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CooCox on ARM

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New option THR_TRACE to save flash and RAM on Stock board
DMA used for SD-Card
CMD16 command added for block length = 512 bytes
This commit is contained in:
bsongis
2012-06-19 22:49:48 +00:00
parent 0d1496dbcd
commit 777f48121b
18 changed files with 304 additions and 171 deletions
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src/open9x.cpp
+150 -60
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@@ -31,6 +31,27 @@
*
*/
#if defined(PCBARM)
extern "C" {
#include <CoOS.h>
}
#define MIXER_STACK_SIZE 300
#define MENUS_STACK_SIZE 300
#define BT_STACK_SIZE 100
OS_TID mixerTaskId;
OS_STK mixerStack[MIXER_STACK_SIZE];
OS_TID menusTaskId;
OS_STK menusStack[MENUS_STACK_SIZE];
/*OS_TID btTask;
OS_STK btStack[BT_STACK_SIZE];
OS_TCID btTimer;
OS_FlagID btFlag;*/
#endif
#include "open9x.h"
#if defined(SPLASH)
@@ -763,7 +784,7 @@ void putsTelemetryValue(uint8_t x, uint8_t y, int16_t val, uint8_t unit, uint8_t
#endif
lcd_outdezAtt(x, (att & DBLSIZE ? y - FH : y), val, att & (~NO_UNIT)); // TODO we could add this test inside lcd_outdezAtt!
if (~att & NO_UNIT && unit != UNIT_RAW)
lcd_putsiAtt(lcd_lastPos/*+1*/, y, STR_VTELEMUNIT, unit, 0);
lcd_putsiAtt(lcdLastPos/*+1*/, y, STR_VTELEMUNIT, unit, 0);
}
#endif
@@ -1004,19 +1025,19 @@ void message(const pm_char *title, const pm_char *t, const char *last)
clearKeyEvents();
}
#if defined(PCBV4)
#if defined(PCBSTD)
uint8_t checkTrim(uint8_t event)
{
int8_t k = (event & EVT_KEY_MASK) - TRM_BASE;
int8_t s = g_model.trimInc;
if (k>=0 && k<8) {
#else
void checkTrims()
{
uint8_t event = getEvent(true);
if (event) {
int8_t k = (event & EVT_KEY_MASK) - TRM_BASE;
int8_t s = g_model.trimInc;
#else
uint8_t checkTrim(uint8_t event)
{
int8_t k = (event & EVT_KEY_MASK) - TRM_BASE;
int8_t s = g_model.trimInc;
if (k>=0 && k<8) {
#endif
// 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;
@@ -1072,11 +1093,11 @@ uint8_t checkTrim(uint8_t event)
AUDIO_TRIM();
#endif
}
#if !defined(PCBV4)
#if defined(PCBSTD)
return 0;
#endif
}
#if !defined(PCBV4)
#if defined(PCBSTD)
return event;
#endif
}
@@ -1319,9 +1340,11 @@ static uint16_t s_sum[2] = {0, 0};
static uint8_t sw_toggled[2] = {false, false};
static uint16_t s_time_cum_16[2] = {0, 0};
#if defined(THRTRACE)
uint8_t s_traceBuf[MAXTRACE];
uint8_t s_traceWr;
int8_t s_traceCnt;
#endif
#if defined(HELI) || defined(FRSKY_HUB)
uint16_t isqrt32(uint32_t n)
@@ -2051,11 +2074,13 @@ inline void doMixerCalculations(uint16_t tmr10ms, uint8_t tick10ms)
val /= (RESX/16); // calibrate it
static uint16_t s_time_tot;
static uint16_t s_time_trace;
static uint8_t s_cnt_1s;
static uint16_t s_sum_1s;
#if defined(THRTRACE)
static uint16_t s_time_trace;
static uint16_t s_cnt_10s;
static uint16_t s_sum_10s;
#endif
s_cnt_1s++;
s_sum_1s += val;
@@ -2068,10 +2093,9 @@ inline void doMixerCalculations(uint16_t tmr10ms, uint8_t tick10ms)
s_timeCum16ThrP += val / 2;
if (val) s_timeCumThr += 1;
#if defined(THRTRACE)
s_cnt_10s += s_cnt_1s;
s_sum_10s += s_sum_1s;
s_cnt_1s = 0;
s_sum_1s = 0;
if ((uint16_t)(tmr10ms - s_time_trace) >= 1000) {// 10sec
s_time_trace += 1000;
@@ -2083,6 +2107,10 @@ inline void doMixerCalculations(uint16_t tmr10ms, uint8_t tick10ms)
if (s_traceWr >= MAXTRACE) s_traceWr = 0;
if (s_traceCnt >= 0) s_traceCnt++; // TODO to be checked
}
#endif
s_cnt_1s = 0;
s_sum_1s = 0;
}
// Timers start
@@ -2218,7 +2246,7 @@ void perMain()
uint8_t tick10ms = (tmr10ms - lastTMR);
lastTMR = tmr10ms;
#if !defined(PCBV4) || defined(SIMU)
#if defined(PCBSTD) || defined(SIMU)
doMixerCalculations(tmr10ms, tick10ms);
#endif
@@ -2289,11 +2317,11 @@ void perMain()
lcd_clear();
#if defined(PCBV4)
uint8_t evt = getEvent(false);
#else
#if defined(PCBSTD)
uint8_t evt = getEvent();
evt = checkTrim(evt);
#else
uint8_t evt = getEvent(false);
#endif
// TODO port lightOnStickMove from er9x + flash saving, call checkBacklight()
@@ -2337,10 +2365,17 @@ void perMain()
}
#endif
#if defined(PCBARM)
static uint8_t counter = 0;
if (counter-- == 0) {
counter = 10;
#else
switch( tmr10ms & 0x1f ) { //alle 10ms*32
case 2:
{
{
#endif
#if defined(PCBARM)
int32_t instant_vbat = anaIn(7);
instant_vbat = ( instant_vbat + instant_vbat*(g_eeGeneral.vBatCalib)/128 ) * 4191 ;
@@ -2366,8 +2401,10 @@ void perMain()
AUDIO_ERROR(); // TODO AUDIO_TX_BATTERY_LOW()
}
}
#if !defined(PCBARM)
}
break;
#endif
}
}
@@ -2486,7 +2523,7 @@ ISR(TIMER0_COMP_vect, ISR_NOBLOCK) //10ms timer
#endif
#if !defined(PCBV4)
heartbeat |= HEART_TIMER10ms;
heartbeat |= HEART_TIMER10ms; // TODO check heartbeat everywhere!
#endif
@@ -2748,6 +2785,78 @@ uint16_t stack_free()
#endif
#if defined(PCBARM)
void mixerTask(void * pdata)
{
while(1) {
uint16_t t0 = getTmr2MHz();
static uint16_t lastTMR;
uint16_t tmr10ms = get_tmr10ms();
uint8_t tick10ms = (tmr10ms - lastTMR);
lastTMR = tmr10ms;
if (s_current_protocol < PROTO_NONE) {
checkTrims();
doMixerCalculations(tmr10ms, tick10ms);
}
heartbeat |= HEART_TIMER10ms;
if (heartbeat == HEART_TIMER_PULSES+HEART_TIMER10ms) {
wdt_reset();
heartbeat = 0;
}
t0 = getTmr2MHz() - t0;
if (t0 > g_timeMainMax) g_timeMainMax = t0 ;
CoTickDelay(1); // 2ms for now
}
}
void menusTask(void * pdata)
{
register uint32_t shutdown_state = 0;
while ((shutdown_state=check_soft_power()) <= e_power_trainer) {
perMain();
CoTickDelay(5); // 10ms for now
}
SysTick->CTRL = 0; // turn off systick
#if defined(HAPTIC)
hapticOff();
#endif
lcd_clear() ;
displayPopup(STR_SHUTDOWN);
g_eeGeneral.unexpectedShutdown=0;
eeDirty(EE_GENERAL);
eeCheck(true);
#if defined(SDCARD) && !defined(PCBARM)
closeLogs();
#endif
lcd_clear() ;
refreshDisplay() ;
soft_power_off(); // Only turn power off if necessary
if (shutdown_state == e_power_usb) {
lcd_putcAtt( 48, 24, 'U', DBLSIZE ) ;
lcd_putcAtt( 60, 24, 'S', DBLSIZE ) ;
lcd_putcAtt( 72, 24, 'B', DBLSIZE ) ;
refreshDisplay() ;
usb_mode();
}
lcdSetRefVolt(0); // TODO before soft_power_off?
}
#endif
int main(void)
{
// The WDT remains active after a WDT reset -- at maximum clock speed. So it's
@@ -2872,7 +2981,6 @@ int main(void)
if(cModel!=g_eeGeneral.currModel) eeDirty(EE_GENERAL); // if model was quick-selected, make sure it sticks
#if defined(PCBARM)
start_ppm_capture();
// TODO inside startPulses?
@@ -2885,80 +2993,62 @@ int main(void)
}
#if defined(PCBARM)
register uint32_t shutdown_state = 0;
#elif defined(PCBV4)
CoInitOS();
// btFlag = CoCreateFlag(TRUE, FALSE); // Auto-reset, start FALSE
// btTimer = CoCreateTmr(TMR_TYPE_PERIODIC, 1000/(1000/CFG_SYSTICK_FREQ), 1000/(1000/CFG_SYSTICK_FREQ), btTimerHandle);
// btTaskId = CoCreateTask(btTask, NULL, 19, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
CoStartOS();
#else
#if defined(PCBV4)
uint8_t shutdown_state = 0;
#endif
while(1) {
#if defined(PCBARM) || defined(PCBV4)
#if defined(PCBV4)
if ((shutdown_state=check_soft_power()) > e_power_trainer)
break;
#endif
#if defined(PCBARM)
uint16_t t0 = getTmr2MHz();
#elif defined(PCBSTD)
#if defined(PCBSTD)
uint16_t t0 = getTmr16KHz();
#endif
perMain();
#if !defined(PCBV4)
#if defined(PCBSTD)
if(heartbeat == 0x3)
{
wdt_reset();
heartbeat = 0;
}
#if defined(PCBARM)
t0 = getTmr2MHz() - t0;
#else
t0 = getTmr16KHz() - t0;
if (t0 > g_timeMainMax) g_timeMainMax = t0;
#endif
if (t0 > g_timeMainMax) g_timeMainMax = t0 ;
#endif
}
#endif // PCBARM
#if defined(PCBARM) || defined(PCBV4)
#if defined(PCBV4)
// Time to switch off
lcd_clear() ;
displayPopup(STR_SHUTDOWN);
g_eeGeneral.unexpectedShutdown=0;
eeDirty(EE_GENERAL);
eeCheck(true);
#if defined(SDCARD) && !defined(PCBARM)
#if defined(SDCARD)
closeLogs();
#endif
lcd_clear() ;
refreshDisplay() ;
soft_power_off(); // Only turn power off if necessary
#endif
#if defined(PCBARM)
if (shutdown_state == e_power_usb) {
lcd_putcAtt( 48, 24, 'U', DBLSIZE ) ;
lcd_putcAtt( 60, 24, 'S', DBLSIZE ) ;
lcd_putcAtt( 72, 24, 'B', DBLSIZE ) ;
refreshDisplay() ;
#if defined(HAPTIC)
hapticOff();
#endif
/* end force haptic to be disabled in this mode */
usb_mode();
}
#endif
#if defined(PCBARM) || defined(PCBV4)
lcdSetRefVolt(0); // TODO before soft_power_off?
#endif
#if defined(PCBV4)
//never return from main() - there is no code to return back, if any daelays occurs in physical power it does dead loop.
wdt_disable();
for(;;){}
while(1); // never return from main() - there is no code to return back, if any delays occurs in physical power it does dead loop.
#endif
}
#endif
#endif // !SIMU