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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/open9x.cpp
+286 -215
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@@ -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