Bertrand SongisandGitHub
8c1231869e
* [Horus] S.PORT to Lua passthrough * Fixes. Still not tested * Do not speak when we have nothing to say * Move outputTelemetryBufferSize check earlier
288 lines
8.0 KiB
C++
288 lines
8.0 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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#if defined(__cplusplus) && !defined(SIMU)
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extern "C" {
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#endif
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#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h"
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#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h"
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#if defined(__cplusplus) && !defined(SIMU)
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}
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#endif
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void watchdogInit(unsigned int duration)
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{
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IWDG->KR = 0x5555; // Unlock registers
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IWDG->PR = 3; // Divide by 32 => 1kHz clock
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IWDG->KR = 0x5555; // Unlock registers
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IWDG->RLR = duration; // 1.5 seconds nominal
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IWDG->KR = 0xAAAA; // reload
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IWDG->KR = 0xCCCC; // start
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}
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// Start TIMER7 at 2000000Hz
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void init2MhzTimer()
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{
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TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5 uS, 2 MHz
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TIMER_2MHz_TIMER->ARR = 65535;
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TIMER_2MHz_TIMER->CR2 = 0;
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TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
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}
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// Starts TIMER at 1000Hz
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void init1msTimer()
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{
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INTERRUPT_1MS_TIMER->ARR = 999; // 1mS
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INTERRUPT_1MS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1; // 1uS from 30MHz
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INTERRUPT_1MS_TIMER->CCER = 0;
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INTERRUPT_1MS_TIMER->CCMR1 = 0;
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INTERRUPT_1MS_TIMER->EGR = 0;
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INTERRUPT_1MS_TIMER->CR1 = 5;
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INTERRUPT_1MS_TIMER->DIER |= 1;
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NVIC_EnableIRQ(INTERRUPT_1MS_IRQn);
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NVIC_SetPriority(INTERRUPT_1MS_IRQn, 7);
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}
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// TODO use the same than board_sky9x.cpp
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void interrupt1ms()
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{
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static uint8_t pre_scale; // Used to get 10 Hz counter
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++pre_scale;
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#if defined(HAPTIC)
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if (pre_scale == 5 || pre_scale == 10) {
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DEBUG_TIMER_START(debugTimerHaptic);
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HAPTIC_HEARTBEAT();
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DEBUG_TIMER_STOP(debugTimerHaptic);
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}
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#endif
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if (pre_scale == 10) {
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pre_scale = 0;
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DEBUG_TIMER_START(debugTimerPer10ms);
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per10ms();
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DEBUG_TIMER_STOP(debugTimerPer10ms);
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}
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DEBUG_TIMER_START(debugTimerRotEnc);
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checkRotaryEncoder();
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DEBUG_TIMER_STOP(debugTimerRotEnc);
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#if defined(LUA)
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if (telemetryProtocol == PROTOCOL_FRSKY_SPORT && outputTelemetryBufferTrigger && outputTelemetryBufferSize > 0) {
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if (telemetryFifo.last(-2) == 0x7E && telemetryFifo.last(-1) == outputTelemetryBufferTrigger) {
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outputTelemetryBufferTrigger = 0;
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sportSendBuffer(outputTelemetryBuffer, outputTelemetryBufferSize);
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}
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}
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#endif
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}
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extern "C" void INTERRUPT_1MS_IRQHandler()
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{
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INTERRUPT_1MS_TIMER->SR &= ~TIM_SR_UIF;
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interrupt1ms();
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DEBUG_INTERRUPT(INT_1MS);
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}
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void boardInit()
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{
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#if !defined(SIMU)
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RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph |
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PCBREV_RCC_AHB1Periph |
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LED_RCC_AHB1Periph |
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LCD_RCC_AHB1Periph |
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BL_RCC_AHB1Periph |
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SD_RCC_AHB1Periph |
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AUDIO_RCC_AHB1Periph |
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KEYS_RCC_AHB1Periph_GPIO |
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ADC_RCC_AHB1Periph |
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SERIAL_RCC_AHB1Periph |
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TELEMETRY_RCC_AHB1Periph |
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TRAINER_RCC_AHB1Periph |
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AUDIO_RCC_AHB1Periph |
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HAPTIC_RCC_AHB1Periph |
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INTMODULE_RCC_AHB1Periph |
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EXTMODULE_RCC_AHB1Periph |
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GPS_RCC_AHB1Periph,
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ENABLE);
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RCC_APB1PeriphClockCmd(INTERRUPT_1MS_RCC_APB1Periph |
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TIMER_2MHz_RCC_APB1Periph |
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AUDIO_RCC_APB1Periph |
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SERIAL_RCC_APB1Periph |
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TELEMETRY_RCC_APB1Periph |
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TRAINER_RCC_APB1Periph |
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AUDIO_RCC_APB1Periph |
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INTMODULE_RCC_APB1Periph |
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EXTMODULE_RCC_APB1Periph |
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GPS_RCC_APB1Periph,
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ENABLE);
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RCC_APB2PeriphClockCmd(LCD_RCC_APB2Periph |
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ADC_RCC_APB2Periph |
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HAPTIC_RCC_APB2Periph |
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INTMODULE_RCC_APB2Periph |
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EXTMODULE_RCC_APB2Periph,
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ENABLE);
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pwrInit();
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// must be called after pwrInit() because the PCBREV GPIO is initialized there
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if (IS_HORUS_PROD())
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RCC_APB1PeriphClockCmd(PROD_BL_RCC_APB1Periph,ENABLE);
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else
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RCC_APB2PeriphClockCmd(BETA_BL_RCC_APB2Periph,ENABLE);
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delaysInit();
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// FrSky removed the volume chip in latest board, that's why it doesn't answer!
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// i2cInit();
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serial2Init(0, 0); // default serial mode (None if DEBUG not defined)
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__enable_irq();
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TRACE("\nHorus board started :)");
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keysInit();
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adcInit();
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lcdInit();
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backlightInit();
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audioInit();
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init2MhzTimer();
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init1msTimer();
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usbInit();
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hapticInit();
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// bt_open();
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gpsInit(GPS_USART_BAUDRATE);
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#if defined(DEBUG)
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DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM4_STOP|DBGMCU_TIM5_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM7_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM9_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM11_STOP|DBGMCU_TIM12_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);
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#endif
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ledBlue();
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#endif
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}
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void boardOff()
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{
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BACKLIGHT_DISABLE();
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while (pwrPressed()) {
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wdt_reset();
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}
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SysTick->CTRL = 0; // turn off systick
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pwrOff();
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}
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#if defined(USB_JOYSTICK) && !defined(SIMU)
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extern USB_OTG_CORE_HANDLE USB_OTG_dev;
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/*
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Prepare and send new USB data packet
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The format of HID_Buffer is defined by
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USB endpoint description can be found in
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file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
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*/
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void usbJoystickUpdate(void)
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{
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static uint8_t HID_Buffer[HID_IN_PACKET];
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//buttons
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HID_Buffer[0] = 0;
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HID_Buffer[1] = 0;
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HID_Buffer[2] = 0;
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for (int i = 0; i < 8; ++i) {
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if ( channelOutputs[i+8] > 0 ) {
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HID_Buffer[0] |= (1 << i);
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}
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if ( channelOutputs[i+16] > 0 ) {
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HID_Buffer[1] |= (1 << i);
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}
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if ( channelOutputs[i+24] > 0 ) {
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HID_Buffer[2] |= (1 << i);
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}
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}
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//analog values
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//uint8_t * p = HID_Buffer + 1;
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for (int i = 0; i < 8; ++i) {
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int16_t value = channelOutputs[i] / 8;
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if ( value > 127 ) value = 127;
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else if ( value < -127 ) value = -127;
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HID_Buffer[i+3] = static_cast<int8_t>(value);
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}
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USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
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}
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#endif // #defined(USB_JOYSTICK) && !defined(SIMU)
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uint8_t currentTrainerMode = 0xff;
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void checkTrainerSettings()
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{
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uint8_t requiredTrainerMode = g_model.trainerMode;
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if (requiredTrainerMode != currentTrainerMode) {
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switch (currentTrainerMode) {
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case TRAINER_MODE_MASTER_TRAINER_JACK:
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stop_trainer_capture();
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break;
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case TRAINER_MODE_SLAVE:
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stop_trainer_ppm();
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break;
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case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
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serial2Stop();
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}
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currentTrainerMode = requiredTrainerMode;
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switch (requiredTrainerMode) {
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case TRAINER_MODE_SLAVE:
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init_trainer_ppm();
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break;
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case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
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if (g_eeGeneral.serial2Mode == UART_MODE_SBUS_TRAINER) {
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serial2SbusInit();
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break;
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}
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// no break
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default:
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// master is default
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init_trainer_capture();
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break;
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}
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}
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}
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uint16_t getBatteryVoltage()
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{
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int32_t instant_vbat = anaIn(TX_VOLTAGE); // using filtered ADC value on purpose
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return (uint16_t)((instant_vbat * (1000 + g_eeGeneral.txVoltageCalibration)) / 1629);
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}
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