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edgetx-gx12/radio/src/targets/taranis/board_taranis.cpp
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/*
* 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"
#if defined(__cplusplus) && !defined(SIMU)
extern "C" {
#endif
#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h"
#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h"
#if defined(__cplusplus) && !defined(SIMU)
}
#endif
void watchdogInit(unsigned int duration)
{
IWDG->KR = 0x5555 ; // Unlock registers
IWDG->PR = 3 ; // Divide by 32 => 1kHz clock
IWDG->KR = 0x5555 ; // Unlock registers
IWDG->RLR = duration ; // 1.5 seconds nominal
IWDG->KR = 0xAAAA ; // reload
IWDG->KR = 0xCCCC ; // start
}
// Starts TIMER at 2MHz
void init2MhzTimer()
{
TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5 uS, 2 MHz
TIMER_2MHz_TIMER->ARR = 65535;
TIMER_2MHz_TIMER->CR2 = 0;
TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
}
// Starts TIMER at 200Hz (5ms)
void init5msTimer()
{
INTERRUPT_5MS_TIMER->ARR = 4999 ; // 5mS
INTERRUPT_5MS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1 ; // 1uS from 30MHz
INTERRUPT_5MS_TIMER->CCER = 0 ;
INTERRUPT_5MS_TIMER->CCMR1 = 0 ;
INTERRUPT_5MS_TIMER->EGR = 0 ;
INTERRUPT_5MS_TIMER->CR1 = 5 ;
INTERRUPT_5MS_TIMER->DIER |= 1 ;
NVIC_EnableIRQ(INTERRUPT_5MS_IRQn) ;
NVIC_SetPriority(INTERRUPT_5MS_IRQn, 7);
}
void stop5msTimer( void )
{
INTERRUPT_5MS_TIMER->CR1 = 0 ; // stop timer
NVIC_DisableIRQ(INTERRUPT_5MS_IRQn) ;
}
// TODO use the same than board_sky9x.cpp
void interrupt5ms()
{
static uint32_t pre_scale ; // Used to get 10 Hz counter
AUDIO_HEARTBEAT();
#if defined(HAPTIC)
HAPTIC_HEARTBEAT();
#endif
if ( ++pre_scale >= 2 ) {
pre_scale = 0 ;
per10ms();
}
#if defined(REV9E)
checkRotaryEncoder();
#endif
}
#if !defined(SIMU)
extern "C" void INTERRUPT_5MS_IRQHandler()
{
INTERRUPT_5MS_TIMER->SR &= ~TIM_SR_UIF ;
interrupt5ms() ;
}
#if defined(REV9E)
#define PWR_PRESS_DURATION_MIN 200 // 2s
#define PWR_PRESS_DURATION_MAX 500 // 5s
const pm_uchar bmp_startup[] PROGMEM = {
#include "../../bitmaps/Taranis/startup.lbm"
};
const pm_uchar bmp_lock[] PROGMEM = {
#include "../../bitmaps/Taranis/lock.lbm"
};
#endif
void boardInit()
{
RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | KEYS_RCC_AHB1Periph | LCD_RCC_AHB1Periph | BACKLIGHT_RCC_AHB1Periph | ADC_RCC_AHB1Periph | I2C_RCC_AHB1Periph | SD_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph | INTMODULE_RCC_AHB1Periph | EXTMODULE_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TRAINER_RCC_AHB1Periph | HEARTBEAT_RCC_AHB1Periph, ENABLE);
RCC_APB1PeriphClockCmd(LCD_RCC_APB1Periph | BACKLIGHT_RCC_APB1Periph | INTERRUPT_5MS_APB1Periph | TIMER_2MHz_APB1Periph | I2C_RCC_APB1Periph | SD_RCC_APB1Periph | TRAINER_RCC_APB1Periph | TELEMETRY_RCC_APB1Periph | SERIAL_RCC_APB1Periph, ENABLE);
RCC_APB2PeriphClockCmd(BACKLIGHT_RCC_APB2Periph | ADC_RCC_APB2Periph | HAPTIC_RCC_APB2Periph | INTMODULE_RCC_APB2Periph | EXTMODULE_RCC_APB2Periph | HEARTBEAT_RCC_APB2Periph, ENABLE);
pwrInit();
keysInit();
adcInit();
delaysInit();
lcdInit(); // delaysInit() must be called before
audioInit();
init2MhzTimer();
init5msTimer();
__enable_irq();
i2cInit();
usbInit();
#if defined(HAPTIC)
hapticInit();
#endif
#if defined(REV9E)
bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE);
#endif
#if defined(DEBUG)
DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);
#endif
#if defined(REV9E)
if (!WAS_RESET_BY_WATCHDOG_OR_SOFTWARE()) {
lcd_clear();
lcd_bmp(76, 2, bmp_lock, 0, 60);
lcdRefresh();
lcdRefreshWait();
tmr10ms_t start = get_tmr10ms();
tmr10ms_t duration = 0;
uint8_t pwr_on = 0;
while (pwrPressed()) {
duration = get_tmr10ms() - start;
if (duration < PWR_PRESS_DURATION_MIN) {
unsigned index = duration / (PWR_PRESS_DURATION_MIN / 4);
lcd_clear();
lcd_bmp(76, 2, bmp_startup, index*60, 60);
}
else if (duration >= PWR_PRESS_DURATION_MAX) {
displaySleepBitmap();
turnBacklightOff();
}
else {
if (pwr_on != 1) {
pwr_on = 1;
backlightInit();
haptic.play(15, 3, PLAY_NOW);
}
}
lcdRefresh();
lcdRefreshWait();
}
if (duration < PWR_PRESS_DURATION_MIN || duration >= PWR_PRESS_DURATION_MAX) {
boardOff();
}
}
else {
backlightInit();
}
topLcdInit();
#else
backlightInit();
#endif
}
void boardOff()
{
BACKLIGHT_OFF();
#if defined(REV9E)
topLcdOff();
#endif
#if defined(REV9E)
while (pwrPressed()) {
wdt_reset();
}
#endif
lcdOff();
SysTick->CTRL = 0; // turn off systick
pwrOff();
}
#endif // #if !defined(SIMU)
#if defined(USB_JOYSTICK) && !defined(SIMU)
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/*
Prepare and send new USB data packet
The format of HID_Buffer is defined by
USB endpoint description can be found in
file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
*/
void usbJoystickUpdate(void)
{
static uint8_t HID_Buffer[HID_IN_PACKET];
//buttons
HID_Buffer[0] = 0; //buttons
for (int i = 0; i < 8; ++i) {
if ( channelOutputs[i+8] > 0 ) {
HID_Buffer[0] |= (1 << i);
}
}
//analog values
//uint8_t * p = HID_Buffer + 1;
for (int i = 0; i < 8; ++i) {
int16_t value = channelOutputs[i] / 8;
if ( value > 127 ) value = 127;
else if ( value < -127 ) value = -127;
HID_Buffer[i+1] = static_cast<int8_t>(value);
}
USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
}
#endif //#if defined(USB_JOYSTICK) && defined(PCBTARANIS) && !defined(SIMU)
uint8_t currentTrainerMode = 0xff;
void checkTrainerSettings()
{
uint8_t requiredTrainerMode = g_model.trainerMode;
if (requiredTrainerMode != currentTrainerMode) {
switch (currentTrainerMode) {
case TRAINER_MODE_MASTER:
stop_trainer_capture();
break;
case TRAINER_MODE_SLAVE:
stop_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
stop_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
stop_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
uart3Stop();
}
currentTrainerMode = requiredTrainerMode;
switch (requiredTrainerMode) {
case TRAINER_MODE_SLAVE:
init_trainer_ppm();
break;
case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
init_cppm_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
init_sbus_on_heartbeat_capture() ;
break;
case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
if (g_eeGeneral.uart3Mode == UART_MODE_SBUS_TRAINER) {
uart3SbusInit();
break;
}
// no break
default:
// master is default
init_trainer_capture();
break;
}
}
}
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