175 lines
5.0 KiB
C++
175 lines
5.0 KiB
C++
/*
|
|
* Authors (alphabetical order)
|
|
* - Andre Bernet <bernet.andre@gmail.com>
|
|
* - Andreas Weitl
|
|
* - Bertrand Songis <bsongis@gmail.com>
|
|
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
|
* - Cameron Weeks <th9xer@gmail.com>
|
|
* - Erez Raviv
|
|
* - Gabriel Birkus
|
|
* - Jean-Pierre Parisy
|
|
* - Karl Szmutny
|
|
* - Michael Blandford
|
|
* - Michal Hlavinka
|
|
* - Pat Mackenzie
|
|
* - Philip Moss
|
|
* - Rob Thomson
|
|
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
|
* - Thomas Husterer
|
|
*
|
|
* opentx is based on code named
|
|
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
|
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
|
* and the original (and ongoing) project by
|
|
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License version 2 as
|
|
* published by the Free Software Foundation.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
*/
|
|
|
|
#include "opentx.h"
|
|
|
|
extern void checkBattery();
|
|
extern uint8_t checkTrim(uint8_t event);
|
|
|
|
void perMain()
|
|
{
|
|
#if defined(SIMU)
|
|
doMixerCalculations();
|
|
#endif
|
|
#if defined(LCD_ST7920)
|
|
uint8_t lcdstate=0;
|
|
#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())
|
|
storageCheck(false);
|
|
}
|
|
|
|
#if defined(SDCARD)
|
|
sdMountPoll();
|
|
writeLogs();
|
|
#endif
|
|
|
|
evt_t evt = getEvent();
|
|
evt = checkTrim(evt);
|
|
|
|
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
|
|
doLoopCommonActions();
|
|
|
|
#if defined(FRSKY) || defined(MAVLINK)
|
|
telemetryWakeup();
|
|
#endif
|
|
|
|
#if defined(NAVIGATION_STICKS)
|
|
uint8_t sticks_evt = getSticksNavigationEvent();
|
|
if (sticks_evt) evt = sticks_evt;
|
|
#endif
|
|
|
|
#if defined(GUI)
|
|
const char *warn = warningText;
|
|
bool popupMenuActive = (popupMenuNoItems > 0);
|
|
|
|
if (IS_LCD_REFRESH_ALLOWED()) { // No need to redraw until lcdRefresh_ST7920(0) below completely refreshes the display.
|
|
lcdClear();
|
|
if (menuEvent) {
|
|
menuVerticalPosition = menuEvent == EVT_ENTRY_UP ? menuVerticalPositions[menuLevel] : 0;
|
|
menuHorizontalPosition = 0;
|
|
evt = menuEvent;
|
|
menuEvent = 0;
|
|
AUDIO_MENUS();
|
|
}
|
|
menuHandlers[menuLevel]((warn || popupMenuActive) ? 0 : evt);
|
|
|
|
if (warn) DISPLAY_WARNING(evt);
|
|
#if defined(NAVIGATION_MENUS)
|
|
if (popupMenuActive) {
|
|
const char * result = displayPopupMenu(evt);
|
|
if (result) {
|
|
popupMenuHandler(result);
|
|
}
|
|
}
|
|
#endif
|
|
drawStatusLine();
|
|
}
|
|
|
|
#if defined(LCD_ST7920)
|
|
lcdstate = lcdRefresh_ST7920(0);
|
|
#else
|
|
lcdRefresh();
|
|
#endif
|
|
|
|
#endif // defined(GUI)
|
|
|
|
if (SLAVE_MODE()) {
|
|
JACK_PPM_OUT();
|
|
}
|
|
else {
|
|
JACK_PPM_IN();
|
|
}
|
|
|
|
checkBattery();
|
|
}
|