*(.text.*)
. = ALIGN(4); /* Align the start of the exidx part */
*(.ARM.exidx)
*(.ARM.exidx.*)
. = ALIGN(4); /* Align the start of the rodata part */
*(.rodata)
*(.rodata.*)
. = ALIGN(4); /* Align the end of the section */
} > FLASH = 0
_etext = .; /* Provide the name for the end of this section */
/*
* The ".data" section is used for initialized data
* and for functions (.fastrun) which should be copied
* from flash to ram. This functions will later be
* executed from ram instead of flash.
*/
.data : AT (_etext)
{
. = ALIGN(4); /* Align the start of the section */
_sdata = .; /* Provide the name for the start of this section */
*(.data)
*(.data.*)
. = ALIGN(4); /* Align the start of the fastrun part */
*(.fastrun)
*(.fastrun.*)
. = ALIGN(4); /* Align the end of the section */
} > RAM
_edata = .; /* Provide the name for the end of this section */
/*
* The ".bss" section is used for uninitialized data.
* This section will be cleared by the startup code.
*/
.bss :
{
. = ALIGN(4); /* Align the start of the section */
_sbss = .; /* Provide the name for the start of this section */
*(.bss)
*(.bss.*)
. = ALIGN(4); /* Align the end of the section */
} > RAM
_ebss = .; /* Provide the name for the end of this section */
/*
* The ".stack" section is our stack.
* Here this section starts at the end of the ram segment.
*/
_estack = ORIGIN(RAM) + LENGTH(RAM);
}
/*** EOF **/
src/ersky9x/sound.cpp
+22 -2
View File
@@ -91,6 +91,20 @@ uint16_t Sine_values64[] =
633, 779, 936,1105,1282,1467,1657,1851
} ;
const uint16_t PianoTones[] =
{
28, 29, 31, 33, 35, 37, 39, 41, 44, 46,
49, 52, 55, 58, 62, 65, 69, 73, 78, 82,
87, 92, 98, 104, 110, 117, 123, 131, 139, 147,
156, 165, 175, 185, 196, 208, 220, 233, 247, 262,
277, 294, 311, 330, 349, 370, 392, 415, 440, 466,
494, 523, 554, 587, 622, 659, 698, 740, 784, 831,
880, 932, 988, 1047, 1109, 1175, 1245, 1319, 1397, 1480,
1568, 1661, 1760, 1865, 1976, 2093, 2217, 2349, 2489, 2637,
2794, 2960, 3136, 3322, 3520 ,3729, 3951, 4186
} ;
// Sound routines
void start_sound()
@@ -244,6 +258,14 @@ void end_sound()
PMC->PMC_PCER0 &= ~0x40000000L ; // Disable peripheral clock to DAC
}
void playTone( uint32_t frequency, uint32_t time )
{
set_frequency( frequency ) ;
tone_start( time ) ;
}
// Time is in milliseconds
void tone_start( register uint32_t time )
{
@@ -340,5 +362,3 @@ void audioDefevent(uint8_t e)
}
src/ersky9x/sound.h
+1 -25
View File
@@ -33,31 +33,6 @@
****************************************************************************/
/* make sure the defines below always go in numeric order */
#define AUDIO_TADA (0)
#define AUDIO_WARNING1 (1)
#define AUDIO_WARNING2 (2)
#define AUDIO_WARNING3 (3)
#define AUDIO_ERROR (4)
#define AUDIO_KEYPAD_UP (5)
#define AUDIO_KEYPAD_DOWN (6)
#define AUDIO_TRIM_MOVE (7)
#define AUDIO_TRIM_MIDDLE (8)
#define AUDIO_MENUS (9)
#define AUDIO_POT_STICK_MIDDLE (10)
#define AUDIO_MIX_WARNING_1 (11)
#define AUDIO_MIX_WARNING_2 (12)
#define AUDIO_MIX_WARNING_3 (13)
#define AUDIO_TIMER_30 (14)
#define AUDIO_TIMER_20 (15)
#define AUDIO_TIMER_10 (16)
#define AUDIO_TIMER_LT3 (17)
#define AUDIO_INACTIVITY (18)
#define AUDIO_TX_BATTERY_LOW (19)
#define NUM_VOL_LEVELS 24
extern volatile uint8_t Buzzer_count ;
@@ -72,6 +47,7 @@ extern void start_timer1( void ) ;
extern void init_dac( void ) ;
extern "C" void DAC_IRQHandler( void ) ;
extern void end_sound( void ) ;
extern void playTone( uint32_t frequency, uint32_t time ) ;
extern void tone_start( register uint32_t time ) ;
extern void tone_stop( void ) ;
extern void init_twi( void ) ;
src/ersky9x/vectors_sam3s.c
+3 -3
View File
@@ -177,18 +177,18 @@ void PIOC_IRQHandler (void) { while(1); }
void USART0_IRQHandler (void) { while(1); }
void USART1_IRQHandler (void) { while(1); }
void MCI_IRQHandler (void) { while(1); }
void TWI0_IRQHandler (void) { while(1); }
// void TWI0_IRQHandler (void) { while(1); }
void TWI1_IRQHandler (void) { while(1); }
void SPI_IRQHandler (void) { while(1); }
void SSC_IRQHandler (void) { while(1); }
void TC0_IRQHandler (void) { while(1); }
void TC1_IRQHandler (void) { while(1); }
void TC2_IRQHandler (void) { while(1); }
// void TC2_IRQHandler (void) { while(1); }
void TC3_IRQHandler (void) { while(1); }
void TC4_IRQHandler (void) { while(1); }
void TC5_IRQHandler (void) { while(1); }
void ADC_IRQHandler (void) { while(1); }
void DAC_IRQHandler (void) { while(1); }
// void DAC_IRQHandler (void) { while(1); }
void PWM_IRQHandler (void) { while(1); }
void CRCCU_IRQHandler (void) { while(1); }
void ACC_IRQHandler (void) { while(1); }
src/somo14d.cpp → src/gruvin9x/somo14d.cpp
View File
src/somo14d.h → src/gruvin9x/somo14d.h
View File
src/open9x.cpp
+286 -215
View File
@@ -50,8 +50,8 @@ gtime_t g_unixTime; // Global date/time register, incremented each second in per
EEGeneral g_eeGeneral;
ModelData g_model;
uint8_t g_tmr1Latency_max;
uint8_t g_tmr1Latency_min;
uint8_t g_tmr1Latency_max;
uint8_t g_tmr1Latency_min;
uint16_t g_timeMain;
#ifdef DEBUG
uint16_t g_time_per10;
@@ -318,13 +318,13 @@ int16_t Expo::expo(int16_t x)
#endif
void applyExpos(int16_t *anas, uint8_t phase)
void applyExpos(int16_t *anas, uint8_t phase)
{
static int16_t anas2[NUM_STICKS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
if (phase == 255)
phase = getFlightPhase();
if (phase == 255)
phase = getFlightPhase();
int8_t cur_chn = -1;
for (uint8_t i=0; i<MAX_EXPOS; i++) {
@@ -563,7 +563,7 @@ void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim)
STORE_MODELVARS;
}
uint8_t getTrimFlightPhase(uint8_t idx, uint8_t phase)
uint8_t getTrimFlightPhase(uint8_t idx, uint8_t phase)
{
for (uint8_t i=0; i<MAX_PHASES; i++) {
if (phase == 0) return 0;
@@ -786,7 +786,7 @@ uint8_t checkTrim(uint8_t event)
if (k>=0 && k<8) { // && (event & _MSK_KEY_REPT))
//LH_DWN LH_UP LV_DWN LV_UP RV_DWN RV_UP RH_DWN RH_UP
uint8_t idx = CONVERT_MODE(1+k/2) - 1;
uint8_t phase = getTrimFlightPhase(idx, getFlightPhase());
uint8_t phase = getTrimFlightPhase(idx, getFlightPhase());
int16_t before = getTrimValue(phase, idx);
int8_t v = (s==0) ? min(32, abs(before)/4+1) : 1 << (s-1); // 1=>1 2=>2 3=>4 4=>8
bool thro = (idx==THR_STICK && g_model.thrTrim);
@@ -896,16 +896,16 @@ void getADC_filt()
#else
void getADC_filt()
{
static uint16_t t_ana[2][8];
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
static uint16_t t_ana[2][8];
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
ADMUX=adc_input|ADC_VREF_TYPE;
// Start the AD conversion
ADCSRA|=0x40;
// Do this while waiting
s_anaFilt[adc_input] = (s_anaFilt[adc_input]/2 + t_ana[1][adc_input]) & 0xFFFE; //gain of 2 on last conversion - clear last bit
t_ana[1][adc_input] = (t_ana[1][adc_input] + t_ana[0][adc_input]) >> 1;
// Do this while waiting
s_anaFilt[adc_input] = (s_anaFilt[adc_input]/2 + t_ana[1][adc_input]) & 0xFFFE; //gain of 2 on last conversion - clear last bit
t_ana[1][adc_input] = (t_ana[1][adc_input] + t_ana[0][adc_input]) >> 1;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
@@ -942,20 +942,20 @@ void getADC_osmp()
#else
void getADC_osmp()
{
uint16_t temp_ana;
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
temp_ana = 0;
ADMUX = adc_input|ADC_VREF_TYPE;
uint16_t temp_ana;
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
temp_ana = 0;
ADMUX = adc_input|ADC_VREF_TYPE;
for (uint8_t i=0; i<4;i++) { // Going from 10bits to 11 bits. Addition = n. Loop 4^n times
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
temp_ana += ADCW;
temp_ana += ADCW;
}
s_anaFilt[adc_input] = temp_ana / 2; // divide by 2^n to normalize result.
s_anaFilt[adc_input] = temp_ana / 2; // divide by 2^n to normalize result.
}
}
#endif
@@ -975,7 +975,7 @@ void getADC_single()
#else
void getADC_single()
{
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
ADMUX=adc_input|ADC_VREF_TYPE;
// Start the AD conversion
ADCSRA|=0x40;
@@ -987,7 +987,7 @@ void getADC_single()
}
#endif
#if not defined(PCBARM)
#if not defined(PCBARM)
void getADC_bandgap()
{
#if defined (PCBV4)
@@ -1110,17 +1110,17 @@ int32_t act [MAX_MIXERS] = {0};
uint8_t swOn [MAX_MIXERS] = {0};
uint8_t mixWarning;
FORCEINLINE void evalTrims(uint8_t phase)
FORCEINLINE void evalTrims(uint8_t phase)
{
for (uint8_t i=0; i<NUM_STICKS; i++) {
// do trim -> throttle trim if applicable
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i, phase), i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
if (g_eeGeneral.throttleReversed)
trim = -trim;
int16_t v = anas[i];
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
int16_t v = anas[i];
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
@@ -1131,7 +1131,7 @@ FORCEINLINE void evalTrims(uint8_t phase)
}
bool s_noTrainerInput = false;
uint8_t evalSticks(uint8_t phase)
uint8_t evalSticks(uint8_t phase)
{
#ifdef HELI
uint16_t d = 0;
@@ -1162,10 +1162,10 @@ uint8_t evalSticks(uint8_t phase)
if(v < -RESX) v = -RESX;
if(v > RESX) v = RESX;
if (g_eeGeneral.throttleReversed && ch==THR_STICK)
v = -v;
if (g_eeGeneral.throttleReversed && ch==THR_STICK)
v = -v;
calibratedStick[ch] = v; //for show in expo
uint8_t tmp = (uint16_t)abs(v) / 16;
if (tmp <= 1) anaCenter |= (tmp==0 ? 1<<ch : bpanaCenter & (1<<ch));
@@ -1196,17 +1196,17 @@ uint8_t evalSticks(uint8_t phase)
}
/* EXPOs */
applyExpos(anas, phase);
applyExpos(anas, phase);
/* TRIMs */
evalTrims(phase);
evalTrims(phase);
return anaCenter;
}
#ifdef DEBUG
/*
* This is a test function for debugging purpose, you may insert there your code and compile with the option DEBUG=YES
* This is a test function for debugging purpose, you may insert there your code and compile with the option DEBUG=YES
*/
void testFunc()
{
@@ -1273,9 +1273,9 @@ void evalFunctions()
}
}
void perOut(uint8_t phase)
void perOut(uint8_t phase)
{
uint8_t anaCenter = evalSticks(phase);
uint8_t anaCenter = evalSticks(phase);
//===========BEEP CENTER================
anaCenter &= g_model.beepANACenter;
@@ -1509,11 +1509,11 @@ void perOut(uint8_t phase)
}
}
#ifdef DISPLAY_USER_DATA
char userDataDisplayBuf[TELEM_SCREEN_BUFFER_SIZE];
#endif
#ifdef DISPLAY_USER_DATA
char userDataDisplayBuf[TELEM_SCREEN_BUFFER_SIZE];
#endif
int32_t sum_chans512[NUM_CHNOUT] = {0};
int32_t sum_chans512[NUM_CHNOUT] = {0};
void perMain()
{
static uint16_t lastTMR;
@@ -1522,48 +1522,48 @@ void perMain()
lastTMR = tmr10ms;
#define MAX_ACT 0xffff
static uint16_t fp_act[MAX_PHASES] = {0};
static uint16_t delta = 0;
static uint8_t s_fade_flight_phases = 0;
static uint16_t fp_act[MAX_PHASES] = {0};
static uint16_t delta = 0;
static uint8_t s_fade_flight_phases = 0;
static uint8_t s_last_phase = 255;
uint8_t phase = getFlightPhase();
int32_t weight = 0;
if (s_last_phase != phase) {
if (s_last_phase == 255) {
fp_act[phase] = MAX_ACT;
if (s_last_phase != 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);
else {
uint8_t fadeTime = max(g_model.phaseData[s_last_phase].fadeOut, g_model.phaseData[phase].fadeIn);
if (fadeTime) {
s_fade_flight_phases |= (1<<s_last_phase) + (1<<phase);
s_fade_flight_phases |= (1<<s_last_phase) + (1<<phase);
delta = (MAX_ACT / 100) / fadeTime;
}
else {
fp_act[s_last_phase] = 0;
fp_act[phase] = MAX_ACT;
s_fade_flight_phases &= ~((1<<s_last_phase) + (1<<phase));
}
}
s_last_phase = phase;
}
}
else {
fp_act[s_last_phase] = 0;
fp_act[phase] = MAX_ACT;
s_fade_flight_phases &= ~((1<<s_last_phase) + (1<<phase));
}
}
s_last_phase = phase;
}
if (s_fade_flight_phases) {
memset(sum_chans512, 0, sizeof(sum_chans512));
memset(sum_chans512, 0, sizeof(sum_chans512));
weight = 0;
for (uint8_t p=0; p<MAX_PHASES; p++) {
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & (1<<p)) {
perOut(p);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] / 16) * fp_act[p];
weight += fp_act[p];
}
}
// printf("sum=%d, weight=%d ", sum_chans512[2], weight); fflush(stdout);
assert(weight);
weight += fp_act[p];
}
}
// printf("sum=%d, weight=%d ", sum_chans512[2], weight); fflush(stdout);
assert(weight);
}
else {
perOut(phase);
perOut(phase);
}
//========== LIMITS ===============
@@ -1616,8 +1616,8 @@ void perMain()
uint16_t val;
if (g_model.thrTraceSrc == 0) {
val = calibratedStick[THR_STICK]+RESX; // get throttle channel value
// val = (g_eeGeneral.throttleReversed ? RESX-val : val+RESX);
val = calibratedStick[THR_STICK]; // get throttle channel value
val = (g_eeGeneral.throttleReversed ? RESX-val : val+RESX);
}
else if (g_model.thrTraceSrc > NUM_POTS) {
val = RESX + g_chans512[g_model.thrTraceSrc-NUM_POTS-1];
@@ -1769,27 +1769,27 @@ void perMain()
}
// Timers end
if (s_fade_flight_phases) {
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & (1<<p)) {
if (p == phase) {
if (MAX_ACT - fp_act[p] > delta)
fp_act[p] += delta;
else {
fp_act[p] = MAX_ACT;
s_fade_flight_phases -= (1<<p);
}
}
else {
if (fp_act[p] > delta)
fp_act[p] -= delta;
else {
fp_act[p] = 0;
s_fade_flight_phases -= (1<<p);
}
}
}
}
if (s_fade_flight_phases) {
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & (1<<p)) {
if (p == phase) {
if (MAX_ACT - fp_act[p] > delta)
fp_act[p] += delta;
else {
fp_act[p] = MAX_ACT;
s_fade_flight_phases -= (1<<p);
}
}
else {
if (fp_act[p] > delta)
fp_act[p] -= delta;
else {
fp_act[p] = 0;
s_fade_flight_phases -= (1<<p);
}
}
}
}
}
evalFunctions();
@@ -1813,33 +1813,33 @@ void perMain()
#if defined (LOGS)
writeLogs();
#endif
#if defined(FRSKY) && defined(DISPLAY_USER_DATA)
char userDataRxBuffer[21]; // Temp buffer used to collect fr-sky user data
// retrieve bytes from user data buffer and insert into display string,
// scrolling at the 21 character mark (edge of screen)
uint8_t numbytes = frskyGetUserData(userDataRxBuffer, 21); // Get as many bytes as we can
static uint8_t displayBufferIndex;
for (uint8_t byt=0; byt < numbytes; byt++)
{
displayBufferIndex++;
if (displayBufferIndex > 20)
{
for (int xx=0; xx<20; xx++) // scroll one char left
userDataDisplayBuf[xx] = userDataDisplayBuf[xx+1];
displayBufferIndex = 20;
}
userDataDisplayBuf[displayBufferIndex] = userDataRxBuffer[byt];
// Write the raw byte out to log file, if open
if (testLogOpen && (g_oLogFile.fs != 0))
f_putc(userDataRxBuffer[byt], &g_oLogFile);
}
#endif
char userDataRxBuffer[21]; // Temp buffer used to collect fr-sky user data
// retrieve bytes from user data buffer and insert into display string,
// scrolling at the 21 character mark (edge of screen)
uint8_t numbytes = frskyGetUserData(userDataRxBuffer, 21); // Get as many bytes as we can
static uint8_t displayBufferIndex;
for (uint8_t byt=0; byt < numbytes; byt++)
{
displayBufferIndex++;
if (displayBufferIndex > 20)
{
for (int xx=0; xx<20; xx++) // scroll one char left
userDataDisplayBuf[xx] = userDataDisplayBuf[xx+1];
displayBufferIndex = 20;
}
userDataDisplayBuf[displayBufferIndex] = userDataRxBuffer[byt];
// Write the raw byte out to log file, if open
if (testLogOpen && (g_oLogFile.fs != 0))
f_putc(userDataRxBuffer[byt], &g_oLogFile);
}
#endif
lcd_clear();
uint8_t evt = getEvent();
evt = checkTrim(evt);
@@ -1853,23 +1853,23 @@ void perMain()
g_menuStack[g_menuStackPtr](evt);
refreshDisplay();
#if defined(PCBV4)
// PPM signal on phono-jack. In or out? ...
if(checkSlaveMode()) {
PORTG |= (1<<OUT_G_SIM_CTL); // 1=ppm out
}
else{
PORTG &= ~(1<<OUT_G_SIM_CTL); // 0=ppm in
}
#elif defined(PCBSTD)
#if defined(PCBV4)
// PPM signal on phono-jack. In or out? ...
if(checkSlaveMode()) {
PORTG |= (1<<OUT_G_SIM_CTL); // 1=ppm out
}
else{
PORTG &= ~(1<<OUT_G_SIM_CTL); // 0=ppm in
}
#elif defined(PCBSTD)
// PPM signal on phono-jack. In or out? ...
if(checkSlaveMode()) {
PORTG &= ~(1<<OUT_G_SIM_CTL); // 0=ppm out
}
else{
PORTG |= (1<<OUT_G_SIM_CTL); // 1=ppm-in
}
#endif
#endif
switch( tmr10ms & 0x1f ) { //alle 10ms*32
@@ -2002,25 +2002,25 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
// 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
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
// Prevent rentrance for this IRQ only
#if defined (PCBV4)
TIMSK3 &= ~(1<<ICIE3);
#else
ETIMSK &= ~(1<<TICIE3);
#endif
sei(); // enable other interrupts
sei(); // enable other interrupts
uint16_t val = (capture - lastCapt) / 2;
// G: We prcoess g_ppmIns immediately here, to make servo movement as smooth as possible
// G: We prcoess 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)
if (val>4000 && val < 16000) // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
else
{
@@ -2038,7 +2038,7 @@ ISR(TIMER3_CAPT_vect) // G: High frequency noise can cause stack overflo with IS
lastCapt = capture;
cli(); // disable other interrupts for stack pops before this function's RETI
cli(); // disable other interrupts for stack pops before this function's RETI
#if defined (PCBV4)
TIMSK3 |= (1<<ICIE3);
#else
@@ -2078,55 +2078,55 @@ extern uint16_t g_timeMain;
#endif
/*
USART0 Transmit Data Register Emtpy ISR
Used to transmit FrSky data packets and DSM2 protocol
*/
#if defined (FRSKY)
FORCEINLINE void FRSKY_USART0_vect()
/*
USART0 Transmit Data Register Emtpy ISR
Used to transmit FrSky data packets and DSM2 protocol
*/
#if defined (FRSKY)
FORCEINLINE void FRSKY_USART0_vect()
{
if (frskyTxBufferCount > 0) {
UDR0 = frskyTxBuffer[--frskyTxBufferCount];
}
else {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#if defined (DSM2_SERIAL)
FORCEINLINE void DSM2_USART0_vect()
{
if (frskyTxBufferCount > 0) {
UDR0 = frskyTxBuffer[--frskyTxBufferCount];
}
else {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#if defined (DSM2_SERIAL)
FORCEINLINE void DSM2_USART0_vect()
{
UDR0 = *((uint16_t*)pulses2MHzRPtr);
pulses2MHzRPtr += sizeof(uint16_t);
if (pulses2MHzRPtr == pulses2MHzWPtr) {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#ifndef SIMU
#if defined (FRSKY) or defined(DSM2_SERIAL)
ISR(USART0_UDRE_vect)
{
#if defined (FRSKY) and defined (DSM2_SERIAL)
if (g_model.protocol == PROTO_DSM2) {
DSM2_USART0_vect();
}
else {
FRSKY_USART0_vect();
}
#elif defined (FRSKY)
FRSKY_USART0_vect();
#else
DSM2_USART0_vect();
#endif
}
#endif
#endif
UDR0 = *((uint16_t*)pulses2MHzRPtr);
pulses2MHzRPtr += sizeof(uint16_t);
if (pulses2MHzRPtr == pulses2MHzWPtr) {
UCSR0B &= ~(1 << UDRIE0); // disable UDRE0 interrupt
}
}
#endif
#ifndef SIMU
#if defined (FRSKY) or defined(DSM2_SERIAL)
ISR(USART0_UDRE_vect)
{
#if defined (FRSKY) and defined (DSM2_SERIAL)
if (g_model.protocol == PROTO_DSM2) {
DSM2_USART0_vect();
}
else {
FRSKY_USART0_vect();
}
#elif defined (FRSKY)
FRSKY_USART0_vect();
#else
DSM2_USART0_vect();
#endif
}
#endif
#endif
#if defined (PCBV4)
/*---------------------------------------------------------*/
/* User Provided Date/Time Function for FatFs module */
@@ -2153,14 +2153,14 @@ uint32_t o9x_get_fattime(void) // TODO why not in ff.cpp?
void instantTrim()
{
uint8_t phase = getFlightPhase();
uint8_t phase = getFlightPhase();
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(i, phase);
uint8_t trim_phase = getTrimFlightPhase(i, phase);
s_noTrainerInput = true;
evalSticks(phase);
evalSticks(phase);
s_noTrainerInput = false;
int16_t trim = (anas[i] + trims[i]) / 2;
if (trim < TRIM_EXTENDED_MIN) {
@@ -2177,37 +2177,38 @@ void instantTrim()
AUDIO_WARNING2();
}
#if defined (PCBV4)
// Rotary encoder interrupts
#if defined (PCBV4)
// Rotary encoder interrupts
volatile uint8_t g_rotenc[2] = {0};
#endif
#ifndef SIMU
#ifndef SIMU
#if defined (PCBV4)
ISR(INT2_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]--;
}
ISR(INT3_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]++;
}
ISR(INT5_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]++;
}
ISR(INT6_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]--;
}
ISR(INT2_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]--;
}
ISR(INT3_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]++;
}
ISR(INT5_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]++;
}
ISR(INT6_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]--;
}
#endif
#if !defined(PCBARM)
extern unsigned char __bss_end ;
uint16_t stack_free()
@@ -2222,13 +2223,32 @@ uint16_t stack_free()
return p - &__bss_end ;
}
#else
// TODO in another file...
extern "C" void sam_boot( void ) ;
void disable_ssc()
{
register Pio *pioptr ;
register Ssc *sscptr ;
// Revert back to pwm output
pioptr = PIOA ;
pioptr->PIO_PER = 0x00020000L ; // Assign A17 to PIO
sscptr = SSC ;
sscptr->SSC_CR = SSC_CR_TXDIS ;
}
#endif
int main(void)
{
board_init();
lcd_init();
#if not defined(PCBARM)
#if !defined(PCBARM)
// Init Stack while interrupts are disabled
#define STACKPTR _SFR_IO16(0x3D)
{
@@ -2250,16 +2270,16 @@ int main(void)
lcdSetRefVolt(25);
sei(); // interrupts needed for FRSKY_Init and eeReadAll.
sei(); // interrupts needed for FRSKY_Init and eeReadAll.
#if defined (FRSKY) and !defined (DSM2_SERIAL)
FRSKY_Init();
#endif
#if defined (DSM2_SERIAL) and !defined (FRSKY)
DSM2_Init();
#endif
#if defined (DSM2_SERIAL) and !defined (FRSKY)
DSM2_Init();
#endif
#ifdef JETI
JETI_Init();
#endif
@@ -2295,7 +2315,9 @@ int main(void)
doSplash();
#endif
#if !defined(PCBARM)
checkLowEEPROM();
#endif
getADC_single();
checkTHR();
@@ -2304,7 +2326,7 @@ int main(void)
checkAlarm();
}
clearKeyEvents(); //make sure no keys are down before proceeding
clearKeyEvents(); //make sure no keys are down before proceeding
lcdSetRefVolt(g_eeGeneral.contrast);
g_LightOffCounter = g_eeGeneral.lightAutoOff*500; //turn on light for x seconds - no need to press key Issue 152
@@ -2346,18 +2368,38 @@ int main(void)
/***************************************************/
/*
* SOMO set-up (V4 board only)
* SOMO set-up (V4 board only)
*/
OCR4A = 0x7d;
TCCR4B = (1 << WGM42) | (3<<CS40); // CTC OCR1A, 16MHz / 64 (4us ticks)
#endif
#if !defined(PCBARM)
startPulses();
#endif
// TODO init_main_ppm( 3000, 1 ) ; // Default for now, initial period 1.5 mS, output on
// TODO start_ppm_capture() ;
// FrSky testing serial receive
// TODO startPdcUsartReceive() ;
wdt_enable(WDTO_500MS);
while(1) {
#if defined(PCBARM)
register Pio *pioptr = PIOC ;
if ( pioptr->PIO_PDSR & 0x02000000 ) {
// Detected USB
// TODO goto_usb = 1 ;
break;
}
uint16_t t0 = getTmr2MHz();
#else
uint16_t t0 = getTmr16KHz();
#endif
if (g_eeGeneral.filterInput == 1) {
getADC_filt() ;
@@ -2389,9 +2431,38 @@ int main(void)
wdt_reset();
heartbeat = 0;
}
#if defined(PCBARM)
t0 = getTmr2MHz() - t0;
#else
t0 = getTmr16KHz() - t0;
#endif
g_timeMain = max(g_timeMain,t0);
}
#if defined(PCBARM)
lcd_clear() ;
lcd_putcAtt( 48, 24, 'U', DBLSIZE ) ;
lcd_putcAtt( 60, 24, 'S', DBLSIZE ) ;
lcd_putcAtt( 72, 24, 'B', DBLSIZE ) ;
refreshDisplay() ;
// This might be replaced by a software reset
// Any interrupts that have been enabled must be disabled here
// BEFORE calling sam_boot()
// TODO needed for REVB soft_power_off() ;
// TODO not started end_ppm_capture() ;
// TODO in eeprom_arm ... end_spi() ;
end_sound() ;
TC0->TC_CHANNEL[2].TC_IDR = TC_IDR0_CPCS ;
NVIC_DisableIRQ(TC2_IRQn) ;
// PWM->PWM_IDR1 = PWM_IDR1_CHID0 ;
// TODO disable_main_ppm() ;
// PWM->PWM_IDR1 = PWM_IDR1_CHID3 ;
// NVIC_DisableIRQ(PWM_IRQn) ;
disable_ssc() ;
sam_boot() ;
#endif
}
#endif
src/open9x.h
+11 -5
View File
@@ -49,6 +49,8 @@
#if defined(SIMU)
#include "simpgmspace.h"
#elif defined(PCBARM)
#include "ersky9x/AT91SAM3S2.h"
#include "ersky9x/core_cm3.h"
typedef const unsigned char pm_uchar;
typedef const char pm_char;
typedef const uint16_t pm_uint16_t;
@@ -461,7 +463,11 @@ uint8_t getEvent();
void putEvent(uint8_t evt);
uint8_t keyDown();
#if defined(PCBARM)
uint32_t keyState(EnumKeys enuk);
#else
bool keyState(EnumKeys enuk);
#endif
void readKeysAndTrims();
uint16_t evalChkSum();
@@ -515,7 +521,12 @@ extern int8_t s_traceCnt;
extern int8_t *s_trimPtr[NUM_STICKS];
#if defined(PCBARM)
uint16_t getTmr2MHz();
#else
uint16_t getTmr16KHz();
#endif
uint16_t stack_free();
#ifdef SPLASH
@@ -698,11 +709,6 @@ extern uint8_t beepAgain;
extern uint16_t g_LightOffCounter;
extern uint8_t mixWarning;
/// Erzeugt einen beep der laenge b
inline void _beep(uint8_t b) {
g_beepCnt=b;
}
// MM/SD card Disk IO Support
#if defined (PCBV4)
#include "gruvin9x/rtc.h"
src/pulses.cpp
+4
View File
@@ -33,6 +33,9 @@
#include "open9x.h"
#ifndef PCBARM
// TODO!!!
#if defined(DSM2)
#define DSM2_CHANS 6
#define BIND_BIT 0x80
@@ -829,3 +832,4 @@ void setupPulsesPPM16()
}
#endif
#endif