piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Separated perMain() for ARM and other platforms

Browse Source
This commit is contained in:
Damjan Adamic
2014-12-06 12:44:30 +01:00
parent 5566439e76
commit 5c8e8ebbe5
8 changed files with 378 additions and 309 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/eeprom_common.h
+2
View File
@@ -46,6 +46,8 @@
#define WRITE_DELAY_10MS 200
#endif
#define TIME_TO_WRITE() (s_eeDirtyMsk && (tmr10ms_t)(get_tmr10ms() - s_eeDirtyTime10ms) >= (tmr10ms_t)WRITE_DELAY_10MS)
extern uint8_t s_eeDirtyMsk;
extern tmr10ms_t s_eeDirtyTime10ms;
radio/src/opentx.cpp
+137 -305
View File
@@ -87,56 +87,6 @@ uint8_t g_tmr1Latency_min;
uint16_t lastMixerDuration;
#endif
#if defined(PCBTARANIS)
uint8_t currentTrainerMode = 0xff;
void checkTrainerSettings()
{
uint8_t requiredTrainerMode = g_model.trainerMode;
if (requiredTrainerMode != currentTrainerMode) {
switch (currentTrainerMode) {
case TRAINER_MODE_MASTER:
stop_trainer_capture();
break;
case TRAINER_MODE_SLAVE:
stop_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
stop_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
stop_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
uart3Stop();
}
currentTrainerMode = requiredTrainerMode;
switch (requiredTrainerMode) {
case TRAINER_MODE_SLAVE:
init_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
init_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
init_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
if (g_eeGeneral.uart3Mode == UART_MODE_SBUS_TRAINER) {
uart3SbusInit();
break;
}
// no break
default:
// master is default
init_trainer_capture();
break;
}
}
}
#endif
uint8_t unexpectedShutdown = 0;
/* AVR: mixer duration in 1/16ms */
@@ -209,7 +159,6 @@ void per10ms()
watchdogTimeout -= 1;
wdt_reset(); // Retrigger hardware watchdog
}
Tenms |= 1 ; // 10 mS has passed
#endif
if (lightOffCounter) lightOffCounter--;
@@ -1699,10 +1648,6 @@ uint8_t mSwitchDuration[1+NUM_ROTARY_ENCODERS] = { 0 };
#define CFN_PRESSLONG_DURATION 100
#endif
#if defined(CPUARM)
uint8_t currentSpeakerVolume = 255;
uint8_t requiredSpeakerVolume;
#endif
uint8_t s_mixer_first_run_done = false;
@@ -1995,7 +1940,6 @@ void doMixerCalculations()
s_mixer_first_run_done = true;
}
#define TIME_TO_WRITE() (s_eeDirtyMsk && (tmr10ms_t)(get_tmr10ms() - s_eeDirtyTime10ms) >= (tmr10ms_t)WRITE_DELAY_10MS)
#if defined(NAVIGATION_STICKS)
@@ -2129,205 +2073,11 @@ void opentxClose()
#endif
#if defined(USB_JOYSTICK) && 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(USB_JOYSTICK) && 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 ;
Current_used += Current_accumulator / 100 ; // milliAmpSeconds (but scaled)
Current_accumulator = 0 ;
}
#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)
checkTrainerSettings();
#endif
#if defined(PCBTARANIS) && !defined(SIMU)
static bool usbStarted = false;
if (!usbStarted && usbPlugged()) {
#if defined(USB_MASS_STORAGE)
opentxClose();
#endif
usbStart();
#if defined(USB_MASS_STORAGE)
usbPluggedIn();
#endif
usbStarted = true;
}
#if defined(USB_JOYSTICK)
if (usbStarted) {
if (!usbPlugged()) {
//disable USB
usbStop();
usbStarted = false;
}
else {
usbJoystickUpdate();
}
}
#endif
#endif //#if defined(PCBTARANIS) && !defined(SIMU)
#if defined(NAVIGATION_STICKS)
uint8_t getSticksNavigationEvent()
{
uint8_t evt = 0;
if (StickScrollAllowed) {
if ( StickScrollTimer ) {
static uint8_t repeater;
@@ -2389,60 +2139,12 @@ void perMain()
StickScrollTimer = 0; // Seconds
}
StickScrollAllowed = 1 ;
return evt;
}
#endif
#if defined(USB_MASS_STORAGE)
if (usbPlugged()) {
lcd_clear();
menuMainView(0);
}
else
#endif
{
const char *warn = s_warning;
uint8_t menu = s_menu_count;
if (!LUA_STANDALONE_SCRIPT_RUNNING()) {
lcd_clear();
if (menuEvent) {
m_posVert = menuEvent == EVT_ENTRY_UP ? g_menuPos[g_menuStackPtr] : 0;
m_posHorz = 0;
evt = menuEvent;
menuEvent = 0;
AUDIO_MENUS();
}
g_menuStack[g_menuStackPtr]((warn || menu) ? 0 : evt);
}
#if defined(LUA)
luaTask(evt);
#endif
if (!LUA_STANDALONE_SCRIPT_RUNNING()) {
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
}
}
drawStatusLine();
lcdRefresh(LCD_REFRESH_DONT_WAIT);
if (SLAVE_MODE()) {
JACK_PPM_OUT();
}
else {
JACK_PPM_IN();
}
void batteryCheck()
{
static uint8_t counter = 0;
if (g_menuStack[g_menuStackPtr] == menuGeneralDiagAna) {
g_vbat100mV = 0;
@@ -2506,8 +2208,138 @@ void perMain()
#endif
}
}
}
#if !defined(CPUARM)
void perMain()
{
#if defined(SIMU)
doMixerCalculations();
#endif
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;
#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 (!eeprom_buffer_size) {
if (theFile.isWriting())
theFile.nextWriteStep();
else if (TIME_TO_WRITE())
eeCheck(false);
}
#if defined(SDCARD)
sdMountPoll();
writeLogs();
#endif
uint8_t evt = getEvent();
evt = checkTrim(evt);
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
checkBacklight();
#if (defined(FRSKY) || defined(MAVLINK))
telemetryWakeup();
#endif
#if defined(NAVIGATION_STICKS)
uint8_t sticks_evt = getSticksNavigationEvent();
if (sticks_evt) evt = sticks_evt;
#endif
const char *warn = s_warning;
uint8_t menu = s_menu_count;
lcd_clear();
if (menuEvent) {
m_posVert = menuEvent == EVT_ENTRY_UP ? g_menuPos[g_menuStackPtr] : 0;
m_posHorz = 0;
evt = menuEvent;
menuEvent = 0;
AUDIO_MENUS();
}
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
drawStatusLine();
lcdRefresh();
if (SLAVE_MODE()) {
JACK_PPM_OUT();
}
else {
JACK_PPM_IN();
}
batteryCheck();
}
#endif // #if !defined(CPUARM)
int16_t g_ppmIns[NUM_TRAINER];
uint8_t ppmInState = 0; // 0=unsync 1..8= wait for value i-1
uint8_t ppmInValid = 0;
radio/src/opentx.h
+5
View File
@@ -726,7 +726,12 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
void evalMixes(uint8_t tick10ms);
void doMixerCalculations();
#if defined(CPUARM)
void perMainArm();
void checkTrims();
#else
void perMain();
#endif
NOINLINE void per10ms();
getvalue_t getValue(mixsrc_t i);
radio/src/targets/simu/simpgmspace.cpp
+6
View File
@@ -339,7 +339,13 @@ void *main_thread(void *)
s_current_protocol[0] = 0;
while (main_thread_running) {
#if defined(CPUARM)
doMixerCalculations();
checkTrims();
perMainArm();
#else
perMain();
#endif
sleep(10/*ms*/);
}
radio/src/targets/simu/simpgmspace.h
-1
View File
@@ -336,7 +336,6 @@ extern void rxPdcUsart( void (*pChProcess)(uint8_t x) );
#define asm(x)
#if defined(CPUARM)
extern volatile uint32_t Tenms;
extern uint32_t Master_frequency;
#define NVIC_EnableIRQ(x)
#define NVIC_DisableIRQ(x)
radio/src/targets/taranis/board_taranis.cpp
+87 -2
View File
@@ -46,8 +46,6 @@ extern "C" {
}
#endif
volatile uint32_t Tenms ; // TODO to remove everywhere / use a #define
void watchdogInit(unsigned int duration)
{
IWDG->KR = 0x5555 ; // Unlock registers
@@ -150,3 +148,90 @@ void boardInit()
}
#endif
#if defined(USB_JOYSTICK) && !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(USB_JOYSTICK) && defined(PCBTARANIS) && !defined(SIMU)
uint8_t currentTrainerMode = 0xff;
void checkTrainerSettings()
{
uint8_t requiredTrainerMode = g_model.trainerMode;
if (requiredTrainerMode != currentTrainerMode) {
switch (currentTrainerMode) {
case TRAINER_MODE_MASTER:
stop_trainer_capture();
break;
case TRAINER_MODE_SLAVE:
stop_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
stop_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
stop_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
uart3Stop();
}
currentTrainerMode = requiredTrainerMode;
switch (requiredTrainerMode) {
case TRAINER_MODE_SLAVE:
init_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
init_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
init_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
if (g_eeGeneral.uart3Mode == UART_MODE_SBUS_TRAINER) {
uart3SbusInit();
break;
}
// no break
default:
// master is default
init_trainer_capture();
break;
}
}
}
radio/src/targets/taranis/board_taranis.h
+5
View File
@@ -277,5 +277,10 @@ void uart3Stop(void);
#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
#if defined(USB_JOYSTICK) && !defined(SIMU)
void usbJoystickUpdate(void);
#endif
void checkTrainerSettings();
#endif
radio/src/tasks_arm.cpp
+136 -1
View File
@@ -36,6 +36,140 @@
#include "opentx.h"
static uint8_t currentSpeakerVolume = 255;
uint8_t requiredSpeakerVolume;
extern void batteryCheck();
void perMainArm()
{
#if defined(PCBSKY9X)
Current_accumulator += Current_analogue ;
static uint32_t OneSecTimer;
if (++OneSecTimer >= 100) {
OneSecTimer -= 100 ;
Current_used += Current_accumulator / 100 ; // milliAmpSeconds (but scaled)
Current_accumulator = 0 ;
}
#endif
if (currentSpeakerVolume != requiredSpeakerVolume) {
currentSpeakerVolume = requiredSpeakerVolume;
setVolume(currentSpeakerVolume);
}
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);
#else
if (theFile.isWriting())
theFile.nextWriteStep();
else if (TIME_TO_WRITE())
eeCheck(false);
#endif
}
sdMountPoll();
writeLogs();
uint8_t evt = getEvent(false);
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
checkBacklight();
#if defined(PCBTARANIS)
checkTrainerSettings();
#endif
#if defined(PCBTARANIS) && !defined(SIMU)
static bool usbStarted = false;
if (!usbStarted && usbPlugged()) {
#if defined(USB_MASS_STORAGE)
opentxClose();
#endif
usbStart();
#if defined(USB_MASS_STORAGE)
usbPluggedIn();
#endif
usbStarted = true;
}
#if defined(USB_JOYSTICK)
if (usbStarted) {
if (!usbPlugged()) {
//disable USB
usbStop();
usbStarted = false;
}
else {
usbJoystickUpdate();
}
}
#endif
#endif //#if defined(PCBTARANIS) && !defined(SIMU)
#if defined(NAVIGATION_STICKS)
uint8_t sticks_evt = getSticksNavigationEvent();
if (sticks_evt) evt = sticks_evt;
#endif
#if defined(USB_MASS_STORAGE)
if (usbPlugged()) {
lcd_clear();
menuMainView(0);
}
else
#endif
{
const char *warn = s_warning;
uint8_t menu = s_menu_count;
if (!LUA_STANDALONE_SCRIPT_RUNNING()) {
lcd_clear();
if (menuEvent) {
m_posVert = menuEvent == EVT_ENTRY_UP ? g_menuPos[g_menuStackPtr] : 0;
m_posHorz = 0;
evt = menuEvent;
menuEvent = 0;
AUDIO_MENUS();
}
g_menuStack[g_menuStackPtr]((warn || menu) ? 0 : evt);
}
#if defined(LUA)
luaTask(evt);
#endif
if (!LUA_STANDALONE_SCRIPT_RUNNING()) {
if (warn) DISPLAY_WARNING(evt);
if (menu) {
const char * result = displayMenu(evt);
if (result) {
menuHandler(result);
putEvent(EVT_MENU_UP);
}
}
}
}
drawStatusLine();
lcdRefresh();
if (SLAVE_MODE()) {
JACK_PPM_OUT();
}
else {
JACK_PPM_IN();
}
batteryCheck();
}
#define MENUS_STACK_SIZE 2000
#define MIXER_STACK_SIZE 500
#define AUDIO_STACK_SIZE 500
@@ -153,13 +287,14 @@ void mixerTask(void * pdata)
extern void opentxClose();
extern void opentxInit();
void menusTask(void * pdata)
{
opentxInit();
while (pwrCheck() != e_power_off) {
U64 start = CoGetOSTime();
perMain();
perMainArm();
// TODO remove completely massstorage from sky9x firmware
U32 runtime = (U32)(CoGetOSTime() - start);
if (runtime >= MENU_TASK_PERIOD_TICKS) {