159 lines
4.5 KiB
C++
159 lines
4.5 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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extern void checkBattery();
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extern uint8_t checkTrim(uint8_t event);
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void perMain()
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{
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#if defined(SIMU)
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doMixerCalculations();
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#endif
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#if defined(LCD_ST7920)
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uint8_t lcdstate=0;
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#endif
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uint16_t t0 = getTmr16KHz();
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int16_t delta = (nextMixerEndTime - lastMixerDuration) - t0;
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if (delta > 0 && delta < MAX_MIXER_DELTA) {
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#if defined(PCBSTD) && defined(ROTARY_ENCODER_NAVIGATION)
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rotencPoll();
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#endif
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// @@@ open.20.fsguruh
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// SLEEP(); // wouldn't that make sense? should save a lot of battery power!!!
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/* for future use; currently very very beta... */
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#if defined(POWER_SAVE)
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ADCSRA&=0x7F; // disable ADC for power saving
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ACSR&=0xF7; // disable ACIE Interrupts
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ACSR|=0x80; // disable Analog Comparator
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// maybe we disable here a lot more hardware components in future to save even more power
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MCUCR|=0x20; // enable Sleep (bit5)
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// MCUCR|=0x28; // enable Sleep (bit5) enable ADC Noise Reduction (bit3)
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// first tests showed: simple sleep would reduce cpu current from 40.5mA to 32.0mA
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// noise reduction sleep would reduce it down to 28.5mA; However this would break pulses in theory
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// however with standard module, it will need about 95mA. Therefore the drop to 88mA is not much noticable
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do {
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asm volatile(" sleep \n\t"); // if _SLEEP() is not defined use this
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t0=getTmr16KHz();
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delta= (nextMixerEndTime - lastMixerDuration) - t0;
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} while ((delta>0) && (delta<MAX_MIXER_DELTA));
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// reenabling of the hardware components needed here
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MCUCR&=0x00; // disable sleep
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ADCSRA|=0x80; // enable ADC
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#endif
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return;
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}
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nextMixerEndTime = t0 + MAX_MIXER_DELTA;
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// this is a very tricky implementation; lastMixerEndTime is just like a default value not to stop mixcalculations totally;
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// the real value for lastMixerEndTime is calculated inside pulses_XXX.cpp which aligns the timestamp to the pulses generated
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// nextMixerEndTime is actually defined inside pulses_XXX.h
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doMixerCalculations();
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t0 = getTmr16KHz() - t0;
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lastMixerDuration = t0;
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if (t0 > maxMixerDuration) maxMixerDuration = t0;
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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if (startupWarningState < STARTUP_WARNING_DONE) {
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// don't do menu's until throttle and switch warnings are handled
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return;
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}
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#endif
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if (!eeprom_buffer_size) {
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if (theFile.isWriting())
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theFile.nextWriteStep();
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else if (TIME_TO_WRITE())
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storageCheck(false);
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}
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#if defined(SDCARD)
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sdMountPoll();
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writeLogs();
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#endif
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evt_t evt = getEvent();
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evt = checkTrim(evt);
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if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
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doLoopCommonActions();
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#if defined(FRSKY) || defined(MAVLINK)
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telemetryWakeup();
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#endif
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#if defined(NAVIGATION_STICKS)
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uint8_t sticks_evt = getSticksNavigationEvent();
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if (sticks_evt) evt = sticks_evt;
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#endif
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#if defined(GUI)
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const char *warn = warningText;
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bool popupMenuActive = (popupMenuNoItems > 0);
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if (IS_LCD_REFRESH_ALLOWED()) { // No need to redraw until lcdRefresh_ST7920(0) below completely refreshes the display.
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lcdClear();
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if (menuEvent) {
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menuVerticalPosition = menuEvent == EVT_ENTRY_UP ? menuVerticalPositions[menuLevel] : 0;
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menuHorizontalPosition = 0;
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evt = menuEvent;
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menuEvent = 0;
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AUDIO_MENUS();
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}
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menuHandlers[menuLevel]((warn || popupMenuActive) ? 0 : evt);
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if (warn) DISPLAY_WARNING(evt);
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#if defined(NAVIGATION_MENUS)
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if (popupMenuActive) {
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const char * result = displayPopupMenu(evt);
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if (result) {
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popupMenuHandler(result);
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}
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}
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#endif
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drawStatusLine();
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}
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#if defined(LCD_ST7920)
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lcdstate = lcdRefresh_ST7920(0);
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#else
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lcdRefresh();
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#endif
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#endif // defined(GUI)
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if (SLAVE_MODE()) {
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JACK_PPM_OUT();
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}
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else {
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JACK_PPM_IN();
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}
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checkBattery();
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}
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