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2acfb7df3d66f2ff9dc41fe8875213b97c5705d5
edgetx-gx12/src/board_ersky9x.cpp
T
bsongis 2acfb7df3d Trims to Offsets re-implemented (still untested) 
FrSky flash saving
2012-03-27 17:56:43 +00:00

874 lines
27 KiB
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/*
* Authors (alphabetical order)
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Jean-Pierre Parisy
* - Karl Szmutny <shadow@privy.de>
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* open9x 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 "open9x.h"
#include "AT91SAM3S2.h"
#include "core_cm3.h"
uint32_t Master_frequency ;
/** Console baudrate 9600. */
#define CONSOLE_BAUDRATE 9600
/** Usart Hw interface used by the console (UART0). */
#define CONSOLE_USART UART0
/** Usart Hw ID used by the console (UART0). */
#define CONSOLE_ID ID_UART0
/** Pins description corresponding to Rxd,Txd, (UART pins) */
#define CONSOLE_PINS {PINS_UART}
/** Second serial baudrate 9600. */
#define SECOND_BAUDRATE 9600
/** Usart Hw interface used by the console (UART0). */
#define SECOND_USART USART0
/** Usart Hw ID used by the console (UART0). */
#define SECOND_ID ID_USART0
/** Pins description corresponding to Rxd,Txd, (UART pins) */
#define SECOND_PINS {PINS_USART0}
#define BT_USART UART1
#define BT_ID ID_UART1
#define CPU_INT int32_t
#define CPU_UINT uint32_t
#ifdef REVB
inline void init_soft_power()
{
register Pio *pioptr ;
pioptr = PIOC ;
// Configure RF_power (PC17) but not PPM-jack-in (PC22), neither need pullups
pioptr->PIO_PER = PIO_PC17 ; // Enable bit C17
pioptr->PIO_ODR = PIO_PC17 ; // Set bit C17 as input
pioptr = PIOA ;
pioptr->PIO_PER = PIO_PA8 ; // Enable bit A8 (Soft Power)
pioptr->PIO_ODR = PIO_PA8 ; // Set bit A8 as input
pioptr->PIO_PUER = PIO_PA8 ; // Enable PA8 pullup
}
#endif
// Prototype
// Free pins (PA16 is stock buzzer)
// PA23, PA24, PA25, PB7, PB13
// PC20, PC21(labelled 17), PC22, PC24
// REVB
// PA25, use for stock buzzer
// PB14, PB6
// PC21, PC19, PC15 (PPM2 output)
inline void config_free_pins()
{
register Pio *pioptr ;
#ifdef REVB
pioptr = PIOB ;
pioptr->PIO_PER = 0x00004040L ; // Enable bits B14, 6
pioptr->PIO_ODR = 0x00004040L ; // Set as input
pioptr->PIO_PUER = 0x00004040L ; // Enable pullups
pioptr = PIOC ;
pioptr->PIO_PER = 0x00280000L ; // Enable bits C21, 19
pioptr->PIO_ODR = 0x00280000L ; // Set as input
pioptr->PIO_PUER = 0x00280000L ; // Enable pullups
#else
pioptr = PIOA ;
pioptr->PIO_PER = 0x03800000L ; // Enable bits A25,24,23
pioptr->PIO_ODR = 0x03800000L ; // Set as input
pioptr->PIO_PUER = 0x03800000L ; // Enable pullups
pioptr = PIOB ;
pioptr->PIO_PER = 0x00002080L ; // Enable bits B13, 7
pioptr->PIO_ODR = 0x00002080L ; // Set as input
pioptr->PIO_PUER = 0x00002080L ; // Enable pullups
pioptr = PIOC ;
pioptr->PIO_PER = 0x01700000L ; // Enable bits C24,22,21,20
pioptr->PIO_ODR = 0x01700000L ; // Set as input
pioptr->PIO_PUER = 0x01700000L ; // Enable pullups
#endif
}
// Assumes PMC has already enabled clocks to ports
inline void setup_switches()
{
register Pio *pioptr ;
pioptr = PIOA ;
#ifdef REVB
pioptr->PIO_PER = 0x01808087 ; // Enable bits
pioptr->PIO_ODR = 0x01808087 ; // Set bits input
pioptr->PIO_PUER = 0x01808087 ; // Set bits with pullups
#else
pioptr->PIO_PER = 0xF8008184 ; // Enable bits
pioptr->PIO_ODR = 0xF8008184 ; // Set bits input
pioptr->PIO_PUER = 0xF8008184 ; // Set bits with pullups
#endif
pioptr = PIOB ;
#ifdef REVB
pioptr->PIO_PER = 0x00000030 ; // Enable bits
pioptr->PIO_ODR = 0x00000030 ; // Set bits input
pioptr->PIO_PUER = 0x00000030 ; // Set bits with pullups
#else
pioptr->PIO_PER = 0x00000010 ; // Enable bits
pioptr->PIO_ODR = 0x00000010 ; // Set bits input
pioptr->PIO_PUER = 0x00000010 ; // Set bits with pullups
#endif
pioptr = PIOC ;
#ifdef REVB
pioptr->PIO_PER = 0x91114900 ; // Enable bits
pioptr->PIO_ODR = 0x91114900 ; // Set bits input
pioptr->PIO_PUER = 0x91114900 ; // Set bits with pullups
#else
pioptr->PIO_PER = 0x10014900 ; // Enable bits
pioptr->PIO_ODR = 0x10014900 ; // Set bits input
pioptr->PIO_PUER = 0x10014900 ; // Set bits with pullups
#endif
}
/**
* Configures a UART peripheral with the specified parameters.
*
* baudrate Baudrate at which the UART should operate (in Hz).
* masterClock Frequency of the system master clock (in Hz).
* uses PA9 and PA10, RXD2 and TXD2
*/
inline void UART_Configure( uint32_t baudrate, uint32_t masterClock)
{
// const Pin pPins[] = CONSOLE_PINS;
register Uart *pUart = CONSOLE_USART;
register Pio *pioptr ;
/* Configure PIO */
pioptr = PIOA ;
pioptr->PIO_ABCDSR[0] &= ~0x00000600 ; // Peripheral A
pioptr->PIO_ABCDSR[1] &= ~0x00000600 ; // Peripheral A
pioptr->PIO_PDR = 0x00000600 ; // Assign to peripheral
/* Configure PMC */
PMC->PMC_PCER0 = 1 << CONSOLE_ID;
/* Reset and disable receiver & transmitter */
pUart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX
| UART_CR_RXDIS | UART_CR_TXDIS;
/* Configure mode */
pUart->UART_MR = 0x800 ; // NORMAL, No Parity
/* Configure baudrate */
/* Asynchronous, no oversampling */
pUart->UART_BRGR = (masterClock / baudrate) / 16;
/* Disable PDC channel */
pUart->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
/* Enable receiver and transmitter */
pUart->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
}
inline void UART3_Configure( uint32_t baudrate, uint32_t masterClock)
{
// const Pin pPins[] = CONSOLE_PINS;
register Uart *pUart = BT_USART;
register Pio *pioptr ;
/* Configure PIO */
pioptr = PIOB ;
pioptr->PIO_ABCDSR[0] &= ~(PIO_PB2 | PIO_PB3) ; // Peripheral A
pioptr->PIO_ABCDSR[1] &= ~(PIO_PB2 | PIO_PB3) ; // Peripheral A
pioptr->PIO_PDR = (PIO_PB2 | PIO_PB3) ; // Assign to peripheral
/* Configure PMC */
PMC->PMC_PCER0 = 1 << BT_ID;
/* Reset and disable receiver & transmitter */
pUart->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX
| UART_CR_RXDIS | UART_CR_TXDIS;
/* Configure mode */
pUart->UART_MR = 0x800 ; // NORMAL, No Parity
/* Configure baudrate */
/* Asynchronous, no oversampling */
pUart->UART_BRGR = (masterClock / baudrate) / 16;
// baudrate = (masterClock * 8 / baudrate) / 16 ;
// pUart->UART_BRGR = ( baudrate / 8 ) || ( ( baudrate & 7 ) << 16 ) ; // Fractional part to allow 152000 baud
//
/* Disable PDC channel */
pUart->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
/* Enable receiver and transmitter */
pUart->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
}
// USART0 configuration
// Work in Progress, UNTESTED
// Uses PA5 and PA6 (RXD and TXD)
inline void UART2_Configure( uint32_t baudrate, uint32_t masterClock)
{
//// const Pin pPins[] = CONSOLE_PINS;
register Usart *pUsart = SECOND_USART;
register Pio *pioptr ;
/* Configure PIO */
pioptr = PIOA ;
pioptr->PIO_ABCDSR[0] &= ~0x00000060 ; // Peripheral A
pioptr->PIO_ABCDSR[1] &= ~0x00000060 ; // Peripheral A
pioptr->PIO_PDR = 0x00000060 ; // Assign to peripheral
// /* Configure PMC */
PMC->PMC_PCER0 = 1 << SECOND_ID;
// /* Reset and disable receiver & transmitter */
pUsart->US_CR = US_CR_RSTRX | US_CR_RSTTX
| US_CR_RXDIS | US_CR_TXDIS;
// /* Configure mode */
pUsart->US_MR = 0x000008C0 ; // NORMAL, No Parity
// /* Configure baudrate */
// /* Asynchronous, no oversampling */
pUsart->US_BRGR = (masterClock / baudrate) / 16;
// /* Disable PDC channel */
pUsart->US_PTCR = US_PTCR_RXTDIS | US_PTCR_TXTDIS;
// /* Enable receiver and transmitter */
pUsart->US_CR = US_CR_RXEN | US_CR_TXEN;
}
// Starts TIMER2 at 100Hz, commentd out drive of TIOA2 (A26, EXT2) out
inline void start_timer2()
{
register Pio *pioptr ;
register Tc *ptc ;
register uint32_t timer ;
// Enable peripheral clock TC0 = bit 23 thru TC5 = bit 28
PMC->PMC_PCER0 |= 0x02000000L ; // Enable peripheral clock to TC2
timer = Master_frequency / 12800 ; // MCK/128 and 100 Hz
ptc = TC0 ; // Tc block 0 (TC0-2)
ptc->TC_BCR = 0 ; // No sync
ptc->TC_BMR = 0 ;
ptc->TC_CHANNEL[2].TC_CMR = 0x00008000 ; // Waveform mode
ptc->TC_CHANNEL[2].TC_RC = timer ; // 10 Hz
ptc->TC_CHANNEL[2].TC_RA = timer >> 1 ;
ptc->TC_CHANNEL[2].TC_CMR = 0x0009C003 ; // 0000 0000 0000 1001 1100 0000 0000 0011
// MCK/128, set @ RA, Clear @ RC waveform
pioptr = PIOC ;
pioptr->PIO_PER = 0x00080000L ; // Enable bits C19
pioptr->PIO_OER = 0x00080000L ; // Set as output
ptc->TC_CHANNEL[2].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
NVIC_EnableIRQ(TC2_IRQn) ;
TC0->TC_CHANNEL[2].TC_IER = TC_IER0_CPCS ;
}
// Test, starts TIMER0 at full speed (MCK/2) for delay timing
inline void start_timer0()
{
register Tc *ptc ;
// Enable peripheral clock TC0 = bit 23 thru TC5 = bit 28
PMC->PMC_PCER0 |= 0x00800000L ; // Enable peripheral clock to TC0
ptc = TC0 ; // Tc block 0 (TC0-2)
ptc->TC_BCR = 0 ; // No sync
ptc->TC_BMR = 2 ;
ptc->TC_CHANNEL[0].TC_CMR = 0x00008000 ; // Waveform mode
ptc->TC_CHANNEL[0].TC_RC = 0xFFF0 ;
ptc->TC_CHANNEL[0].TC_RA = 0 ;
ptc->TC_CHANNEL[0].TC_CMR = 0x00008040 ; // 0000 0000 0000 0000 1000 0000 0100 0000, stop at regC
ptc->TC_CHANNEL[0].TC_CCR = 5 ; // Enable clock and trigger it (may only need trigger)
}
// TODO where used
volatile uint32_t Tenms ;
extern "C" void TC2_IRQHandler()
{
register uint32_t dummy;
static uint32_t pre_scale ; // Used to get 10 Hz counter
/* Clear status bit to acknowledge interrupt */
dummy = TC0->TC_CHANNEL[2].TC_SR;
(void) dummy ; // Discard value - prevents compiler warning
Tenms |= 1 ; // 10 mS has passed
/* TODO if ( Buzzer_count )
{
if ( --Buzzer_count == 0 )
{
buzzer_off() ;
}
} */
if ( ++pre_scale >= 10 )
{
// TODO needed? Timer2_count += 1 ;
pre_scale = 0 ;
}
per10ms();
// heartbeat |= HEART_TIMER10ms;
}
// Settings for mode register ADC_MR
// USEQ off - silicon problem, doesn't work
// TRANSFER = 1
// TRACKTIM = 4 (5 clock periods)
// ANACH = 0
// SETTLING = 1 (not used if ANACH = 0)
// STARTUP = 1 (8 clock periods)
// PRESCAL = 3.6 MHz clock (between 1 and 20MHz)
// FREERUN = 0
// FWUP = 0
// SLEEP = 0
// LOWRES = 0
// TRGSEL = 0
// TRGEN = 0 (software trigger only)
inline void init_adc()
{
register Adc *padc ;
register uint32_t timer ;
timer = ( Master_frequency / (3600000*2) ) << 8 ;
// Enable peripheral clock ADC = bit 29
PMC->PMC_PCER0 |= 0x20000000L ; // Enable peripheral clock to ADC
padc = ADC ;
padc->ADC_MR = 0x14110000 | timer ; // 0001 0100 0001 0001 xxxx xxxx 0000 0000
#ifdef REVB
padc->ADC_CHER = 0x0000633E ; // channels 1,2,3,4,5,8,9,13,14
#else
padc->ADC_CHER = 0x0000623E ; // channels 1,2,3,4,5,9,13,14
#endif
padc->ADC_CGR = 0 ; // Gain = 1, all channels
padc->ADC_COR = 0 ; // Single ended, 0 offset, all channels
}
// PWM used for PPM generation, and LED Backlight
// Output pin PB5 not used, PA17 used as PWMH3 peripheral C
// PWM peripheral ID = 31 (0x80000000)
// Ensure PB5 is three state/input, used on REVB for MENU KEY
// Configure PWM3 as PPM drive,
// PWM0 is LED backlight PWM on PWMH0
// This is PC18 peripheral B, Also enable PC22 peripheral B, this is PPM-JACK (PWML3)
//
// REVB board:
// PWML2, output as peripheral C on PA16, is for HAPTIC
// For testing, just drive it out with PWM
// PWML1 for PPM2 output as peripheral B on PC15
// For testing, just drive it out with PWM
void init_pwm()
{
register Pio *pioptr ;
register Pwm *pwmptr ;
register uint32_t timer ;
PMC->PMC_PCER0 |= ( 1 << ID_PWM ) ; // Enable peripheral clock to PWM
MATRIX->CCFG_SYSIO |= 0x00000020L ; // Disable TDO let PB5 work!
/* Configure PIO */
#ifndef REVB
pioptr = PIOB ;
pioptr->PIO_PER = 0x00000020L ; // Enable bit B5
pioptr->PIO_ODR = 0x00000020L ; // set as input
#endif
#ifdef REVB
pioptr = PIOB ;
pioptr->PIO_ABCDSR[0] &= ~PIO_PA16 ; // Peripheral C
pioptr->PIO_ABCDSR[1] |= PIO_PA16 ; // Peripheral C
pioptr->PIO_PDR = PIO_PA16 ; // Disable bit A16 Assign to peripheral
#endif
pioptr = PIOC ;
pioptr->PIO_ABCDSR[0] |= PIO_PC18 ; // Peripheral B
pioptr->PIO_ABCDSR[1] &= ~PIO_PC18 ; // Peripheral B
pioptr->PIO_PDR = PIO_PC18 ; // Disable bit C18 Assign to peripheral
#ifdef REVB
pioptr->PIO_ABCDSR[0] |= PIO_PC15 ; // Peripheral B
pioptr->PIO_ABCDSR[1] &= ~PIO_PC15 ; // Peripheral B
pioptr->PIO_PDR = PIO_PC15 ; // Disable bit C15 Assign to peripheral
#endif
#ifdef REVB
pioptr->PIO_ABCDSR[0] |= PIO_PC22 ; // Peripheral B
pioptr->PIO_ABCDSR[1] &= ~PIO_PC22 ; // Peripheral B
pioptr->PIO_PDR = PIO_PC22 ; // Disable bit C22 Assign to peripheral
#endif
// Configure clock - depends on MCK frequency
timer = Master_frequency / 2000000 ;
timer |= ( Master_frequency / ( 32* 10000 ) ) << 16 ;
timer &= 0x00FF00FF ;
pwmptr = PWM ;
pwmptr->PWM_CLK = 0x05000000 | timer ; // MCK for DIVA, DIVA = 18 gives 0.5uS clock period @35MHz // MCK/32 / timer = 10000Hz for CLKB
// PWM0 for LED backlight
pwmptr->PWM_CH_NUM[0].PWM_CMR = 0x0000000C ; // CLKB
pwmptr->PWM_CH_NUM[0].PWM_CPDR = 100 ; // Period
pwmptr->PWM_CH_NUM[0].PWM_CPDRUPD = 100 ; // Period
pwmptr->PWM_CH_NUM[0].PWM_CDTY = 40 ; // Duty
pwmptr->PWM_CH_NUM[0].PWM_CDTYUPD = 40 ; // Duty
pwmptr->PWM_ENA = PWM_ENA_CHID0 ; // Enable channel 0
#ifdef REVB
// PWM1 for PPM2 output 100Hz test
pwmptr->PWM_CH_NUM[1].PWM_CMR = 0x0000000C ; // CLKB
pwmptr->PWM_CH_NUM[1].PWM_CPDR = 100 ; // Period
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = 100 ; // Period
pwmptr->PWM_CH_NUM[1].PWM_CDTY = 40 ; // Duty
pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = 40 ; // Duty
pwmptr->PWM_ENA = PWM_ENA_CHID1 ; // Enable channel 1
#endif
#ifdef REVB
// PWM2 for HAPTIC drive 100Hz test
pwmptr->PWM_CH_NUM[2].PWM_CMR = 0x0000000C ; // CLKB
pwmptr->PWM_CH_NUM[2].PWM_CPDR = 100 ; // Period
pwmptr->PWM_CH_NUM[2].PWM_CPDRUPD = 100 ; // Period
pwmptr->PWM_CH_NUM[2].PWM_CDTY = 40 ; // Duty
pwmptr->PWM_CH_NUM[2].PWM_CDTYUPD = 40 ; // Duty
pwmptr->PWM_ENA = PWM_ENA_CHID2 ; // Enable channel 2
#endif
}
// LCD i/o pins
// LCD_RES PC27
// LCD_CS1 PC26
// LCD_E PC12
// LCD_RnW PC13
// LCD_A0 PC15
// LCD_D0 PC0
// LCD_D1 PC7
// LCD_D2 PC6
// LCD_D3 PC5
// LCD_D4 PC4
// LCD_D5 PC3
// LCD_D6 PC2
// LCD_D7 PC1
#define LCD_DATA 0x000000FFL
#ifdef REVB
#define LCD_A0 0x00000080L
#else
#define LCD_A0 0x00008000L
#endif
#define LCD_RnW 0x00002000L
#define LCD_E 0x00001000L
#define LCD_CS1 0x04000000L
#define LCD_RES 0x08000000L
extern void start_sound(); // TODO elsewhere
void board_init()
{
// register uint32_t goto_usb ;
register Pio *pioptr ;
// Debug variable
// uint32_t both_on ;
WDT->WDT_MR = 0x3FFFAFFF ; // Disable watchdog
MATRIX->CCFG_SYSIO |= 0x000000F0L ; // Disable syspins, enable B4,5,6,7
PMC->PMC_PCER0 = (1<<ID_PIOC)|(1<<ID_PIOB)|(1<<ID_PIOA)|(1<<ID_UART0) ; // Enable clocks to PIOB and PIOA and PIOC and UART0
pioptr = PIOA ;
#ifdef REVB
init_soft_power() ;
#else
// On REVB, PA21 is used as AD8, and measures current consumption.
pioptr->PIO_PER = PIO_PA21 ; // Enable bit A21 (EXT3)
pioptr->PIO_OER = PIO_PA21 ; // Set bit A21 as output
pioptr->PIO_SODR = PIO_PA21 ; // Set bit A21 ON
#endif
// pioptr->PIO_PUER = 0x80000000 ; // Enable pullup on bit A31 (EXIT)
// pioptr->PIO_PER = 0x80000000 ; // Enable bit A31
pioptr = PIOC ;
pioptr->PIO_PER = PIO_PC25 ; // Enable bit C25 (USB-detect)
// pioptr->PIO_OER = 0x80000000L ; // Set bit C31 as output
// pioptr->PIO_SODR = 0x80000000L ; // Set bit C31
#ifndef REVB
// Configure RF_power (PC17) and PPM-jack-in (PC19), neither need pullups
pioptr->PIO_PER = 0x000A0000L ; // Enable bit C19, C17
pioptr->PIO_ODR = 0x000A0000L ; // Set bits C19 and C17 as input
#endif
config_free_pins() ;
// Next section configures the key inputs on the LCD data
#ifdef REVB
pioptr->PIO_PER = 0x0000003BL ; // Enable bits 1,3,4,5, 0
pioptr->PIO_OER = PIO_PC0 ; // Set bit 0 output
pioptr->PIO_ODR = 0x0000003AL ; // Set bits 1, 3, 4, 5 input
pioptr->PIO_PUER = 0x0000003AL ; // Set bits 1, 3, 4, 5 with pullups
#else
pioptr->PIO_PER = 0x0000003DL ; // Enable bits 2,3,4,5, 0
pioptr->PIO_OER = PIO_PC0 ; // Set bit 0 output
pioptr->PIO_ODR = 0x0000003CL ; // Set bits 2, 3, 4, 5 input
pioptr->PIO_PUER = 0x0000003CL ; // Set bits 2, 3, 4, 5 with pullups
#endif
pioptr = PIOB ;
#ifdef REVB
pioptr->PIO_PUER = PIO_PB5 ; // Enable pullup on bit B5 (MENU)
pioptr->PIO_PER = PIO_PB5 ; // Enable bit B5
#else
pioptr->PIO_PUER = PIO_PB6 ; // Enable pullup on bit B6 (MENU)
pioptr->PIO_PER = PIO_PB6 ; // Enable bit B6
#endif
setup_switches() ;
// Enable PCK2 on PB3, This is for testing of Timer 2 working
// It will be used as serial data to the Bluetooth module
pioptr->PIO_ABCDSR[0] |= PIO_PB3 ; // Peripheral B
pioptr->PIO_ABCDSR[1] &= ~PIO_PB3 ; // Peripheral B
pioptr->PIO_PDR = PIO_PB3 ; // Assign to peripheral
PMC->PMC_SCER |= 0x0400 ; // PCK2 enabled
PMC->PMC_PCK[2] = 2 ; // PCK2 is PLLA
UART_Configure( 9600, Master_frequency ) ;
UART2_Configure( 9600, Master_frequency ) ; // Testing
UART3_Configure( 9600, Master_frequency ) ; // Testing
start_timer2() ;
start_timer0() ;
init_adc() ;
init_pwm() ;
__enable_irq() ;
start_sound() ;
eeprom_init();
}
uint16_t getTmr2MHz()
{
return TC1->TC_CHANNEL[0].TC_CV ;
}
// keys:
// KEY_EXIT PA31 (PC24)
// KEY_MENU PB6 (PB5)
// KEY_DOWN LCD5 PC3 (PC5)
// KEY_UP LCD6 PC2 (PC1)
// KEY_RIGHT LCD4 PC4 (PC4)
// KEY_LEFT LCD3 PC5 (PC3)
// Reqd. bit 6 LEFT, 5 RIGHT, 4 UP, 3 DOWN 2 EXIT 1 MENU
// LCD pins 5 DOWN, 4 RIGHT, 3 LEFT, 1 UP
uint32_t read_keys()
{
register uint32_t x ;
register uint32_t y ;
x = PIOC->PIO_PDSR << 1 ; // 6 LEFT, 5 RIGHT, 4 DOWN, 3 UP ()
#ifdef REVB
y = x & 0x00000020 ; // RIGHT
if ( x & 0x00000004 )
{
y |= 0x00000010 ; // UP
}
if ( x & 0x00000010 )
{
y |= 0x00000040 ; // LEFT
}
if ( x & 0x00000040 )
{
y |= 0x00000008 ; // DOWN
}
#else
y = x & 0x00000060 ;
if ( x & 0x00000008 )
{
y |= 0x00000010 ;
}
if ( x & 0x00000010 )
{
y |= 0x00000008 ;
}
#endif
#ifdef REVB
if ( PIOC->PIO_PDSR & 0x01000000 )
#else
if ( PIOA->PIO_PDSR & 0x80000000 )
#endif
{
y |= 4 ; // EXIT
}
#ifdef REVB
if ( PIOB->PIO_PDSR & 0x000000020 )
#else
if ( PIOB->PIO_PDSR & 0x000000040 )
#endif
{
y |= 2 ; // MENU
}
return y ;
}
uint32_t read_trims()
{
uint32_t trims ;
trims = 0 ;
// TRIM_LH_DOWN PA7 (PA23)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00800000 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x0080 ) == 0 )
#endif
{
trims |= 1 ;
}
// TRIM_LH_UP PB4
if ( ( PIOB->PIO_PDSR & 0x10 ) == 0 )
{
trims |= 2 ;
}
// TRIM_LV_DOWN PA27 (PA24)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x01000000 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x08000000 ) == 0 )
#endif
{
trims |= 4 ;
}
// TRIM_LV_UP PC28
if ( ( PIOC->PIO_PDSR & 0x10000000 ) == 0 )
{
trims |= 8 ;
}
// TRIM_RV_DOWN PC10
if ( ( PIOC->PIO_PDSR & 0x00000400 ) == 0 )
{
trims |= 0x10 ;
}
// TRIM_RV_UP PA30 (PA1)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00000002 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x40000000 ) == 0 )
#endif
{
trims |= 0x20 ;
}
// TRIM_RH_DOWN PA29 (PA0)
#ifdef REVB
if ( ( PIOA->PIO_PDSR & 0x00000001 ) == 0 )
#else
if ( ( PIOA->PIO_PDSR & 0x20000000 ) == 0 )
#endif
{
trims |= 0x40 ;
}
// TRIM_RH_UP PC9
if ( ( PIOC->PIO_PDSR & 0x00000200 ) == 0 )
{
trims |= 0x80 ;
}
return trims ;
}
uint8_t keyDown()
{
return ~read_keys() & 0x7E ;
}
extern uint32_t keyState(EnumKeys enuk)
{
CPU_UINT xxx = 0 ;
if(enuk < (int)DIM(keys)) return keys[enuk].state() ? 1 : 0;
switch((uint8_t)enuk)
{
#ifdef REVB
case SW_ElevDR : xxx = PIOC->PIO_PDSR & 0x80000000 ; // ELE_DR PC31
#else
case SW_ElevDR : xxx = PIOA->PIO_PDSR & 0x00000100 ; // ELE_DR PA8
#endif
break ;
case SW_AileDR : xxx = PIOA->PIO_PDSR & 0x00000004 ; // AIL-DR PA2
break ;
case SW_RuddDR : xxx = PIOA->PIO_PDSR & 0x00008000 ; // RUN_DR PA15
break ;
// INP_G_ID1 INP_E_ID2
// id0 0 1
// id1 1 1
// id2 1 0
case SW_ID0 : xxx = ~PIOC->PIO_PDSR & 0x00004000 ; // SW_IDL1 PC14
break ;
case SW_ID1 : xxx = (PIOC->PIO_PDSR & 0x00004000) ; if ( xxx ) xxx = (PIOC->PIO_PDSR & 0x00000800);
break ;
case SW_ID2 : xxx = ~PIOC->PIO_PDSR & 0x00000800 ; // SW_IDL2 PC11
break ;
case SW_Gear : xxx = PIOC->PIO_PDSR & 0x00010000 ; // SW_GEAR PC16
break ;
#ifdef REVB
case SW_ThrCt : xxx = PIOC->PIO_PDSR & 0x00100000 ; // SW_TCUT PC20
#else
case SW_ThrCt : xxx = PIOA->PIO_PDSR & 0x10000000 ; // SW_TCUT PA28
#endif
break ;
case SW_Trainer: xxx = PIOC->PIO_PDSR & 0x00000100 ; // SW-TRAIN PC8
break ;
default:;
}
if ( xxx )
{
return 1 ;
}
return 0;
}
uint16_t Analog_values[NUMBER_ANALOG] ;
// Read 8 (9 for REVB) ADC channels
// Documented bug, must do them 1 by 1
void read_9_adc()
{
register Adc *padc;
register uint32_t y;
register uint32_t x;
// PMC->PMC_PCER0 |= 0x20000000L ; // Enable peripheral clock to ADC
padc = ADC;
y = padc->ADC_ISR; // Clear EOC flags
for (y = NUMBER_ANALOG; --y > 0;) {
padc->ADC_CR = 2; // Start conversion
x = 0;
while ((padc->ADC_ISR & 0x01000000) == 0) {
// wait for DRDY flag
if (++x > 1000000) {
break; // Software timeout
}
}
x = padc->ADC_LCDR; // Clear DRSY flag
}
// Next bit may be done using the PDC
Analog_values[0] = ADC->ADC_CDR1;
Analog_values[1] = ADC->ADC_CDR2;
Analog_values[2] = ADC->ADC_CDR3;
Analog_values[3] = ADC->ADC_CDR4;
Analog_values[4] = ADC->ADC_CDR5;
Analog_values[5] = ADC->ADC_CDR9;
Analog_values[6] = ADC->ADC_CDR13;
Analog_values[7] = ADC->ADC_CDR14;
#ifdef REVB
Analog_values[8] = ADC->ADC_CDR8 ;
#endif
// Power save
// PMC->PMC_PCER0 &= ~0x20000000L ; // Disable peripheral clock to ADC
}
void readKeysAndTrims()
{
register uint32_t i ;
if ( PIOC->PIO_ODSR & 0x00080000 )
{
PIOC->PIO_CODR = 0x00200000L ; // Set bit C19 OFF
}
else
{
PIOC->PIO_SODR = 0x00200000L ; // Set bit C19 ON
}
uint8_t enuk = KEY_MENU;
uint8_t in = ~read_keys() ;
for( i=1; i<7; i++)
{
//INP_B_KEY_MEN 1 .. INP_B_KEY_LFT 6
keys[enuk].input(in & (1<<i),(EnumKeys)enuk);
++enuk;
}
// static const uint8_t crossTrim[]={
// 1<<INP_D_TRM_LH_DWN,
// 1<<INP_D_TRM_LH_UP,
// 1<<INP_D_TRM_LV_DWN,
// 1<<INP_D_TRM_LV_UP,
// 1<<INP_D_TRM_RV_DWN,
// 1<<INP_D_TRM_RV_UP,
// 1<<INP_D_TRM_RH_DWN,
// 1<<INP_D_TRM_RH_UP
// };
in = read_trims() ;
for( i=1; i<256; i<<=1)
{
// INP_D_TRM_RH_UP 0 .. INP_D_TRM_LH_UP 7
keys[enuk].input(in & i,(EnumKeys)enuk);
++enuk;
}
}
void end_ppm_capture()
{
TC1->TC_CHANNEL[0].TC_IDR = TC_IDR0_LDRAS ;
NVIC_DisableIRQ(TC3_IRQn) ;
}
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