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edgetx-gx12/src/open9x.h
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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.
*
*/
#ifndef open9x_h
#define open9x_h
#define MAJ_VERS 2
#define MIN_VERS 00
#include <inttypes.h>
#include <string.h>
#include <stddef.h>
#if defined(PCBV4)
#include "gruvin9x/ff.h"
#include "gruvin9x/gtime.h"
#endif
#if defined(PCBARM)
#include "board_ersky9x.h"
#endif
#if defined(SIMU)
#include "simpgmspace.h"
#elif defined(PCBARM)
#include "ersky9x/core_cm3.h"
typedef const unsigned char pm_uchar;
typedef const char pm_char;
typedef const uint16_t pm_uint16_t;
typedef const uint8_t pm_uint8_t;
typedef const int16_t pm_int16_t;
typedef const int8_t pm_int8_t;
#define pgm_read_byte(address_short) (*(uint8_t*)(address_short))
#define PSTR(adr) adr
#define PROGMEM
#define pgm_read_adr(x) *(x)
#define cli()
#define sei()
#define wdt_enable(x) WDT->WDT_MR = 0x3FFF2FFF
#define wdt_reset() WDT->WDT_CR = 0xA5000001
extern void board_init();
#else
#include <avr/io.h>
#include <avr/pgmspace.h>
#include "pgmtypes.h"
#include <avr/eeprom.h>
#include <avr/sleep.h>
#include <avr/interrupt.h>
#define F_CPU 16000000UL // 16 MHz
#include <util/delay.h>
#define pgm_read_adr(address_short) pgm_read_word(address_short)
#include <avr/wdt.h>
#endif
#include "myeeprom.h"
#define PPM_CENTER 1500
#if defined(PCBARM)
#include "eeprom_arm.h"
#include "pulses_arm.h"
#else
#include "eeprom_avr.h"
#include "pulses_avr.h"
#endif
#include "lcd.h"
#include "menus.h"
#ifdef TEMPLATES
#include "templates.h"
#endif
#if !defined(SIMU)
#define assert(x)
#define printf printf_not_allowed
#endif
// G: The following comments relate to the original stock PCB only
//
// elev thr
// LV RV
// 2 ^ 4 ^
// 1 2
// | rudd | aile
// <----X--3-> LH <----X--0-> RH
// 6 | 7 1 | 0
// | |
// 3 v 5 v
//
//PORTA 7 6 5 4 3 2 1 0
// O O O O O O O O
// ------------------------ LCD_DAT -----------------------
//
//PORTB 7 6 5 4 3 2 1 0
// O i i i i i i O
// light KEY_LFT KEY_RGT KEY_UP KEY_DWN KEY_EXT KEY_MEN PPM
//
//PORTC 7 6 5 4 3 2 1 0
// - - O O O O O -
// NC NC LCD_E LCD_RNW LCD_A0 LCD_RES LCD_CS1 NC
//
//PORTD 7 6 5 4 3 2 1 0
// i i i i i i i i
// TRM_D_DWN _UP TRM_C_DWN _UP TRM_B_DWN _UP TRM_A_DWN _UP
//
//PORTE 7 6 5 4 3 2 1 0
// i i i i O i i i
// PPM_IN ID2 Trainer Gear Buzzer ElevDR AileDR THRCT
//
//PORTF 7 6 5 4 3 2 1 0
// ai ai ai ai ai ai ai ai
// ANA_ BAT PITT_TRM HOV_THR HOV_PIT STCK_LH STCK_RV STCK_LV STCK_RH
// rud thro elev aile
//PORTG 7 6 5 4 3 2 1 0
// - - - O i i i
// SIM_CTL ID1 Haptic RF_POW RuddDR
#define PORTA_LCD_DAT PORTA
#define PORTC_LCD_CTRL PORTC
#define OUT_C_LCD_E 5
#define OUT_C_LCD_RnW 4
#define OUT_C_LCD_A0 3
#define OUT_C_LCD_RES 2
#define OUT_C_LCD_CS1 1
#if defined (PCBV4)
# define INP_P_SPARE6 7
# define INP_P_SPARE5 6
# define INP_P_KEY_EXT 5
# define INP_P_KEY_MEN 4
# define INP_P_KEY_LFT 3
# define INP_P_KEY_RGT 2
# define INP_P_KEY_UP 1
# define INP_P_KEY_DWN 0
# define INP_J_TRM_RH_UP 7
# define INP_J_TRM_RH_DWN 6
# define INP_J_TRM_RV_UP 5
# define INP_J_TRM_RV_DWN 4
# define INP_J_TRM_LV_UP 3
# define INP_J_TRM_LV_DWN 2
# define INP_J_TRM_LH_UP 1
# define INP_J_TRM_LH_DWN 0
# define INP_E_PPM_IN 7
# define INP_E_ROT_ENC_1_B 6
# define INP_E_ROT_ENC_1_A 5
# define INP_E_USB_D_PLS 4
# define OUT_E_BUZZER 3
# define INP_E_USB_D_NEG 2
# define INP_E_TELEM_RX 1
# define OUT_E_TELEM_TX 0
# define INP_D_HAPTIC 7
# define INP_D_SPARE4 6
# define INP_D_ROT_ENC_2_PUSH 5
# define INP_D_ROT_ENC_1_PUSH 4
# define OUT_D_ROT_ENC_2_B 3
# define INP_D_ROT_ENC_2_A 2
# define INP_D_I2C_SCL 1
# define INP_D_I2C_SDA 0
# define INP_G_Gear 5
# define INP_G_ThrCt 2
# define OUT_G_SIM_CTL 4 //1 : phone-jack=ppm_in
# define INP_G_ID1 3
# define INP_G_RF_POW 1
# define INP_G_RuddDR 0
# define INP_C_AileDR 7
# define INP_C_ElevDR 6
# define OUT_C_LIGHT 0
# define OUT_B_Speaker 7
# define OUT_B_PPM 6 // will be switched by TCNT1==OCR1B in hardware
# define INP_B_Trainer 5
# define INP_B_ID2 4
#ifdef SOMO
# define OUT_H_14DCLK 4
# define OUT_H_14DDATA 5
# define OUT_H_14DBUSY 6
#endif
#else // boards prior to v4 ...
#define OUT_B_LIGHT 7
#define INP_B_KEY_LFT 6
#define INP_B_KEY_RGT 5
#define INP_B_KEY_UP 4
#define INP_B_KEY_DWN 3
#define INP_B_KEY_EXT 2
#define INP_B_KEY_MEN 1
#define OUT_B_PPM 0
#define INP_D_TRM_LH_UP 7
#define INP_D_TRM_LH_DWN 6
#define INP_D_TRM_RV_DWN 5
#define INP_D_TRM_RV_UP 4
#define INP_D_TRM_LV_DWN 3
#define INP_D_TRM_LV_UP 2
#define INP_D_TRM_RH_DWN 1
#define INP_D_TRM_RH_UP 0
#define INP_E_PPM_IN 7
#define INP_E_ID2 6
#define INP_E_Trainer 5
#define INP_E_Gear 4
#define OUT_E_BUZZER 3
#define INP_E_ElevDR 2
#define INP_E_AileDR 1
#define INP_E_ThrCt 0
#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
#undef INP_E_ThrCt
#undef INP_E_AileDR
#define INP_C_ThrCt 6
#define INP_C_AileDR 7
#endif
#define OUT_G_SIM_CTL 4 //1 : phone-jack=ppm_in
#define INP_G_ID1 3
#define INP_G_HAPTIC 2
#define INP_G_RF_POW 1
#define INP_G_RuddDR 0
#endif // defined (PCBV4)
#if defined(PCBARM)
#define SLAVE_MODE (check_soft_power() == e_power_trainer)
#else
#define SLAVE_MODE (PING & (1<<INP_G_RF_POW))
#endif
extern const pm_uint8_t bchout_ar[];
extern const pm_uint8_t modn12x3[];
extern uint8_t stickMode;
//convert from mode 1 to mode stickMode
//NOTICE! => 1..4 -> 1..4
#define CONVERT_MODE(x) (((x)<=4) ? pgm_read_byte(modn12x3 + 4*stickMode + (x)-1) : (x) )
#define RUD_STICK 0
#define ELE_STICK 1
#define THR_STICK 2
#define AIL_STICK 3
extern uint8_t channel_order(uint8_t x);
enum EnumKeys {
KEY_MENU ,
KEY_EXIT ,
KEY_DOWN ,
KEY_UP ,
KEY_RIGHT ,
KEY_LEFT ,
TRM_LH_DWN ,
TRM_LH_UP ,
TRM_LV_DWN ,
TRM_LV_UP ,
TRM_RV_DWN ,
TRM_RV_UP ,
TRM_RH_DWN ,
TRM_RH_UP ,
#if defined(ROTARY_ENCODERS)
BTN_REa,
BTN_REb,
#endif
//SW_NC ,
//SW_ON ,
SW_ThrCt ,
SW_RuddDR ,
SW_ElevDR ,
SW_ID0 ,
SW_ID1 ,
SW_ID2 ,
SW_AileDR ,
SW_Gear ,
SW_Trainer,
NUM_KEYS = SW_ThrCt
};
class Key
{
#define FILTERBITS 4
#ifdef SIMU
#define FFVAL 1
#else
#define FFVAL ((1<<FILTERBITS)-1)
#endif
#define KSTATE_OFF 0
#define KSTATE_RPTDELAY 95 // gruvin: delay state before key repeating starts
//#define KSTATE_SHORT 96
#define KSTATE_START 97
#define KSTATE_PAUSE 98
#define KSTATE_KILLED 99
uint8_t m_vals:FILTERBITS; // key debounce? 4 = 40ms
uint8_t m_dblcnt:2;
uint8_t m_cnt;
uint8_t m_state;
public:
void input(bool val, EnumKeys enuk);
bool state() { return m_vals==FFVAL; }
void pauseEvents() { m_state = KSTATE_PAUSE; m_cnt = 0;}
void killEvents() { m_state = KSTATE_KILLED; m_dblcnt=0; }
uint8_t getDbl() { return m_dblcnt; }
};
extern Key keys[NUM_KEYS];
#define CURVE_BASE 7
#define SWASH_TYPE_120 1
#define SWASH_TYPE_120X 2
#define SWASH_TYPE_140 3
#define SWASH_TYPE_90 4
#define SWASH_TYPE_NUM 4
#define CS_OFF 0
#define CS_VPOS 1 //v>offset
#define CS_VNEG 2 //v<offset
#define CS_APOS 3 //|v|>offset
#define CS_ANEG 4 //|v|<offset
#define CS_AND 5
#define CS_OR 6
#define CS_XOR 7
#define CS_EQUAL 8
#define CS_NEQUAL 9
#define CS_GREATER 10
#define CS_LESS 11
#define CS_EGREATER 12
#define CS_ELESS 13
#define CS_MAXF 13 //max function
#define CS_VOFS 0
#define CS_VBOOL 1
#define CS_VCOMP 2
#define CS_STATE(x) ((x)<CS_AND ? CS_VOFS : ((x)<CS_EQUAL ? CS_VBOOL : CS_VCOMP))
#define SW_BASE SW_ThrCt
#define SW_BASE_DIAG SW_ThrCt
#define MAX_PSWITCH (SW_Trainer-SW_ThrCt+1) // 9 physical switches
#define MAX_SWITCH (MAX_PSWITCH+NUM_CSW)
#define SWITCH_ON (1+MAX_SWITCH)
#define SWITCH_OFF (-SWITCH_ON)
#if defined(PCBARM)
#define MAX_DRSWITCH (MAX_PSWITCH+NUM_CSW) // 15(9+6) !switches + 0 + 15 switches: 5 bits needed
#else
#define MAX_DRSWITCH (MAX_PSWITCH+NUM_CSW/2) // 15(9+6) !switches + 0 + 15 switches: 5 bits needed
#endif
#define NUM_STICKS 4
#define NUM_POTS 3
#define CSW_PPM_BASE (MIXSRC_3POS+3/*CYC1-CYC3*/) // because srcRaw is shifted +1!
#define NUM_CAL_PPM 4
#define NUM_PPM 8
#define CSW_CHOUT_BASE (CSW_PPM_BASE+NUM_PPM)
#if defined(FRSKY_HUB)
#define NUM_TELEMETRY TELEM_CSW_MAX
#elif defined(WS_HOW_HIGH)
#define NUM_TELEMETRY TELEM_ALT
#elif defined(FRSKY)
#define NUM_TELEMETRY TELEM_RSSI_RX
#elif defined(MAVLINK)
// Number sw position
#define NUM_TELEMETRY 4
#define ROTARY_SW_CHANNEL "UP DOWN"
// Channel number for rotary switch
//#define MIX_SW_ROLL_CHAN (CSW_CHOUT_BASE+NUM_CHNOUT+NUM_VIRTUAL) // GVA:Rotary switch
#define MIX_INC_ROTARY_SW (CSW_CHOUT_BASE+NUM_CHNOUT+MAX_TIMERS+1)
#define MIX_DEC_ROTARY_SW (CSW_CHOUT_BASE+NUM_CHNOUT+MAX_TIMERS+1)
#else
#define NUM_TELEMETRY TELEM_TM2
#endif
#define NUM_XCHNRAW (NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS+1/*MAX*/+1/*ID3*/+3/*CYC1-CYC3*/+NUM_PPM+NUM_CHNOUT)
#define NUM_XCHNCSW (NUM_XCHNRAW+NUM_TELEMETRY)
#define NUM_XCHNMIX (NUM_XCHNRAW+MAX_SWITCH)
#define DSW_THR 1
#define DSW_RUD 2
#define DSW_ELE 3
#define DSW_ID0 4
#define DSW_ID1 5
#define DSW_ID2 6
#define DSW_AIL 7
#define DSW_GEA 8
#define DSW_TRN 9
#define DSW_SW1 10
#define DSW_SW2 11
#define DSW_SW3 12
#define DSW_SW4 13
#define DSW_SW5 14
#define DSW_SW6 15
#define THRCHK_DEADBAND 16
#define SPLASH_TIMEOUT (4*100) //400 msec - 4 seconds
#define TRM_BASE TRM_LH_DWN
#define _MSK_KEY_DBL 0x10
#define _MSK_KEY_BREAK 0x20
#define _MSK_KEY_REPT 0x40
#define _MSK_KEY_LONG 0x80
#define IS_KEY_BREAK(key) (((key)&0xf0) == 0x20)
#define EVT_KEY_BREAK(key) ((key)|_MSK_KEY_BREAK)
#define EVT_KEY_FIRST(key) ((key)|_MSK_KEY_REPT|0x20)
#define EVT_KEY_REPT(key) ((key)|_MSK_KEY_REPT)
#define EVT_KEY_LONG(key) ((key)|_MSK_KEY_LONG)
#define EVT_KEY_DBL(key) ((key)|_MSK_KEY_DBL)
#define EVT_ENTRY (0xff - _MSK_KEY_REPT)
#define EVT_ENTRY_UP (0xfe - _MSK_KEY_REPT)
#define EVT_KEY_MASK (0x0f)
#define HEART_TIMER_PULSES 1
#define HEART_TIMER10ms 2
extern uint8_t heartbeat;
#define MAX_ALERT_TIME 60
extern uint32_t inacCounter;
#if defined(PXX)
extern uint8_t pxxFlag;
#endif
#define PXX_SEND_RXNUM 0x01
#define PXX_SEND_FAILSAFE 0x02 // TODO where is it used?
#define ZCHAR_MAX (40 + LEN_SPECIAL_CHARS)
extern char idx2char(int8_t idx);
void pauseEvents(uint8_t enuk);
void killEvents(uint8_t enuk);
uint8_t getEvent();
void putEvent(uint8_t evt);
uint8_t keyDown();
enum PowerState {
e_power_on,
e_power_trainer,
e_power_usb,
e_power_off
};
#if defined(PCBARM)
uint32_t keyState(EnumKeys enuk);
uint32_t check_soft_power();
#else
#if defined(PCBV4)
uint8_t check_soft_power();
#else
#define check_soft_power() (e_power_on)
#endif
bool keyState(EnumKeys enuk);
#endif
void readKeysAndTrims();
uint16_t evalChkSum();
extern void alert(const pm_char * s);
extern void message(const pm_char *title, const pm_char *s, const pm_char *t, const char *last);
void perMain();
void per10ms();
int16_t getValue(uint8_t i);
bool getSwitch(int8_t swtch, bool nc);
int8_t getMovedSwitch();
#ifdef FLIGHT_PHASES
extern uint8_t getFlightPhase();
#else
#define getFlightPhase() 0
#endif
extern uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx);
extern int16_t getRawTrimValue(uint8_t phase, uint8_t idx);
extern int16_t getTrimValue(uint8_t phase, uint8_t idx);
extern void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim);
#if defined(PCBV4)
extern uint8_t s_perOut_flight_phase;
#endif
#if defined(ROTARY_ENCODERS)
int16_t getRotaryEncoder(uint8_t idx);
void incRotaryEncoder(uint8_t idx, int8_t inc);
inline bool navigationRotaryEncoder(uint8_t event)
{
return g_eeGeneral.reNavigation == ((event & EVT_KEY_MASK) - BTN_REa + 1);
}
#endif
extern uint16_t s_timeCumTot;
extern uint16_t s_timeCumThr; //gewichtete laufzeit in 1/16 sec
extern uint16_t s_timeCum16ThrP; //gewichtete laufzeit in 1/16 sec
extern uint8_t s_timerState[2];
extern int16_t s_timerVal[2];
extern uint8_t s_timerVal_10ms[2];
extern int8_t safetyCh[NUM_CHNOUT];
extern uint8_t trimsCheckTimer;
#define TMR_OFF 0
#define TMR_RUNNING 1
#define TMR_BEEPING 2
#define TMR_STOPPED 3
void resetTimer(uint8_t idx);
void resetAll();
extern uint8_t g_tmr1Latency_max;
extern uint8_t g_tmr1Latency_min;
extern uint16_t g_timeMain;
#ifdef DEBUG
extern uint16_t g_time_per10;
#endif
#define MAXTRACE 120
extern uint8_t s_traceBuf[MAXTRACE];
extern uint8_t s_traceWr;
extern int8_t s_traceCnt;
extern int8_t *s_trimPtr[NUM_STICKS];
#if defined(PCBARM)
static inline uint16_t getTmr2MHz() { return TC1->TC_CHANNEL[0].TC_CV; }
#else
uint16_t getTmr16KHz();
#endif
uint16_t stack_free();
#ifdef SPLASH
void doSplash();
#endif
void checkLowEEPROM();
void checkTHR();
void checkSwitches();
void checkAlarm();
#define ADC_VREF_TYPE 0x40 // AVCC with external capacitor at AREF pin
#define GETADC_SING = 0
#define GETADC_OSMP = 1
#define GETADC_FILT = 2
void getADC_single();
void getADC_osmp();
void getADC_filt();
extern uint8_t s_eeDirtyMsk;
#define STORE_MODELVARS eeDirty(EE_MODEL)
#define STORE_GENERALVARS eeDirty(EE_GENERAL)
#if defined (PCBARM)
#ifndef SIMU
#define BACKLIGHT_ON (PWM->PWM_CH_NUM[0].PWM_CDTY = g_eeGeneral.backlightBright)
#define BACKLIGHT_OFF (PWM->PWM_CH_NUM[0].PWM_CDTY = 100)
#else
#define BACKLIGHT_ON
#define BACKLIGHT_OFF
#endif
#ifdef REVB
#define NUMBER_ANALOG 9
#else
#define NUMBER_ANALOG 8
extern uint16_t Analog_values[NUMBER_ANALOG] ;
void read_9_adc(void ) ;
#endif
#elif defined (PCBV4)
#define SPEAKER_ON TCCR0A |= (1 << COM0A0)
#define SPEAKER_OFF TCCR0A &= ~(1 << COM0A0)
#define BACKLIGHT_ON PORTC |= (1 << OUT_C_LIGHT)
#define BACKLIGHT_OFF PORTC &= ~(1 << OUT_C_LIGHT)
#else
#define BACKLIGHT_ON PORTB |= (1 << OUT_B_LIGHT)
#define BACKLIGHT_OFF PORTB &= ~(1 << OUT_B_LIGHT)
#endif
#define BUZZER_ON PORTE |= (1 << OUT_E_BUZZER)
#define BUZZER_OFF PORTE &= ~(1 << OUT_E_BUZZER)
#if defined(HAPTIC)
#if defined(PCBARM)
#define HAPTIC_OFF hapticOff()
#elif defined(PCBV4)
#define HAPTIC_ON PORTD &= ~(1 << INP_D_HAPTIC)
#define HAPTIC_OFF PORTD |= (1 << INP_D_HAPTIC)
#else
#define HAPTIC_ON PORTG |= (1 << INP_G_HAPTIC)
#define HAPTIC_OFF PORTG &= ~(1 << INP_G_HAPTIC)
#endif
#else
#define HAPTIC_ON
#define HAPTIC_OFF
#endif
#define BITMASK(bit) (1<<(bit))
/// liefert Dimension eines Arrays
#define DIM(arr) (sizeof((arr))/sizeof((arr)[0]))
#ifndef FORCEINLINE
#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
template<class t> FORCEINLINE t min(t a, t b) { return a<b?a:b; }
/// liefert das Maximum der Argumente
template<class t> FORCEINLINE t max(t a, t b) { return a>b?a:b; }
template<class t> FORCEINLINE t sgn(t a) { return a>0 ? 1 : (a < 0 ? -1 : 0); }
template<class t> FORCEINLINE t limit(t mi, t x, t ma) { return min(max(mi,x),ma); }
#if defined(HELI) || defined(FRSKY_HUB)
uint16_t isqrt32(uint32_t n);
#endif
/// Markiert einen EEPROM-Bereich als dirty. der Bereich wird dann in
/// eeCheck ins EEPROM zurueckgeschrieben.
void eeWriteBlockCmp(const void *i_pointer_ram, uint16_t i_pointer_eeprom, size_t size);
void eeDirty(uint8_t msk);
void eeCheck(bool immediately=false);
void eeReadAll();
bool eeModelExists(uint8_t id);
uint16_t eeLoadModelName(uint8_t id, char *name);
void eeLoadModel(uint8_t id);
int8_t eeFindEmptyModel(uint8_t id, bool down);
void generalDefault();
void modelDefault(uint8_t id);
void resetProto();
#if defined(PCBARM)
inline int32_t calc100toRESX(register int8_t x)
{
return ((uint32_t)x*655)>>6 ;
}
inline int16_t calc1000toRESX( register int32_t x) // improve calc time by Pat MacKenzie
{
register int32_t y = x>>5;
x+=y;
y=y>>2;
x-=y;
return x+(y>>2);
// return x + x/32 - x/128 + x/512;
}
#else
extern inline int16_t calc100toRESX(int8_t x)
{
// return (int16_t)x*10 + x/4 - x/64;
return ((x*41)>>2) - x/64;
}
extern inline int16_t calc1000toRESX(int16_t x)
{
// return x + x/32 - x/128 + x/512;
int16_t y = x>>5;
x+=y;
y=y>>2;
x-=y;
return x+(y>>2);
}
#endif
extern volatile uint16_t g_tmr10ms;
#if defined(PCBARM)
// This doesn't need protection on this processor
#define get_tmr10ms() g_tmr10ms
#else
extern inline uint16_t get_tmr10ms()
{
uint16_t time ;
cli();
time = g_tmr10ms ;
sei();
return time ;
}
#endif
#define TMR_VAROFS 5
extern const char stamp1[];
extern const char stamp2[];
extern const char stamp3[];
extern const char stamp4[];
extern uint16_t g_vbat100mV;
extern volatile uint16_t g_tmr10ms;
extern volatile uint8_t g_blinkTmr10ms;
extern uint8_t g_beepCnt;
extern uint8_t g_beepVal[5];
#include "o9xstrings.h"
extern uint8_t ppmInState; //0=unsync 1..8= wait for value i-1
extern int16_t g_ppmIns[8];
extern int16_t ex_chans[NUM_CHNOUT]; // Outputs (before LIMITS) of the last perMain
extern int16_t g_chans512[NUM_CHNOUT];
extern volatile uint8_t tick10ms;
extern uint16_t BandGap;
extern uint16_t expou(uint16_t x, uint16_t k);
extern int16_t expo(int16_t x, int16_t k);
extern int16_t intpol(int16_t, uint8_t);
extern int16_t applyCurve(int16_t, int8_t);
extern void applyExpos(int16_t *anas, uint8_t phase=255);
extern uint16_t anaIn(uint8_t chan);
extern int16_t calibratedStick[7];
#define FLASH_DURATION 50
extern uint8_t beepAgain;
extern uint16_t g_LightOffCounter;
extern uint8_t mixWarning;
// MM/SD card Disk IO Support
#if defined (PCBV4)
#include "gruvin9x/rtc.h"
extern void disk_timerproc(void);
extern gtime_t g_unixTime; // global unix timestamp -- hold current time in seconds since 1970-01-01 00:00:00
extern uint8_t g_ms100; // defined in drivers.cpp
#endif
extern PhaseData *phaseaddress(uint8_t idx);
extern ExpoData *expoaddress(uint8_t idx);
extern MixData *mixaddress(uint8_t idx);
extern LimitData *limitaddress(uint8_t idx);
extern void deleteExpoMix(uint8_t expo, uint8_t idx);
extern void incSubtrim(uint8_t idx, int16_t inc);
extern void instantTrim();
extern void moveTrimsToOffsets();
extern uint16_t active_functions;
inline bool isFunctionActive(uint8_t func)
{
return active_functions & (1 << (func-FUNC_TRAINER));
}
#ifdef DISPLAY_USER_DATA
#define TELEM_SCREEN_BUFFER_SIZE 21
extern char userDataDisplayBuf[TELEM_SCREEN_BUFFER_SIZE]; // text buffer for frsky telem. user data experiments
#endif
#if defined (PCBV4)
// Global rotary encoder registers -- 8-bit, 0-255
extern volatile uint8_t g_rotenc[2];
#endif
#ifdef JETI
// Jeti-DUPLEX Telemetry
extern uint16_t jeti_keys;
#include "jeti.h"
#endif
#if defined (FRSKY)
// FrSky Telemetry
#include "frsky.h"
#endif
#ifdef ARDUPILOT
// ArduPilot Telemetry
#include "ardupilot.h"
#endif
#ifdef NMEA
// NMEA Telemetry
#include "nmea.h"
#endif
#ifdef MAVLINK
// Mavlink Telemetry
#include "rotarysw.h"
#include "mavlink.h"
#endif
// REPEAT uses 0x01 to 0x0f
#define PLAY_NOW 0x10
#define PLAY_SOUND_VARIO 0x20
/* make sure the defines below always go in numeric order */
enum AUDIO_SOUNDS {
AU_INACTIVITY,
AU_TX_BATTERY_LOW,
AU_ERROR,
AU_KEYPAD_UP,
AU_KEYPAD_DOWN,
AU_MENUS,
AU_TRIM_MOVE,
AU_WARNING1,
AU_WARNING2,
AU_WARNING3,
AU_TRIM_MIDDLE,
AU_TADA,
AU_POT_STICK_MIDDLE,
AU_MIX_WARNING_1,
AU_MIX_WARNING_2,
AU_MIX_WARNING_3,
AU_TIMER_LT3,
AU_TIMER_10,
AU_TIMER_20,
AU_TIMER_30,
AU_FRSKY_FIRST,
AU_FRSKY_WARN1 = AU_FRSKY_FIRST,
AU_FRSKY_WARN2,
AU_FRSKY_CHEEP,
AU_FRSKY_RING,
AU_FRSKY_SCIFI,
AU_FRSKY_ROBOT,
AU_FRSKY_CHIRP,
AU_FRSKY_TADA,
AU_FRSKY_CRICKET,
AU_FRSKY_SIREN,
AU_FRSKY_ALARMC,
AU_FRSKY_RATATA,
AU_FRSKY_TICK,
AU_FRSKY_LAST,
};
#if defined(AUDIO)
#if defined(PCBARM)
#include "ersky9x/audio.h"
#else
#include "stock/audio.h"
#endif
#else
#include "beeper.h"
#endif
#if defined(HAPTIC)
#include "haptic.h"
#endif
#if defined(SDCARD)
#include "sdcard.h"
#endif
#if defined(SOMO)
#include "somo14d.h"
#endif
// Re-useable byte array to save having multiple buffers
union ReusableBuffer
{
#if !defined(PCBARM)
uint8_t eefs_buffer[BLOCKS]; // used by EeFsck
#endif
struct
{
char mainname[42]; // used by menuProcModelSelect and for SD card archive / restore
char listnames[7][10];
uint16_t listsizes[7];
uint16_t eepromfree;
} models;
struct
{
int16_t midVals[7];
int16_t loVals[7];
int16_t hiVals[7];
} calib; // used by menuProcDiagCalib
};
extern union ReusableBuffer reusableBuffer;
void checkFlashOnBeep();
#if defined(FRSKY) || defined(PCBARM)
void putsTelemetryValue(uint8_t x, uint8_t y, int16_t val, uint8_t unit, uint8_t att);
#endif
#endif // gruvin9x_h
/*eof*/
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