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FrSky did introduce 2us jitter since last optimization

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Makefile minor update
Google tests fixed
Momentary switches in FUNC SWITCHES screen (not finished)
Trim parameter in Mixer is OFF if the source is not a stick
This commit is contained in:
bsongis
2012-03-01 21:10:18 +00:00
parent 71e2456371
commit bd7ab010ca
12 changed files with 161 additions and 120 deletions
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src/Makefile
+13 -13
View File
@@ -529,9 +529,7 @@ MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling C:
MSG_COMPILING_CPP = Compiling C++:
MSG_COMPILING = Compiling C++:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
MSG_CREATING_LIBRARY = Creating library:
@@ -539,7 +537,6 @@ MSG_CREATING_LIBRARY = Creating library:
# Compiler flags to generate dependency files.
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS) $(AVRGCCFLAGS) -fwhole-program
@@ -554,8 +551,7 @@ BUILD_DIR = $(shell pwd | awk -F'/' '{print $$((NF-1))}')
all: begin gccversion sizebefore build sizeafter end
# Change the build target to build a HEX file or a library.
build: stamp_header font.lbm font_dblsize.lbm sticks.lbm s9xsplash.lbm elf hex eep lss sym
build: stamp_header font.lbm font_dblsize.lbm sticks.lbm s9xsplash.lbm allsrc elf remallsrc hex eep lss sym
elf: $(TARGET).elf
hex: $(TARGET).hex
@@ -566,8 +562,6 @@ sym: $(TARGET).sym
# Build stamp-file
stamp_header:
@echo
@echo $(CPPSRC)
@echo "Generate Version-stamp:"
@echo "//Automatically generated file (Makefile) - do not edit" > stamp-open9x.h
@echo "#define DATE_STR \"`date +%Y-%m-%d`\"" >> stamp-open9x.h
@@ -746,14 +740,19 @@ extcoff: $(TARGET).elf
@echo $(MSG_SYMBOL_TABLE) $@
$(NM) -n $< > $@
# Link: create ELF output file from object files.
%.elf:
@echo
@echo $(MSG_LINKING) $@
# Concatenate all sources files in one big file to optimize size
allsrc: $(CPPSRC)
cat $(CPPSRC) > allsrc.cpp
remallsrc:
$(REMOVE) allsrc.cpp
# Link: create ELF output file from object files.
%.elf: allsrc
@echo
@echo $(MSG_COMPILING) $@
$(CC) $(ALL_CPPFLAGS) allsrc.cpp --output $@ $(LDFLAGS)
# Target: clean project.
clean: begin clean_list end
@@ -775,6 +774,7 @@ clean_list :
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) *.o
$(REMOVE) *.d
$(REMOVE) allsrc.cpp
$(REMOVEDIR) .dep
# Include the dependency files.
src/frsky.cpp
+62 -54
View File
@@ -343,17 +343,75 @@ void processFrskyPacket(uint8_t *packet)
*/
#ifndef SIMU
NOINLINE void processSerialData(uint8_t stat, uint8_t data)
{
static uint8_t numPktBytes = 0;
static uint8_t dataState = frskyDataIdle;
if (stat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{ // discard buffer and start fresh on any comms error
FrskyRxBufferReady = 0;
numPktBytes = 0;
}
else
{
if (FrskyRxBufferReady == 0) // can't get more data if the buffer hasn't been cleared
{
switch (dataState)
{
case frskyDataStart:
if (data == START_STOP) break; // Remain in userDataStart if possible 0x7e,0x7e doublet found.
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
dataState = frskyDataInFrame;
break;
case frskyDataInFrame:
if (data == BYTESTUFF)
{
dataState = frskyDataXOR; // XOR next byte
break;
}
if (data == START_STOP) // end of frame detected
{
processFrskyPacket(frskyRxBuffer); // FrskyRxBufferReady = 1;
dataState = frskyDataIdle;
break;
}
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
break;
case frskyDataXOR:
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data ^ STUFF_MASK;
dataState = frskyDataInFrame;
break;
case frskyDataIdle:
if (data == START_STOP)
{
numPktBytes = 0;
dataState = frskyDataStart;
}
break;
} // switch
} // if (FrskyRxBufferReady == 0)
}
}
ISR(USART0_RX_vect)
{
uint8_t stat;
uint8_t data;
static uint8_t numPktBytes = 0;
static uint8_t dataState = frskyDataIdle;
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
sei() ;
stat = UCSR0A; // USART control and Status Register 0 A
/*
@@ -387,58 +445,8 @@ ISR(USART0_RX_vect)
data = UDR0; // USART data register 0
if (stat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{ // discard buffer and start fresh on any comms error
FrskyRxBufferReady = 0;
numPktBytes = 0;
}
else
{
if (FrskyRxBufferReady == 0) // can't get more data if the buffer hasn't been cleared
{
switch (dataState)
{
case frskyDataStart:
if (data == START_STOP) break; // Remain in userDataStart if possible 0x7e,0x7e doublet found.
processSerialData(stat, data);
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
dataState = frskyDataInFrame;
break;
case frskyDataInFrame:
if (data == BYTESTUFF)
{
dataState = frskyDataXOR; // XOR next byte
break;
}
if (data == START_STOP) // end of frame detected
{
processFrskyPacket(frskyRxBuffer); // FrskyRxBufferReady = 1;
dataState = frskyDataIdle;
break;
}
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
break;
case frskyDataXOR:
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data ^ STUFF_MASK;
dataState = frskyDataInFrame;
break;
case frskyDataIdle:
if (data == START_STOP)
{
numPktBytes = 0;
dataState = frskyDataStart;
}
break;
} // switch
} // if (FrskyRxBufferReady == 0)
}
cli() ;
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
src/frsky.h
+2 -2
View File
@@ -70,7 +70,7 @@ class FrskyData: public FrskyRSSI {
#define EARTH_RADIUS ((uint32_t)111194)
#if defined(FRSKY_HUB)
struct FrskyHubData {
PACK(struct FrskyHubData {
int16_t baroAltitudeOffset;// spare reused
int16_t gpsAltitude_bp; // 0x01 before punct
int16_t temperature1; // 0x02 -20 .. 250 deg. celcius
@@ -116,7 +116,7 @@ struct FrskyHubData {
// end of FrSky Hub data
uint16_t gpsDistance;
uint16_t maxGpsSpeed;
};
});
#elif defined(WS_HOW_HIGH)
src/gtests.cpp
+3
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@@ -207,6 +207,9 @@ TEST(EEPROM, rm) {
extern void processFrskyPacket(uint8_t *packet);
TEST(FrSky, gpsNfuel) {
g_model.frsky.usrProto = 1;
frskyHubData.gpsFix = 1;
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x14, 0x2c, 0x00, 0x5e, 0x1c, 0x03 };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x13, 0x38, 0x0c, 0x5e, 0x1b };
uint8_t pkt3[] = { 0xfd, 0x07, 0x00, 0xc9, 0x06, 0x5e, 0x23, 0x4e, 0x00, 0x5e };
src/lcd.cpp
+17 -13
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@@ -494,13 +494,23 @@ void putsModelName(uint8_t x, uint8_t y, char *name, uint8_t id, uint8_t att)
void putsSwitches(uint8_t x, uint8_t y, int8_t idx, uint8_t att)
{
switch(idx){
case 0: lcd_putsiAtt(x, y, STR_MMMINV, 0, att);return;
case MAX_SWITCH: lcd_putsiAtt(x, y, STR_OFFON, 1, att);return;
case -MAX_SWITCH: lcd_putsiAtt(x, y, STR_OFFON, 0, att);return;
if (idx == 0)
return lcd_putsiAtt(x, y, STR_MMMINV, 0, att);
if (~att & SWONLY) {
if (idx == MAX_SWITCH)
return lcd_putsiAtt(x, y, STR_OFFON, 1, att);
if (idx == -MAX_SWITCH)
return lcd_putsiAtt(x, y, STR_OFFON, 0, att);
}
if (idx<0) lcd_vlineStip(x-2, y, 8, 0x5E/*'!'*/);
lcd_putsiAtt(x, y, STR_VSWITCHES, abs(idx)-1, att);
if (idx<0) {
lcd_vlineStip(x-2, y, 8, 0x5E/*'!'*/);
idx = -idx;
}
if (idx >= MAX_SWITCH) {
idx -= ((att & SWONLY) ? MAX_SWITCH-1 : MAX_SWITCH);
if (~att & SWCONDENSED) lcd_putcAtt(x+3*FW, y, 'm', att);
}
lcd_putsiAtt(x, y, STR_VSWITCHES, idx-1, att);
}
void putsFlightPhase(uint8_t x, uint8_t y, int8_t idx, uint8_t att)
@@ -529,13 +539,7 @@ void putsTmrMode(uint8_t x, uint8_t y, int8_t mode, uint8_t att)
return;
}
if (mode < TMR_VAROFS+MAX_SWITCH-1) { // normal on-off
putsSwitches(x, y, mode-(TMR_VAROFS-1), att);
}
else {
putsSwitches(x, y, mode-(TMR_VAROFS+MAX_SWITCH-2), att); // momentary on-off
if (~att & SHRT_TM_MODE) lcd_putcAtt(x+3*FW, y, 'm', att);
}
putsSwitches(x, y, mode-(TMR_VAROFS-1), att|SWONLY);
}
#ifdef FRSKY
src/lcd.h
+4 -1
View File
@@ -68,9 +68,12 @@
#define WHITE 0x04
#define ROUND 0x08
/* switches flags */
#define SWONLY 0x40 /* means no ON OFF, only switches */
#define SWCONDENSED 0x80 /* means that THRm will be displayed as THR */
/* other flags */
#define NO_UNIT UNSIGN
#define SHRT_TM_MODE LEFT
#define TWO_DOTS LEFT
extern uint8_t displayBuf[DISPLAY_W*DISPLAY_H/8];
src/main_views.cpp
+2 -2
View File
@@ -188,7 +188,7 @@ void menuMainView(uint8_t event)
if (g_model.timer1.mode) {
uint8_t att = DBLSIZE | (s_timerState[0]==TMR_BEEPING ? BLINK : 0);
putsTime(12*FW+3, FH*2, s_timerVal[0], att, att);
putsTmrMode(s_timerVal[0] >= 0 ? 9*FW-FW/2+5 : 9*FW-FW/2-2, FH*3, g_model.timer1.mode, SHRT_TM_MODE);
putsTmrMode(s_timerVal[0] >= 0 ? 9*FW-FW/2+5 : 9*FW-FW/2-2, FH*3, g_model.timer1.mode, SWCONDENSED);
}
// trim sliders
@@ -298,7 +298,7 @@ void menuMainView(uint8_t event)
}
else { // timer2
putsTime(33+FW+2, FH*5, s_timerVal[1], DBLSIZE, DBLSIZE);
putsTmrMode(s_timerVal[1] >= 0 ? 20-FW/2+5 : 20-FW/2-2, FH*6, g_model.timer2.mode, SHRT_TM_MODE);
putsTmrMode(s_timerVal[1] >= 0 ? 20-FW/2+5 : 20-FW/2-2, FH*6, g_model.timer2.mode, SWCONDENSED);
// lcd_outdezNAtt(33+11*FW, FH*6, s_timerVal_10ms[1], LEADING0, 2); // 1/100s
}
src/model_menus.cpp
+4 -6
View File
@@ -1206,11 +1206,9 @@ void menuProcMixOne(uint8_t event)
if (attr) CHECK_INFLIGHT_INCDEC_MODELVAR(event, md2->sOffset, -125, 125, 0, STR_MIXEROFFSET);
break;
case 3:
// TODO hidden when src is not a STICK as it has no sense
lcd_puts(2*FW, y, STR_TRIM);
// lcd_putsnAtt(FW*10, y, STR_OFFON+LEN_OFFON*(1-md2->carryTrim), LEN_OFFON, attr);
lcd_putsiAtt(FW*10, y, STR_VMIXTRIMS, md2->carryTrim, attr); // TODO perhaps could be optimized by reusing STR_OFFON
if (attr) CHECK_INCDEC_MODELVAR( event, md2->carryTrim, 0, 2);
lcd_putsiAtt(FW*10, y, STR_VMIXTRIMS, (md2->srcRaw <= 4) ? md2->carryTrim : 1, attr);
if (attr) CHECK_INCDEC_MODELVAR( event, md2->carryTrim, TRIM_ON, TRIM_OFFSET);
break;
case 4:
lcd_puts(2*FW, y, STR_CURVES);
@@ -1760,9 +1758,9 @@ void menuProcFunctionSwitches(uint8_t event)
uint8_t active = (attr && (s_editMode>0 || p1valdiff));
switch (j) {
case 0:
putsSwitches(1*FW, y, sd->swtch, attr);
putsSwitches(3, y, sd->swtch, attr);
if (active) {
CHECK_INCDEC_MODELVAR( event, sd->swtch, -MAX_SWITCH, MAX_SWITCH);
CHECK_INCDEC_MODELVAR( event, sd->swtch, -MAX_SWITCH-MAX_PSWITCH-NUM_CSW, MAX_SWITCH+MAX_PSWITCH+NUM_CSW);
}
break;
case 1:
src/myeeprom.h
+24
View File
@@ -151,10 +151,34 @@ PACK(typedef struct t_LimitData {
#define MIX_CYC2 11
#define MIX_CYC3 12
#define TRIM_ON 0
#define TRIM_OFF 1
#define TRIM_OFFSET 2
#define MLTPX_ADD 0
#define MLTPX_MUL 1
#define MLTPX_REP 2
/*
PACK(typedef struct t_MixData {
uint8_t destCh:5; // 0, 1..NUM_CHNOUT
uint16_t differential:7;
int16_t phase:4; // -5=!FP4, 0=normal, 5=FP4
int8_t weight;
int8_t swtch:6;
uint8_t mltpx:2; // multiplex method: 0 means +=, 1 means *=, 2 means :=
int8_t curve:6;
uint8_t mixWarn:2; // mixer warning
uint8_t delayUp:4;
uint8_t delayDown:4;
uint8_t speedUp:4; // Servogeschwindigkeit aus Tabelle (10ms Cycle)
uint8_t speedDown:4; // 0 nichts
uint8_t carryTrim:2;
uint8_t srcRaw:6; //
int8_t sOffset;
}) MixData;
*/
PACK(typedef struct t_MixData {
uint8_t destCh:5; // 0, 1..NUM_CHNOUT
uint8_t mixWarn:3; // mixer warning
src/open9x.cpp
+26 -26
View File
@@ -294,7 +294,6 @@ void applyExpos(int16_t *anas, uint8_t phase)
}
/*TODO evaluate impact FORCEINLINE */
bool s_noStickInputs = false;
int16_t getValue(uint8_t i)
{
if(i<NUM_STICKS+NUM_POTS) return calibratedStick[i];
@@ -985,28 +984,24 @@ uint8_t mixWarning;
FORCEINLINE void evalTrims(uint8_t phase)
{
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (s_noStickInputs && i==THR_STICK) {
trims[i] = 0;
// do trim -> throttle trim if applicable
int16_t v = anas[i];
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i, phase), i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
trim = -trim;
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
else {
// do trim -> throttle trim if applicable
int16_t v = anas[i];
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i, phase), i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
trim = -trim;
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
trims[i] = (vv==2*RESX) ? trim*2 : (int16_t)vv*2; // if throttle trim -> trim low end
}
trims[i] = (vv==2*RESX) ? trim*2 : (int16_t)vv*2; // if throttle trim -> trim low end
}
}
bool s_noTrainerInput = false;
uint8_t evalSticks(uint8_t phase)
{
#ifdef HELI
@@ -1047,7 +1042,7 @@ uint8_t evalSticks(uint8_t phase)
if (tmp <= 1) anaCenter |= (tmp==0 ? 1<<ch : bpanaCenter & (1<<ch));
if (ch < NUM_STICKS) { //only do this for sticks
if (!s_noStickInputs && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
if (!s_noTrainerInput && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
@@ -1244,9 +1239,6 @@ void perOut(int16_t *chanOut, uint8_t phase)
v = anas[k]; //Switch is on. MAX=FULL=512 or value.
if (k>=CHOUT_BASE && (k<i)) v = chans[k]; // if we've already calculated the value - take it instead // anas[i+CHOUT_BASE] = chans[i]
if (md->mixWarn) mixWarning |= 1<<(md->mixWarn-1); // Mix warning
if (md->carryTrim == 2/*TODO constant*/ && md->srcRaw <= NUM_STICKS) {
s_trimPtr[md->srcRaw-1] = &md->sOffset; // use the value stored here for the trim
}
}
//========== INPUT OFFSET ===============
@@ -1305,8 +1297,16 @@ void perOut(int16_t *chanOut, uint8_t phase)
if (md->curve)
v = applyCurve(v, md->curve, md->srcRaw);
//========== TRIM ===============
if((md->carryTrim==0) && (md->srcRaw>0) && (md->srcRaw<=4)) v += trims[md->srcRaw-1]; // 0 = Trim ON = Default
//========== TRIMS ===============
if (md->srcRaw>0 && md->srcRaw<=NUM_STICKS) {
if (md->carryTrim == TRIM_ON) {
v += trims[md->srcRaw-1];
}
if (md->carryTrim == TRIM_OFFSET) {
v = md->sOffset;
s_trimPtr[md->srcRaw-1] = &md->sOffset; // use the value stored here for the trim
}
}
//========== MULTIPLEX ===============
int32_t dv = (int32_t)v*md->weight;
@@ -2019,9 +2019,9 @@ void instantTrim()
if (i!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightPhase(i, phase);
s_noStickInputs = true;
s_noTrainerInput = true;
evalSticks(phase);
s_noStickInputs = false;
s_noTrainerInput = false;
int16_t trim = (anas[i] + trims[i]) / 2;
if (trim < TRIM_EXTENDED_MIN) {
trim = TRIM_EXTENDED_MIN;
src/open9x.h
+4
View File
@@ -546,6 +546,10 @@ extern uint8_t s_eeDirtyMsk;
#define FORCEINLINE inline __attribute__ ((always_inline))
#endif
#ifndef NOINLINE
#define NOINLINE __attribute__ ((noinline))
#endif
/// liefert Betrag des Arguments
template<class t> FORCEINLINE t abs(t a) { return a>0?a:-a; }
/// liefert das Minimum der Argumente
src/templates.h
-3
View File
@@ -69,9 +69,6 @@
#define STK_P2 6
#define STK_P3 7
#define TRIM_ON 0
#define TRIM_OFF 1
#define CH(x) (CHOUT_BASE+(x))
#define CV(x) (CURVE_BASE+(x)-1)
#define CC(x) (channel_order(x)) //need to invert this to work with dest