NMEA and ARDUPILOT code ported from er9x
DSM2(PPM) bug fixed Flash saving PCBV3 removed One delay_us(7) removed BEEPSPKR becomes AUDIO
This commit is contained in:
bsongis
+91
-78
@@ -35,7 +35,7 @@ inline void eeprom_write_byte()
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{
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EEAR = eeprom_pointer;
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EEDR = *eeprom_buffer_data;
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#if defined (PCBV3)
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#if defined (PCBV4)
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EECR |= 1<<EEMPE;
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EECR |= 1<<EEPE;
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#else
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@@ -52,7 +52,7 @@ ISR(EE_READY_vect)
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eeprom_write_byte();
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}
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else {
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#if defined (PCBV3)
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#if defined (PCBV4)
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EECR &= ~(1<<EERIE);
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#else
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EECR &= ~(1<<EERIE);
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@@ -72,7 +72,7 @@ void eeWriteBlockCmp(const void *i_pointer_ram, uint16_t i_pointer_eeprom, size_
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#ifdef SIMU
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sem_post(&eeprom_write_sem);
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#elif defined (PCBV3)
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#elif defined (PCBV4)
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EECR |= (1<<EERIE);
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#else
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EECR |= (1<<EERIE);
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@@ -190,63 +190,117 @@ void Key::input(bool val, EnumKeys enuk)
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bool keyState(EnumKeys enuk)
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{
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if(enuk < (int)DIM(keys)) return keys[enuk].state() ? 1 : 0;
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uint8_t result = 0 ;
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if (enuk < (int)DIM(keys))
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return keys[enuk].state() ? 1 : 0;
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#if defined (PCBV4)
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switch(enuk){
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case SW_ElevDR : return PINC & (1<<INP_C_ElevDR);
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case SW_ElevDR:
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result = PINC & (1<<INP_C_ElevDR);
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break;
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case SW_AileDR : return PINC & (1<<INP_C_AileDR);
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case SW_AileDR:
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result = PINC & (1<<INP_C_AileDR);
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break;
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case SW_RuddDR : return PING & (1<<INP_G_RuddDR);
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case SW_RuddDR:
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result = PING & (1<<INP_G_RuddDR);
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break;
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// INP_G_ID1 INP_B_ID2
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// id0 0 1
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// id1 1 1
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// id2 1 0
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case SW_ID0 : return !(PING & (1<<INP_G_ID1));
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case SW_ID1 : return (PING & (1<<INP_G_ID1))&& (PINB & (1<<INP_B_ID2));
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case SW_ID2 : return !(PINB & (1<<INP_B_ID2));
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case SW_ID0:
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result = !(PING & (1<<INP_G_ID1));
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break;
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case SW_Gear : return PING & (1<<INP_G_Gear);
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case SW_ID1:
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result = (PING & (1<<INP_G_ID1))&& (PINB & (1<<INP_B_ID2));
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break;
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case SW_ThrCt : return PING & (1<<INP_G_ThrCt);
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case SW_ID2:
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result = !(PINB & (1<<INP_B_ID2));
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break;
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case SW_Trainer: return PINB & (1<<INP_B_Trainer);
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case SW_Gear:
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result = PING & (1<<INP_G_Gear);
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break;
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default:;
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case SW_ThrCt:
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result = PING & (1<<INP_G_ThrCt);
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break;
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case SW_Trainer:
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result = PINB & (1<<INP_B_Trainer);
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break;
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default:
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break;
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}
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#else
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switch(enuk){
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case SW_ElevDR : return PINE & (1<<INP_E_ElevDR);
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#if defined(JETI) || defined(FRSKY)
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case SW_AileDR : return PINC & (1<<INP_C_AileDR); //shad974: rerouted inputs to free up UART0
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case SW_ElevDR:
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result = PINE & (1<<INP_E_ElevDR);
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break;
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#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA)
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case SW_AileDR:
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result = PINC & (1<<INP_C_AileDR); //shad974: rerouted inputs to free up UART0
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break;
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#else
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case SW_AileDR : return PINE & (1<<INP_E_AileDR);
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case SW_AileDR:
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result = PINE & (1<<INP_E_AileDR);
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break;
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#endif
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case SW_RuddDR : return PING & (1<<INP_G_RuddDR);
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case SW_RuddDR:
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result = PING & (1<<INP_G_RuddDR);
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break;
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// INP_G_ID1 INP_E_ID2
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// id0 0 1
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// id1 1 1
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// id2 1 0
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case SW_ID0 : return !(PING & (1<<INP_G_ID1));
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case SW_ID1 : return (PING & (1<<INP_G_ID1))&& (PINE & (1<<INP_E_ID2));
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case SW_ID2 : return !(PINE & (1<<INP_E_ID2));
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case SW_Gear : return PINE & (1<<INP_E_Gear);
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case SW_ID0:
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result = !(PING & (1<<INP_G_ID1));
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break;
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case SW_ID1:
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result = (PING & (1<<INP_G_ID1))&& (PINE & (1<<INP_E_ID2));
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break;
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case SW_ID2:
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result = !(PINE & (1<<INP_E_ID2));
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break;
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case SW_Gear:
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result = PINE & (1<<INP_E_Gear);
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break;
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//case SW_ThrCt : return PINE & (1<<INP_E_ThrCt);
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#if defined(JETI) || defined(FRSKY)
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case SW_ThrCt : return PINC & (1<<INP_C_ThrCt); //shad974: rerouted inputs to free up UART0
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#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA)
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case SW_ThrCt:
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result = PINC & (1<<INP_C_ThrCt); //shad974: rerouted inputs to free up UART0
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break;
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#else
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case SW_ThrCt : return PINE & (1<<INP_E_ThrCt);
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case SW_ThrCt:
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result = PINE & (1<<INP_E_ThrCt);
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break;
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#endif
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case SW_Trainer: return PINE & (1<<INP_E_Trainer);
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default:;
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case SW_Trainer:
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result = PINE & (1<<INP_E_Trainer);
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break;
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default:
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break;
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}
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#endif // defined (PCBV4)
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return 0;
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return result;
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}
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void pauseEvents(uint8_t event)
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@@ -265,7 +319,7 @@ volatile uint16_t g_tmr10ms;
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volatile uint8_t g_blinkTmr10ms;
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#if defined (PCBV3)
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#if defined (PCBV4)
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uint8_t g_ms100 = 0; // global to allow time set function to reset to zero
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#endif
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void per10ms()
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@@ -273,7 +327,7 @@ void per10ms()
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g_tmr10ms++;
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g_blinkTmr10ms++;
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#if defined (PCBV3)
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#if defined (PCBV4)
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/* Update gloabal Date/Time every 100 per10ms cycles */
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if (++g_ms100 == 100)
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{
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@@ -286,7 +340,7 @@ void per10ms()
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uint8_t enuk = KEY_MENU;
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// User buttons ...
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#if defined (PCBV3)
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#if defined (PCBV4)
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/* Original keys were connected to PORTB as follows:
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Bit Key
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@@ -346,8 +400,7 @@ void per10ms()
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// End User buttons
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// Trim switches ...
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#if defined (PCBV3)
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# if defined (PCBV4)
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#if defined (PCBV4)
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static prog_uchar APM crossTrim[]={
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1<<INP_J_TRM_LH_DWN,
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1<<INP_J_TRM_LH_UP,
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@@ -358,21 +411,7 @@ void per10ms()
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1<<INP_J_TRM_RH_DWN,
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1<<INP_J_TRM_RH_UP
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};
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# else
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static prog_uchar APM crossTrim[]={
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1<<TRIM_M_RV_DWN,
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1<<TRIM_M_RV_UP,
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1<<TRIM_M_RH_DWN,
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1<<TRIM_M_RH_UP,
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1<<TRIM_M_LH_DWN,
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1<<TRIM_M_LH_UP,
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1<<TRIM_M_LV_DWN,
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1<<TRIM_M_LV_UP
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};
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# endif
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#else // stock original board ...
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static prog_uchar APM crossTrim[]={
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1<<INP_D_TRM_LH_DWN, // bit 7
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1<<INP_D_TRM_LH_UP,
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@@ -385,39 +424,13 @@ void per10ms()
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};
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#endif
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#if defined (PCBV3)
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# if defined (PCBV4)
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#if defined (PCBV4)
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in = ~PINJ;
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# else
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PORTD = ~KEY_Y2; // select Y2 row. (Bits 3:0 LVD / LVU / LHU / LHD)
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_delay_us(1);
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in = ~PIND & 0xf0; // mask out outputs
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PORTD = ~KEY_Y3; // select Y3 row. (Bits 3:0 RHU / RHD / RVD / RVU)
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_delay_us(1);
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in |= ((~PIND & 0xf0) >> 4);
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PORTD = 0xFF;
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# endif
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#else
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in = ~PIND;
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// Legacy support for USART1 free hardware mod [DEPRECATED]
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# if defined(USART1FREED)
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// mask out original INP_D_TRM_LV_UP and INP_D_TRM_LV_DWN bits
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in &= ~((1<<INP_D_TRM_LV_UP) | (1<<INP_D_TRM_LV_DWN));
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// merge in the two new switch port values
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in |= (~PINC & (1<<INP_C_TRM_LV_UP)) ? (1<<INP_D_TRM_LV_UP) : 0;
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in |= (~PING & (1<<INP_G_TRM_LV_DWN)) ? (1<<INP_D_TRM_LV_DWN) : 0;
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# endif
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#endif
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for(int i=0; i<8; i++)
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{
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for (int i=0; i<8; i++) {
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// INP_D_TRM_RH_UP 0 .. INP_D_TRM_LH_UP 7
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keys[enuk].input(in & pgm_read_byte(crossTrim+i),(EnumKeys)enuk);
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++enuk;
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@@ -443,7 +456,7 @@ void per10ms()
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frskyStreaming--;
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}
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else if (g_eeGeneral.enableTelemetryAlarm && (g_model.frsky.channels[0].ratio || g_model.frsky.channels[1].ratio)) {
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#if defined (BEEPSPKR)
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#if defined (AUDIO)
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if (!(g_tmr10ms % 30)) {
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audioDefevent(AU_WARNING1);
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}
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