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edgetx-gx12/radio/src/opentx.h
T
3djcandBertrand Songis 2974af5018 Make abs macro AVR specific. This fixes gcc >= 6.2 compile issues. (#3960) 
* Make abs macro AVR specific. This fixes gcc >= 6.2 compile issues. Tested on gcc 6.2 and 4.9.2

* Since we are getting conflicting result, and only 4 byte diff, lets remove it altogether ! And yeah, there was that typo too ;)
2016-11-02 11:10:03 +01:00

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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* 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 _OPENTX_H_
#define _OPENTX_H_
#include <inttypes.h>
#include <string.h>
#include <stddef.h>
#include <stdlib.h>
#include "definitions.h"
#if defined(SIMU)
#define SWITCH_SIMU(a, b) (a)
#else
#define SWITCH_SIMU(a, b) (b)
#endif
#if defined(PCBSKY9X)
#define IS_PCBSKY9X true
#define CASE_PCBSKY9X(x) x,
#else
#define IS_PCBSKY9X false
#define CASE_PCBSKY9X(x)
#endif
#if defined(CPUARM)
#define CASE_CPUARM(x) x,
#define IF_CPUARM(x) x
#else
#define CASE_CPUARM(x)
#define IF_CPUARM(x)
#endif
#if defined(VARIO) && defined(CPUARM)
#define CASE_VARIO_CPUARM(x) x,
#else
#define CASE_VARIO_CPUARM(x)
#endif
#if defined(LUA)
#define CASE_LUA(x) x,
#else
#define CASE_LUA(x)
#endif
#if defined(CPUARM) || defined(CPUM2560)
#define CASE_PERSISTENT_TIMERS(x) x,
#else
#define CASE_PERSISTENT_TIMERS(x)
#endif
#if defined(RTCLOCK)
#define CASE_RTCLOCK(x) x,
#else
#define CASE_RTCLOCK(x)
#endif
#if defined(BUZZER)
#define CASE_BUZZER(x) x,
#else
#define CASE_BUZZER(x)
#endif
#if defined(AUDIO)
#define CASE_AUDIO(x) x,
#else
#define CASE_AUDIO(x)
#endif
#if defined(VOICE)
#define CASE_VOICE(x) x,
#else
#define CASE_VOICE(x)
#endif
#if defined(PWM_BACKLIGHT)
#define CASE_PWM_BACKLIGHT(x) x,
#else
#define CASE_PWM_BACKLIGHT(x)
#endif
#if defined(TELEMETRY_FRSKY) && defined(FRSKY_HUB) && defined(GPS)
#define CASE_GPS(x) x,
#else
#define CASE_GPS(x)
#endif
#if defined(VARIO)
#define CASE_VARIO(x) x,
#else
#define CASE_VARIO(x)
#endif
#if defined(HAPTIC)
#define CASE_HAPTIC(x) x,
#else
#define CASE_HAPTIC(x)
#endif
#if defined(SPLASH)
#define CASE_SPLASH(x) x,
#else
#define CASE_SPLASH(x)
#endif
#if defined(TELEMETRY_FRSKY)
#define CASE_FRSKY(x) x,
#else
#define CASE_FRSKY(x)
#endif
#if defined(TELEMETRY_MAVLINK)
#define CASE_MAVLINK(x) x,
#else
#define CASE_MAVLINK(x)
#endif
#if defined(PXX)
#define CASE_PXX(x) x,
#else
#define CASE_PXX(x)
#endif
#if defined(SDCARD)
#define CASE_SDCARD(x) x,
#else
#define CASE_SDCARD(x)
#endif
#if defined(BLUETOOTH)
#define CASE_BLUETOOTH(x) x,
#else
#define CASE_BLUETOOTH(x)
#endif
#if defined(HELI)
#define CASE_HELI(x) x,
#else
#define CASE_HELI(x)
#endif
#if defined(TEMPLATES)
#define CASE_TEMPLATES(x) x,
#else
#define CASE_TEMPLATES(x)
#endif
#if defined(FLIGHT_MODES)
#define CASE_FLIGHT_MODES(x) x,
#else
#define CASE_FLIGHT_MODES(x)
#endif
#if defined(CURVES)
#define CASE_CURVES(x) x,
#else
#define CASE_CURVES(x)
#endif
#if defined(GVARS)
#define CASE_GVARS(x) x,
#else
#define CASE_GVARS(x)
#endif
#if defined(PCBX9DP) || defined(PCBX9E)
#define CASE_PCBX9E_PCBX9DP(x) x,
#else
#define CASE_PCBX9E_PCBX9DP(x)
#endif
#if defined(PCBX9E)
#define CASE_PCBX9E(x) x,
#else
#define CASE_PCBX9E(x)
#endif
#if defined(PCBSKY9X) && !defined(AR9X) && !defined(REVA)
#define TX_CAPACITY_MEASUREMENT
#define CASE_CAPACITY(x) x,
#else
#define CASE_CAPACITY(x)
#endif
#if ROTARY_ENCODERS > 0
#define ROTARY_ENCODER_NAVIGATION
#endif
#if defined(FAI)
#define IS_FAI_ENABLED() true
#define IF_FAI_CHOICE(x)
#elif defined(FAI_CHOICE)
#define IS_FAI_ENABLED() g_eeGeneral.fai
#define IF_FAI_CHOICE(x) x,
#else
#define IS_FAI_ENABLED() false
#define IF_FAI_CHOICE(x)
#endif
#define IS_FAI_FORBIDDEN(idx) (IS_FAI_ENABLED() && idx >= MIXSRC_FIRST_TELEM)
#if defined(CPUARM)
#define MASTER_VOLUME
#endif
#if !defined(CPUM64) && !defined(ACCURAT_THROTTLE_TIMER)
// code cost is about 16 bytes for higher throttle accuracy for timer
// would not be noticable anyway, because all version up to this change had only 16 steps;
// now it has already 32 steps; this define would increase to 128 steps
#if !defined(ACCURAT_THROTTLE_TIMER)
#define ACCURAT_THROTTLE_TIMER
#endif
#endif
// RESX range is used for internal calculation; The menu says -100.0 to 100.0; internally it is -1024 to 1024 to allow some optimizations
#define RESX_SHIFT 10
#define RESX 1024
#define RESXu 1024u
#define RESXul 1024ul
#define RESXl 1024l
#include "board.h"
#if defined(DISK_CACHE)
#include "disk_cache.h"
#endif
#if defined(SIMU)
#include "targets/simu/simpgmspace.h"
#elif defined(CPUARM)
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()
#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 "debug.h"
#if defined(PCBFLAMENCO)
#elif defined(PCBTARANIS) || defined(PCBHORUS)
#define SWSRC_THR SWSRC_SF2
#define SWSRC_GEA SWSRC_SG2
#define SWSRC_ID0 SWSRC_SA0
#define SWSRC_ID1 SWSRC_SA1
#define SWSRC_ID2 SWSRC_SA2
#define IS_MOMENTARY(sw) false // TODO
#else
#define SW_DSM2_BIND SW_TRN
#endif
#define NUM_PSWITCH (SWSRC_LAST_SWITCH-SWSRC_FIRST_SWITCH+1)
#include "myeeprom.h"
#if defined(CPUM64)
void memclear(void *ptr, uint8_t size);
#else
#define memclear(p, s) memset(p, 0, s)
#endif
void memswap(void * a, void * b, uint8_t size);
#if defined(PCBX9D) || defined(PCBX9DP) || defined(PCBX9E) || defined(PCBHORUS)
#define POT_CONFIG(x) ((g_eeGeneral.potsConfig >> (2*((x)-POT1)))&0x03)
#define IS_POT_MULTIPOS(x) (IS_POT(x) && POT_CONFIG(x)==POT_MULTIPOS_SWITCH)
#define IS_POT_WITHOUT_DETENT(x) (IS_POT(x) && POT_CONFIG(x)==POT_WITHOUT_DETENT)
#define IS_SLIDER_AVAILABLE(x) ((x) == SLIDER1 || (x) == SLIDER2 || (IS_SLIDER(x) && (g_eeGeneral.slidersConfig & (0x01 << ((x)-SLIDER1)))))
#define IS_POT_AVAILABLE(x) (IS_POT(x) && POT_CONFIG(x)!=POT_NONE)
#define IS_POT_OR_SLIDER_AVAILABLE(x) (IS_POT_AVAILABLE(x) || IS_SLIDER_AVAILABLE(x))
#define IS_MULTIPOS_CALIBRATED(cal) (cal->count>0 && cal->count<XPOTS_MULTIPOS_COUNT)
#elif defined(PCBFLAMENCO)
#define IS_POT_MULTIPOS(x) (false)
#define IS_POT_WITHOUT_DETENT(x) (false)
#define IS_POT_OR_SLIDER_AVAILABLE(x) (true)
#define IS_MULTIPOS_CALIBRATED(cal) (false)
#else
#define IS_POT_MULTIPOS(x) (false)
#define IS_POT_WITHOUT_DETENT(x) (true)
#define IS_POT_OR_SLIDER_AVAILABLE(x) (true)
#define IS_MULTIPOS_CALIBRATED(cal) (false)
#endif
#if defined(PCBFLAMENCO) || defined(PCBHORUS) || defined(PCBX9E) || defined(PCBX7D)
#define PWR_BUTTON_DELAY
#define PWR_PRESS_SHUTDOWN 300 // 3s
#endif
#define GET_LOWRES_POT_POSITION(i) (getValue(MIXSRC_FIRST_POT+(i)) >> 4)
#define SAVE_POT_POSITION(i) g_model.potsWarnPosition[i] = GET_LOWRES_POT_POSITION(i)
#if ROTARY_ENCODERS > 0
#define IF_ROTARY_ENCODERS(x) x,
#else
#define IF_ROTARY_ENCODERS(x)
#endif
#define PPM_CENTER 1500
#if defined(PPM_CENTER_ADJUSTABLE)
#define PPM_CH_CENTER(ch) (PPM_CENTER+limitAddress(ch)->ppmCenter)
#else
#define PPM_CH_CENTER(ch) (PPM_CENTER)
#endif
#if defined(CPUARM)
#include "fifo.h"
#include "io/io_arm.h"
// This doesn't need protection on this processor
typedef uint32_t tmr10ms_t;
extern volatile tmr10ms_t g_tmr10ms;
#define get_tmr10ms() g_tmr10ms
typedef int32_t rotenc_t;
typedef int32_t getvalue_t;
typedef uint32_t mixsrc_t;
typedef int32_t swsrc_t;
#else
typedef uint16_t tmr10ms_t;
extern volatile tmr10ms_t g_tmr10ms;
extern inline uint16_t get_tmr10ms()
{
uint16_t time ;
cli();
time = g_tmr10ms ;
sei();
return time ;
}
typedef int8_t rotenc_t;
typedef int16_t getvalue_t;
typedef uint8_t mixsrc_t;
typedef int8_t swsrc_t;
#endif
#if defined(NAVIGATION_STICKS)
extern uint8_t StickScrollAllowed;
extern uint8_t StickScrollTimer;
#define STICK_SCROLL_TIMEOUT 9
#define STICK_SCROLL_DISABLE() StickScrollAllowed = 0
#else
#define STICK_SCROLL_DISABLE()
#endif
#if defined(CLI)
#include "cli.h"
#endif
#include "timers.h"
#include "storage/storage.h"
#include "pulses/pulses.h"
#if defined(CPUARM)
// Order is the same as in enum Protocols in myeeprom.h (none, ppm, xjt, dsm, crossfire, multi)
static const int8_t maxChannelsModules[] = { 0, 8, 8, -2, 8, 4 }; // relative to 8!
static const int8_t maxChannelsXJT[] = { 0, 8, 0, 4 }; // relative to 8!
#define MAX_TRAINER_CHANNELS_M8() (MAX_TRAINER_CHANNELS-8)
#endif
#if defined(MULTIMODULE)
#define IS_MODULE_MULTIMODULE(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_MULTIMODULE)
#else
#define IS_MODULE_MULTIMODULE(idx) (false)
#endif
#if defined(PCBTARANIS) || defined(PCBHORUS)
#if defined(TARANIS_INTERNAL_PPM)
#define IS_MODULE_PPM(idx) (idx==TRAINER_MODULE || (idx==INTERNAL_MODULE && g_model.moduleData[INTERNAL_MODULE].type==MODULE_TYPE_PPM)|| (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_PPM))
#define IS_MODULE_XJT(idx) (((idx==INTERNAL_MODULE && g_model.moduleData[INTERNAL_MODULE].type==MODULE_TYPE_XJT)|| (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_XJT)) && (g_model.moduleData[idx].rfProtocol != RF_PROTO_OFF))
#else
#define IS_MODULE_PPM(idx) (idx==TRAINER_MODULE || (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_PPM))
#define IS_MODULE_XJT(idx) ((idx==INTERNAL_MODULE || g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_XJT) && (g_model.moduleData[idx].rfProtocol != RF_PROTO_OFF))
#endif
#if defined(DSM2)
#define IS_MODULE_DSM2(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_DSM2)
#else
#define IS_MODULE_DSM2(idx) (false)
#endif
#if defined(CROSSFIRE)
#define IS_MODULE_CROSSFIRE(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_CROSSFIRE)
#else
#define IS_MODULE_CROSSFIRE(idx) (false)
#endif
#if defined(TARANIS_INTERNAL_PPM)
#define MAX_INTERNAL_MODULE_CHANNELS() ((g_model.moduleData[INTERNAL_MODULE].type == MODULE_TYPE_XJT) ? maxChannelsXJT[1+g_model.moduleData[0].rfProtocol] : maxChannelsModules[g_model.moduleData[INTERNAL_MODULE].type])
#else
#define MAX_INTERNAL_MODULE_CHANNELS() (maxChannelsXJT[1+g_model.moduleData[INTERNAL_MODULE].rfProtocol])
#endif
#define MAX_EXTERNAL_MODULE_CHANNELS() ((g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_XJT) ? maxChannelsXJT[1+g_model.moduleData[1].rfProtocol] : maxChannelsModules[g_model.moduleData[EXTERNAL_MODULE].type])
#define MAX_CHANNELS(idx) (idx==INTERNAL_MODULE ? MAX_INTERNAL_MODULE_CHANNELS() : (idx==EXTERNAL_MODULE ? MAX_EXTERNAL_MODULE_CHANNELS() : MAX_TRAINER_CHANNELS_M8()))
#define NUM_CHANNELS(idx) ((IS_MODULE_CROSSFIRE(idx) || (IS_MODULE_MULTIMODULE(idx) && (g_model.moduleData[idx].getMultiProtocol(true) != MM_RF_PROTO_DSM2))) ? CROSSFIRE_CHANNELS_COUNT : (8+g_model.moduleData[idx].channelsCount))
#elif defined(PCBSKY9X) && !defined(REVA)
#define IS_MODULE_PPM(idx) (idx==TRAINER_MODULE || idx==EXTRA_MODULE || (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_PPM))
#define IS_MODULE_XJT(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_XJT)
#define IS_MODULE_DSM2(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_DSM2)
#define MAX_EXTERNAL_MODULE_CHANNELS() ((g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_XJT) ? maxChannelsXJT[1+g_model.moduleData[0].rfProtocol] : maxChannelsModules[g_model.moduleData[EXTERNAL_MODULE].type])
#define MAX_EXTRA_MODULE_CHANNELS() (8) // Only PPM (16ch PPM)
#define MAX_CHANNELS(idx) (idx==EXTERNAL_MODULE ? MAX_EXTERNAL_MODULE_CHANNELS() : (idx==EXTRA_MODULE ? MAX_EXTRA_MODULE_CHANNELS() : MAX_TRAINER_CHANNELS_M8()))
#define NUM_CHANNELS(idx) (8+g_model.moduleData[idx].channelsCount)
#define IS_MODULE_CROSSFIRE(idx) (false)
#else
#define IS_MODULE_PPM(idx) (idx==TRAINER_MODULE || (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_PPM))
#define IS_MODULE_XJT(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_XJT)
#define IS_MODULE_DSM2(idx) (idx==EXTERNAL_MODULE && g_model.moduleData[EXTERNAL_MODULE].type==MODULE_TYPE_DSM2)
#define MAX_EXTERNAL_MODULE_CHANNELS() ((g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_XJT) ? maxChannelsXJT[1+g_model.moduleData[EXTERNAL_MODULE].rfProtocol] : maxChannelsModules[g_model.moduleData[EXTERNAL_MODULE].type])
#define MAX_CHANNELS(idx) (idx==EXTERNAL_MODULE ? MAX_EXTERNAL_MODULE_CHANNELS() : MAX_TRAINER_CHANNELS_M8())
#define NUM_CHANNELS(idx) (8+g_model.moduleData[idx].channelsCount)
#endif
#if defined(MULTIMODULE)
#define IS_MULTIMODULE_DSM(idx) (IS_MODULE_MULTIMODULE(idx) && g_model.moduleData[idx].getMultiProtocol(true) == MM_RF_PROTO_DSM2)
#define DEFAULT_CHANNELS(idx) (IS_MODULE_PPM(idx) ? 0 : IS_MULTIMODULE_DSM(idx) ? -1 : MAX_CHANNELS(idx))
#else
#define DEFAULT_CHANNELS(idx) (IS_MODULE_PPM(idx) ? 0 : MAX_CHANNELS(idx))
#endif
#if defined(CPUARM)
#define MASK_CFN_TYPE uint64_t // current max = 64 function switches
#define MASK_FUNC_TYPE uint32_t // current max = 32 functions
#elif defined(CPUM64)
#define MASK_CFN_TYPE uint16_t // current max = 16 function switches
#define MASK_FUNC_TYPE uint8_t // current max = 8 functions
#else
#define MASK_CFN_TYPE uint32_t // current max = 32 function switches
#define MASK_FUNC_TYPE uint8_t // current max = 8 functions
#endif
typedef struct {
MASK_FUNC_TYPE activeFunctions;
MASK_CFN_TYPE activeSwitches;
tmr10ms_t lastFunctionTime[MAX_SPECIAL_FUNCTIONS];
inline bool isFunctionActive(uint8_t func)
{
return activeFunctions & ((MASK_FUNC_TYPE)1 << func);
}
void reset()
{
memclear(this, sizeof(*this));
}
} CustomFunctionsContext;
#include "strhelpers.h"
#include "gui.h"
#if defined(TEMPLATES)
#include "templates.h"
#endif
#if !defined(SIMU)
#define assert(x)
#if !defined(CPUARM) || !defined(DEBUG)
#define printf printf_not_allowed
#endif
#endif
extern const pm_uint8_t bchout_ar[];
extern const pm_uint8_t modn12x3[];
//convert from mode 1 to mode stickMode
//NOTICE! => 0..3 -> 0..3
#define RUD_STICK 0
#define ELE_STICK 1
#define THR_STICK 2
#define AIL_STICK 3
#define CONVERT_MODE(x) (((x)<=AIL_STICK) ? pgm_read_byte(modn12x3 + 4*g_eeGeneral.stickMode + (x)) : (x) )
extern uint8_t channel_order(uint8_t x);
#define THRCHK_DEADBAND 16
#if defined(COLORLCD)
#define SPLASH_NEEDED() (true)
#elif defined(PCBTARANIS)
#define SPLASH_NEEDED() (g_eeGeneral.splashMode != 3)
#elif defined(CPUARM)
#define SPLASH_NEEDED() (g_model.moduleData[EXTERNAL_MODULE].type != MODULE_TYPE_DSM2 && !g_eeGeneral.splashMode)
#else
#define SPLASH_NEEDED() (!IS_DSM2_PROTOCOL(g_model.protocol) && !g_eeGeneral.splashMode)
#endif
#if defined(PCBHORUS)
#define SPLASH_TIMEOUT 300 /* 3s */
#elif defined(FSPLASH)
#define SPLASH_TIMEOUT (g_eeGeneral.splashMode == 0 ? 60000/*infinite=10mn*/ : ((4*100) * (g_eeGeneral.splashMode & 0x03)))
#elif defined(PCBTARANIS) || defined(PCBFLAMENCO)
#define SPLASH_TIMEOUT (g_eeGeneral.splashMode==-4 ? 1500 : (g_eeGeneral.splashMode<=0 ? (400-g_eeGeneral.splashMode*200) : (400-g_eeGeneral.splashMode*100)))
#else
#define SPLASH_TIMEOUT (4*100) // 4 seconds
#endif
#if defined(ROTARY_ENCODERS)
#define IS_ROTARY_ENCODER_NAVIGATION_ENABLE() g_eeGeneral.reNavigation
extern volatile rotenc_t rotencValue[ROTARY_ENCODERS];
#define ROTARY_ENCODER_NAVIGATION_VALUE rotencValue[g_eeGeneral.reNavigation - 1]
#elif defined(ROTARY_ENCODER_NAVIGATION)
#define IS_ROTARY_ENCODER_NAVIGATION_ENABLE() true
extern volatile rotenc_t rotencValue[1];
#define ROTARY_ENCODER_NAVIGATION_VALUE rotencValue[0]
#endif
#if defined(CPUARM) && defined(ROTARY_ENCODER_NAVIGATION)
extern uint8_t rotencSpeed;
#define ROTENC_LOWSPEED 1
#define ROTENC_MIDSPEED 5
#define ROTENC_HIGHSPEED 50
#define ROTENC_DELAY_MIDSPEED 32
#define ROTENC_DELAY_HIGHSPEED 16
#endif
#define HEART_TIMER_10MS 1
#define HEART_TIMER_PULSES 2 // when multiple modules this is the first one
#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
#define HEART_WDT_CHECK (HEART_TIMER_10MS + (HEART_TIMER_PULSES << 0) + (HEART_TIMER_PULSES << 1))
#else
#define HEART_WDT_CHECK (HEART_TIMER_10MS + HEART_TIMER_PULSES)
#endif
extern uint8_t heartbeat;
#if defined(CPUARM) && !defined(BOOT)
void watchdogSuspend(uint32_t timeout);
#define WATCHDOG_SUSPEND(x) watchdogSuspend(x)
#else
#define WATCHDOG_SUSPEND(...)
#endif
#define MAX_ALERT_TIME 60
struct t_inactivity
{
uint16_t counter;
uint8_t sum;
};
extern struct t_inactivity inactivity;
#define LEN_STD_CHARS 40
#if defined(TRANSLATIONS_CZ)
#define ZCHAR_MAX (LEN_STD_CHARS)
#else
#define ZCHAR_MAX (LEN_STD_CHARS + LEN_SPECIAL_CHARS)
#endif
char hex2zchar(uint8_t hex);
char idx2char(int8_t idx);
#if defined(CPUARM) || defined(SIMU)
int8_t char2idx(char c);
void str2zchar(char *dest, const char *src, int size);
int zchar2str(char *dest, const char *src, int size);
#endif
#include "keys.h"
#include "pwr.h"
#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
div_t switchInfo(int switchPosition);
extern uint8_t potsPos[NUM_XPOTS];
#endif
#if defined(PCBHORUS)
uint16_t trimDown(uint16_t idx); // TODO why?
#else
uint8_t trimDown(uint8_t idx);
#endif
void readKeysAndTrims();
uint16_t evalChkSum();
#if !defined(GUI)
#define RAISE_ALERT(...)
#define ALERT(...)
#elif defined(VOICE)
#define RAISE_ALERT(title, msg, info, sound) showAlertBox(title, msg, info, sound)
#define ALERT(title, msg, sound) alert(title, msg, sound)
#else
#define RAISE_ALERT(title, msg, info, sound) showAlertBox(title, msg, info)
#define ALERT(title, msg, sound) alert(title, msg)
#endif
void alert(const pm_char * t, const pm_char * s ALERT_SOUND_ARG);
enum PerOutMode {
e_perout_mode_normal = 0,
e_perout_mode_inactive_flight_mode = 1,
e_perout_mode_notrainer = 2,
e_perout_mode_notrims = 4,
e_perout_mode_nosticks = 8,
e_perout_mode_noinput = e_perout_mode_notrainer+e_perout_mode_notrims+e_perout_mode_nosticks
};
#if defined(MODULE_ALWAYS_SEND_PULSES)
extern uint8_t startupWarningState;
enum StartupWarningStates {
STARTUP_WARNING_THROTTLE,
STARTUP_WARNING_SWITCHES,
STARTUP_WARNING_DONE,
};
#endif
// Fiddle to force compiler to use a pointer
#if defined(CPUARM) || defined(SIMU)
#define FORCE_INDIRECT(ptr)
#else
#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
#endif
extern uint8_t mixerCurrentFlightMode;
extern uint8_t lastFlightMode;
extern uint8_t flightModeTransitionLast;
#if defined(CPUARM)
#define bitfield_channels_t uint32_t
#else
#define bitfield_channels_t uint16_t
#endif
#if defined(SIMU)
inline int availableMemory() { return 1000; }
#elif defined(CPUARM) && !defined(SIMU)
extern unsigned char *heap;
extern int _end;
extern int _estack;
extern int _main_stack_start;
extern int _heap_end;
#define availableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
#endif
void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
void evalMixes(uint8_t tick10ms);
void doMixerCalculations();
void scheduleNextMixerCalculation(uint8_t module, uint16_t delay);
#if defined(CPUARM)
void checkTrims();
#endif
void perMain();
NOINLINE void per10ms();
getvalue_t getValue(mixsrc_t i);
#if defined(CPUARM)
#define GETSWITCH_MIDPOS_DELAY 1
bool getSwitch(swsrc_t swtch, uint8_t flags=0);
#else
bool getSwitch(swsrc_t swtch);
#endif
void logicalSwitchesTimerTick();
void logicalSwitchesReset();
#if defined(CPUARM)
void evalLogicalSwitches(bool isCurrentPhase=true);
void logicalSwitchesCopyState(uint8_t src, uint8_t dst);
#define LS_RECURSIVE_EVALUATION_RESET()
#else
#define evalLogicalSwitches(xxx)
#define GETSWITCH_RECURSIVE_TYPE uint16_t
extern volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used;
extern volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_value;
#define LS_RECURSIVE_EVALUATION_RESET() s_last_switch_used = 0
#endif
#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
void getSwitchesPosition(bool startup);
#else
#define getSwitchesPosition(...)
#endif
extern swarnstate_t switches_states;
swsrc_t getMovedSwitch();
#if defined(CPUARM)
#define GET_MOVED_SOURCE_PARAMS uint8_t min
int8_t getMovedSource(GET_MOVED_SOURCE_PARAMS);
#define GET_MOVED_SOURCE(min, max) getMovedSource(min)
#else
#define GET_MOVED_SOURCE_PARAMS
int8_t getMovedSource();
#define GET_MOVED_SOURCE(min, max) getMovedSource()
#endif
#if defined(FLIGHT_MODES)
extern uint8_t getFlightMode();
#else
#define getFlightMode() 0
#endif
#if !defined(CPUARM)
uint8_t getTrimFlightMode(uint8_t phase, uint8_t idx);
#else
#define getTrimFlightMode(phase, idx) (phase)
#endif
#if defined(GVARS)
extern int8_t trimGvar[NUM_STICKS+NUM_AUX_TRIMS];
#define TRIM_REUSED(idx) trimGvar[idx] >= 0
#else
#define TRIM_REUSED(idx) 0
#endif
trim_t getRawTrimValue(uint8_t phase, uint8_t idx);
int getTrimValue(uint8_t phase, uint8_t idx);
#if defined(CPUARM)
bool setTrimValue(uint8_t phase, uint8_t idx, int trim);
#else
void setTrimValue(uint8_t phase, uint8_t idx, int trim);
#endif
#if defined(ROTARY_ENCODERS)
int16_t getRotaryEncoder(uint8_t idx);
void incRotaryEncoder(uint8_t idx, int8_t inc);
#endif
#if defined(PCBGRUVIN9X) || defined(PCBMEGA2560)
#define ROTARY_ENCODER_GRANULARITY (1)
#elif defined(PCBSKY9X)
#define ROTARY_ENCODER_GRANULARITY (2 << g_eeGeneral.rotarySteps)
#else
#define ROTARY_ENCODER_GRANULARITY (2)
#endif
#include "gvars.h"
extern uint16_t sessionTimer;
extern uint16_t s_timeCumThr;
extern uint16_t s_timeCum16ThrP;
#if defined(OVERRIDE_CHANNEL_FUNCTION)
#if defined(CPUARM)
typedef int16_t safetych_t;
#define OVERRIDE_CHANNEL_UNDEFINED -4096
#else
typedef int8_t safetych_t;
#define OVERRIDE_CHANNEL_UNDEFINED -128
#endif
extern safetych_t safetyCh[MAX_OUTPUT_CHANNELS];
#endif
extern uint8_t trimsCheckTimer;
#if defined(CPUARM)
extern uint8_t trimsDisplayTimer;
extern uint8_t trimsDisplayMask;
#endif
void flightReset(uint8_t check=true);
extern uint8_t unexpectedShutdown;
extern uint16_t maxMixerDuration;
#if !defined(CPUARM)
extern uint8_t g_tmr1Latency_max;
extern uint8_t g_tmr1Latency_min;
extern uint16_t lastMixerDuration;
#endif
#if defined(CPUARM)
#define DURATION_MS_PREC2(x) ((x)/20)
#else
#define DURATION_MS_PREC2(x) ((x)*100)/16
#endif
#if defined(THRTRACE)
#if defined(COLORLCD)
#define MAXTRACE (LCD_W-2*10)
#else
#define MAXTRACE (LCD_W - 8)
#endif
extern uint8_t s_traceBuf[MAXTRACE];
extern uint16_t s_traceWr;
extern uint8_t s_cnt_10s;
extern uint16_t s_cnt_samples_thr_10s;
extern uint16_t s_sum_samples_thr_10s;
#define RESET_THR_TRACE() s_traceWr = s_cnt_10s = s_cnt_samples_thr_10s = s_sum_samples_thr_10s = s_timeCum16ThrP = s_timeCumThr = 0
#else
#define RESET_THR_TRACE() s_timeCum16ThrP = s_timeCumThr = 0
#endif
#if defined(SIMU)
uint16_t getTmr2MHz();
uint16_t getTmr16KHz();
#elif defined(STM32)
static inline uint16_t getTmr2MHz() { return TIMER_2MHz_TIMER->CNT; }
#elif defined(PCBSKY9X)
static inline uint16_t getTmr2MHz() { return TC1->TC_CHANNEL[0].TC_CV; }
#else
uint16_t getTmr16KHz();
#endif
#if !defined(CPUARM)
uint16_t stackAvailable();
#endif
#if defined(SPLASH)
void doSplash();
#endif
#if MENUS_LOCK == 1
extern bool readonly;
extern bool readonlyUnlocked();
#define READ_ONLY() readonly
#define READ_ONLY_UNLOCKED() readonlyUnlocked()
#else
#define READ_ONLY() false
#define READ_ONLY_UNLOCKED() true
#endif
void checkLowEEPROM();
void checkTHR();
void checkSwitches();
void checkAlarm();
void checkAll();
#if !defined(SIMU)
void getADC();
#if defined(CPUARM)
#define GET_ADC_IF_MIXER_NOT_RUNNING() do { if (s_pulses_paused) getADC(); } while(0)
#else
#define GET_ADC_IF_MIXER_NOT_RUNNING() getADC()
#endif
#endif
#if defined(SBUS)
#include "sbus.h"
#endif
void backlightOn();
void checkBacklight();
void doLoopCommonActions();
#define BITMASK(bit) (1<<(bit))
/// returns the number of elements of an array
#define DIM(arr) (sizeof((arr))/sizeof((arr)[0]))
template<class t> FORCEINLINE t min(t a, t b) { return a<b?a:b; }
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); }
template<class t> void SWAP(t & a, t & b) { t tmp = b; b = a; a = tmp; }
uint16_t isqrt32(uint32_t n);
#if defined(CPUARM) && !defined(BOOT)
#include "tasks_arm.h"
extern OS_MutexID mixerMutex;
inline void pauseMixerCalculations()
{
CoEnterMutexSection(mixerMutex);
}
inline void resumeMixerCalculations()
{
CoLeaveMutexSection(mixerMutex);
}
#else
#define pauseMixerCalculations()
#define resumeMixerCalculations()
#endif
void generalDefault();
void modelDefault(uint8_t id);
#if defined(CPUARM)
void checkModelIdUnique(uint8_t index, uint8_t module);
#endif
#if defined(CPUARM)
inline int divRoundClosest(const int n, const int d)
{
if (d == 0)
return 0;
else
return ((n < 0) ^ (d < 0)) ? ((n - d/2)/d) : ((n + d/2)/d);
}
#define calc100to256_16Bits(x) calc100to256(x)
#define calc100toRESX_16Bits(x) calc100toRESX(x)
inline int calc100to256(int x)
{
return divRoundClosest(x*256, 100);
}
inline int calc100toRESX(int x)
{
return divRoundClosest(x*RESX, 100);
}
inline int calc1000toRESX(int x)
{
return divRoundClosest(x*RESX, 1000);
}
inline int calcRESXto1000(int x)
{
return divRoundClosest(x*1000, RESX);
}
inline int calcRESXto100(int x)
{
return divRoundClosest(x*100, RESX);
}
#else
extern int16_t calc100to256_16Bits(int16_t x); // @@@2 open.20.fsguruh: return x*2.56
extern int16_t calc100to256(int8_t x); // @@@2 open.20.fsguruh: return x*2.56
extern int16_t calc100toRESX_16Bits(int16_t x); // @@@ open.20.fsguruh
extern int16_t calc100toRESX(int8_t x);
extern int16_t calc1000toRESX(int16_t x);
extern int16_t calcRESXto1000(int16_t x);
extern int8_t calcRESXto100(int16_t x);
#endif
#if defined(COLORLCD)
extern const char vers_stamp[];
extern const char date_stamp[];
extern const char time_stamp[];
extern const char eeprom_stamp[];
#else
extern const char vers_stamp[];
#endif
extern uint8_t g_vbat100mV;
#if defined(PCBTARANIS)
#define GET_TXBATT_BARS() (limit<int8_t>(0, div_and_round(10 * (g_vbat100mV - g_eeGeneral.vBatMin - 90), 30 + g_eeGeneral.vBatMax - g_eeGeneral.vBatMin), 10))
#else
#define GET_TXBATT_BARS() (limit<int8_t>(2, 20 * (g_vbat100mV - g_eeGeneral.vBatMin - 90) / (30 + g_eeGeneral.vBatMax - g_eeGeneral.vBatMin), 20))
#endif
#define IS_TXBATT_WARNING() (g_vbat100mV <= g_eeGeneral.vBatWarn)
#define g_blinkTmr10ms (*(uint8_t*)&g_tmr10ms)
extern uint8_t g_beepCnt;
extern uint8_t g_beepVal[5];
#include "trainer_input.h"
extern int32_t chans[MAX_OUTPUT_CHANNELS];
extern int16_t ex_chans[MAX_OUTPUT_CHANNELS]; // Outputs (before LIMITS) of the last perMain
extern int16_t channelOutputs[MAX_OUTPUT_CHANNELS];
extern uint16_t BandGap;
#if defined(CPUARM)
#define NUM_INPUTS (MAX_INPUTS)
#else
#define NUM_INPUTS (NUM_STICKS)
#endif
int expo(int x, int k);
#if defined(CPUARM)
inline int getMaximumValue(int source)
{
if (source < MIXSRC_FIRST_CH)
return 100;
else if (source <= MIXSRC_LAST_CH)
return g_model.extendedLimits ? 150 : 100;
else if (source >= MIXSRC_FIRST_TIMER && source <= MIXSRC_LAST_TIMER)
return (23*60)+59;
else
return 30000;
}
#endif
// Curves
enum BaseCurves {
CURVE_NONE,
CURVE_X_GT0,
CURVE_X_LT0,
CURVE_ABS_X,
CURVE_F_GT0,
CURVE_F_LT0,
CURVE_ABS_F,
CURVE_BASE
};
int8_t * curveAddress(uint8_t idx);
struct point_t
{
coord_t x;
coord_t y;
};
point_t getPoint(uint8_t i);
#if !defined(CURVES)
#define LOAD_MODEL_CURVES()
#define applyCurve(x, idx) (x)
#elif defined(CPUARM)
typedef CurveData CurveInfo;
void loadCurves();
#define LOAD_MODEL_CURVES() loadCurves()
int intpol(int x, uint8_t idx);
int applyCurve(int x, CurveRef & curve);
int applyCustomCurve(int x, uint8_t idx);
int applyCurrentCurve(int x);
int8_t getCurveX(int noPoints, int point);
void resetCustomCurveX(int8_t * points, int noPoints);
bool moveCurve(uint8_t index, int8_t shift); // TODO bool?
#else
struct CurveInfo {
int8_t * crv;
uint8_t points:7;
uint8_t custom:1;
};
CurveInfo curveInfo(uint8_t idx);
int intpol(int x, uint8_t idx);
int applyCurve(int x, int8_t idx);
#define LOAD_MODEL_CURVES()
#define applyCustomCurve(x, idx) intpol(x, idx)
int applyCurrentCurve(int x);
bool moveCurve(uint8_t index, int8_t shift, int8_t custom=0);
#endif
#if defined(CPUARM)
#define APPLY_EXPOS_EXTRA_PARAMS_INC , uint8_t ovwrIdx=0, int16_t ovwrValue=0
#define APPLY_EXPOS_EXTRA_PARAMS , uint8_t ovwrIdx, int16_t ovwrValue
#else
#define APPLY_EXPOS_EXTRA_PARAMS_INC
#define APPLY_EXPOS_EXTRA_PARAMS
#endif
#if defined(CPUARM)
void clearInputs();
void defaultInputs();
#endif
void applyExpos(int16_t * anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS_INC);
int16_t applyLimits(uint8_t channel, int32_t value);
void evalInputs(uint8_t mode);
uint16_t anaIn(uint8_t chan);
extern int16_t calibratedStick[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
#define FLASH_DURATION 20 /*200ms*/
extern uint8_t beepAgain;
extern uint16_t lightOffCounter;
extern uint8_t flashCounter;
extern uint8_t mixWarning;
FlightModeData * flightModeAddress(uint8_t idx);
ExpoData * expoAddress(uint8_t idx);
MixData * mixAddress(uint8_t idx);
LimitData * limitAddress(uint8_t idx);
LogicalSwitchData * lswAddress(uint8_t idx);
// static variables used in evalFlightModeMixes - moved here so they don't interfere with the stack
// It's also easier to initialize them here.
#if defined(CPUARM)
extern int8_t virtualInputsTrims[NUM_INPUTS];
#else
extern int16_t rawAnas[NUM_INPUTS];
#endif
extern int16_t anas [NUM_INPUTS];
extern int16_t trims[NUM_STICKS+NUM_AUX_TRIMS];
extern BeepANACenter bpanaCenter;
extern uint8_t s_mixer_first_run_done;
void applyDefaultTemplate();
void incSubtrim(uint8_t idx, int16_t inc);
void instantTrim();
void evalTrims();
void copyTrimsToOffset(uint8_t ch);
void copySticksToOffset(uint8_t ch);
void moveTrimsToOffsets();
#if defined(CPUARM)
#define ACTIVE_PHASES_TYPE uint16_t
#define DELAY_POS_SHIFT 0
#define DELAY_POS_MARGIN 3
#define delayval_t int16_t
PACK(typedef struct {
uint16_t delay;
int16_t now; // timer trigger source -> off, abs, stk, stk%, sw/!sw, !m_sw/!m_sw
int16_t prev;
uint8_t activeMix;
uint8_t activeExpo;
}) SwOn;
#else
#define ACTIVE_PHASES_TYPE uint8_t
#define DELAY_POS_SHIFT 10
#define DELAY_POS_MARGIN 0
#define delayval_t int8_t
PACK(typedef struct {
uint16_t delay:10;
int16_t now:2; // timer trigger source -> off, abs, stk, stk%, sw/!sw, !m_sw/!m_sw
int16_t prev:2;
int16_t activeMix:1;
int16_t activeExpo:1;
}) SwOn;
#endif
extern SwOn swOn[MAX_MIXERS];
extern int24_t act[MAX_MIXERS];
#if defined(BOLD_FONT)
inline bool isExpoActive(uint8_t expo)
{
return swOn[expo].activeExpo;
}
inline bool isMixActive(uint8_t mix)
{
return swOn[mix].activeMix;
}
#else
#define isExpoActive(x) false
#define isMixActive(x) false
#endif
enum LogicalSwitchFamilies {
LS_FAMILY_OFS,
LS_FAMILY_BOOL,
LS_FAMILY_COMP,
LS_FAMILY_DIFF,
LS_FAMILY_TIMER,
LS_FAMILY_STICKY,
LS_FAMILY_RANGE,
LS_FAMILY_EDGE
};
uint8_t lswFamily(uint8_t func);
int16_t lswTimerValue(delayval_t val);
enum FunctionsActive {
FUNCTION_TRAINER,
FUNCTION_INSTANT_TRIM = FUNCTION_TRAINER+4,
FUNCTION_VARIO,
FUNCTION_BACKLIGHT,
#if defined(SDCARD)
FUNCTION_LOGS,
#endif
#if defined(CPUARM)
FUNCTION_BACKGND_MUSIC,
FUNCTION_BACKGND_MUSIC_PAUSE,
#endif
};
#define VARIO_FREQUENCY_ZERO 700/*Hz*/
#define VARIO_FREQUENCY_RANGE 1000/*Hz*/
#define VARIO_REPEAT_ZERO 500/*ms*/
#define VARIO_REPEAT_MAX 80/*ms*/
#if defined(CPUARM)
extern CustomFunctionsContext modelFunctionsContext;
extern CustomFunctionsContext globalFunctionsContext;
inline bool isFunctionActive(uint8_t func)
{
return globalFunctionsContext.isFunctionActive(func) || modelFunctionsContext.isFunctionActive(func);
}
void evalFunctions(const CustomFunctionData * functions, CustomFunctionsContext & functionsContext);
inline void customFunctionsReset()
{
globalFunctionsContext.reset();
modelFunctionsContext.reset();
}
#else
extern CustomFunctionsContext modelFunctionsContext;
#define isFunctionActive(func) modelFunctionsContext.isFunctionActive(func)
void evalFunctions();
#define customFunctionsReset() modelFunctionsContext.reset()
#endif
#include "telemetry/telemetry.h"
#if defined(CPUARM)
uint8_t crc8(const uint8_t * ptr, uint32_t len);
uint16_t crc16(const uint8_t * ptr, uint32_t len);
#endif
#define PLAY_REPEAT(x) (x) /* Range 0 to 15 */
#define PLAY_NOW 0x10
#define PLAY_BACKGROUND 0x20
#define PLAY_INCREMENT(x) ((uint8_t)(((uint8_t)x) << 6)) /* -1, 0, 1, 2 */
enum AUDIO_SOUNDS {
AUDIO_HELLO,
#if defined(CPUARM)
AU_BYE,
#endif
#if defined(VOICE)
AU_THROTTLE_ALERT,
AU_SWITCH_ALERT,
AU_BAD_RADIODATA,
#endif
AU_TX_BATTERY_LOW,
AU_INACTIVITY,
#if defined(CPUARM)
AU_RSSI_ORANGE,
AU_RSSI_RED,
AU_SWR_RED,
AU_TELEMETRY_LOST,
AU_TELEMETRY_BACK,
AU_TRAINER_LOST,
AU_TRAINER_BACK,
AU_SENSOR_LOST,
AU_SERVO_KO,
AU_RX_OVERLOAD,
#endif
#if defined(PCBSKY9X)
AU_TX_MAH_HIGH,
AU_TX_TEMP_HIGH,
#endif
AU_ERROR,
AU_WARNING1,
AU_WARNING2,
AU_WARNING3,
AU_TRIM_MIDDLE,
#if defined(CPUARM)
AU_TRIM_MIN,
AU_TRIM_MAX,
#endif
#if defined(CPUARM)
AU_STICK1_MIDDLE,
AU_STICK2_MIDDLE,
AU_STICK3_MIDDLE,
AU_STICK4_MIDDLE,
#endif
#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
AU_POT1_MIDDLE,
AU_POT2_MIDDLE,
AU_SLIDER1_MIDDLE,
AU_SLIDER2_MIDDLE,
#elif defined(CPUARM)
AU_POT1_MIDDLE,
AU_POT2_MIDDLE,
AU_POT3_MIDDLE,
#else
AU_POT_MIDDLE,
#endif
AU_MIX_WARNING_1,
AU_MIX_WARNING_2,
AU_MIX_WARNING_3,
#if defined(CPUARM)
AU_TIMER1_ELAPSED,
AU_TIMER2_ELAPSED,
AU_TIMER3_ELAPSED,
#endif
AU_SPECIAL_SOUND_FIRST,
AU_SPECIAL_SOUND_BEEP1 = AU_SPECIAL_SOUND_FIRST,
AU_SPECIAL_SOUND_BEEP2,
AU_SPECIAL_SOUND_BEEP3,
AU_SPECIAL_SOUND_WARN1,
AU_SPECIAL_SOUND_WARN2,
AU_SPECIAL_SOUND_CHEEP,
AU_SPECIAL_SOUND_RATATA,
AU_SPECIAL_SOUND_TICK,
AU_SPECIAL_SOUND_SIREN,
AU_SPECIAL_SOUND_RING,
AU_SPECIAL_SOUND_SCIFI,
AU_SPECIAL_SOUND_ROBOT,
AU_SPECIAL_SOUND_CHIRP,
AU_SPECIAL_SOUND_TADA,
AU_SPECIAL_SOUND_CRICKET,
AU_SPECIAL_SOUND_ALARMC,
AU_SPECIAL_SOUND_LAST,
AU_NONE=0xff
};
#if defined(AUDIO)
#if defined(CPUARM)
#include "audio_arm.h"
#else
#include "audio_avr.h"
#endif
#endif
#include "buzzer.h"
#if defined(PCBSTD) && defined(VOICE)
#include "targets/9x/voice.h"
#endif
#if defined(PCBGRUVIN9X) && defined(VOICE)
#include "targets/gruvin9x/voice.h"
#endif
#if defined(PCBMEGA2560) && defined(VOICE)
#include "targets/mega2560/voice.h"
#endif
#include "translations.h"
#include "fonts.h"
#if defined(HAPTIC)
#include "haptic.h"
#endif
#if defined(SDCARD)
#include "sdcard.h"
#endif
#if defined(RTCLOCK)
#include "rtc.h"
#endif
#if defined(REVX)
void setMFP();
void clearMFP();
#endif
#if defined(CPUARM)
extern uint8_t requiredSpeakerVolume;
#endif
#if defined(CPUARM)
enum MainRequest {
REQUEST_SCREENSHOT,
REQUEST_FLIGHT_RESET,
};
extern uint8_t mainRequestFlags;
#endif
void checkBattery();
void opentxClose(uint8_t shutdown=true);
void opentxInit();
void opentxResume();
#if defined(PCBHORUS) || defined(PCBX7D)
#define LED_ERROR_BEGIN() ledRed()
#define LED_ERROR_END() ledBlue()
#else
#define LED_ERROR_BEGIN()
#define LED_ERROR_END()
#endif
// Re-useable byte array to save having multiple buffers
#define SD_SCREEN_FILE_LENGTH (64)
union ReusableBuffer
{
// 275 bytes
struct
{
char listnames[NUM_BODY_LINES][LEN_MODEL_NAME];
#if defined(EEPROM_RLC) && LCD_W < 212
uint16_t eepromfree;
#endif
#if defined(SDCARD)
char menu_bss[POPUP_MENU_MAX_LINES][MENU_LINE_LENGTH];
char mainname[45]; // because reused for SD backup / restore, max backup filename 44 chars: "/MODELS/MODEL0134353-2014-06-19-04-51-27.bin"
#else
char mainname[LEN_MODEL_NAME];
#endif
} modelsel;
// 103 bytes
struct
{
int16_t midVals[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
int16_t loVals[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
int16_t hiVals[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
uint8_t state;
#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
struct {
uint8_t stepsCount;
int16_t steps[XPOTS_MULTIPOS_COUNT];
uint8_t lastCount;
int16_t lastPosition;
} xpotsCalib[NUM_XPOTS];
#endif
} calib;
#if defined(SDCARD)
// 274 bytes
struct
{
char lines[NUM_BODY_LINES][SD_SCREEN_FILE_LENGTH+1+1]; // the last char is used to store the flags (directory) of the line
uint32_t available;
uint16_t offset;
uint16_t count;
char originalName[SD_SCREEN_FILE_LENGTH+1];
} sdmanager;
#endif
#if defined(STM32)
struct
{
char id[27];
} version;
#endif
struct
{
uint8_t stickMode;
} generalSettings;
};
extern union ReusableBuffer reusableBuffer;
void checkFlashOnBeep();
#if defined(CPUARM)
uint8_t zlen(const char *str, uint8_t size);
bool zexist(const char *str, uint8_t size);
unsigned int effectiveLen(const char * str, unsigned int size);
char * strcat_zchar(char *dest, const char *name, uint8_t size, const char *defaultName=NULL, uint8_t defaultNameSize=0, uint8_t defaultIdx=0);
#define strcat_phasename(dest, idx) strcat_zchar(dest, g_model.flightModeData[idx].name, LEN_FLIGHT_MODE_NAME, STR_FP, PSIZE(TR_FP), idx+1)
#if defined(EEPROM)
#define strcat_modelname(dest, idx) strcat_zchar(dest, modelHeaders[idx].name, LEN_MODEL_NAME, STR_MODEL, PSIZE(TR_MODEL), idx+1)
#define strcat_currentmodelname(dest) strcat_modelname(dest, g_eeGeneral.currModel)
#else
#define strcat_currentmodelname(dest) strcat_zchar(dest, g_model.header.name, LEN_MODEL_NAME)
#endif
#define ZLEN(s) zlen(s, sizeof(s))
#define ZEXIST(s) zexist(s, sizeof(s))
#endif
// Stick tolerance varies between transmitters, Higher is better
#if defined (PCB9XR) || defined (PCB9XR128)
#define STICK_TOLERANCE 16
#else
#define STICK_TOLERANCE 64
#endif
#if defined(FRSKY_HUB) && defined(GAUGES)
enum BarThresholdIdx {
THLD_ALT,
THLD_RPM,
THLD_FUEL,
THLD_T1,
THLD_T2,
THLD_SPEED,
THLD_DIST,
THLD_GPSALT,
THLD_CELL,
THLD_CELLS_SUM,
THLD_VFAS,
THLD_CURRENT,
THLD_CONSUMPTION,
THLD_MAX,
};
#if defined(CPUARM)
typedef uint16_t bar_threshold_t;
#define FILL_THRESHOLD(idx, val) barsThresholds[idx] = (val)
#else
typedef uint8_t bar_threshold_t;
#define FILL_THRESHOLD(idx, val) barsThresholds[idx] = 128 + (val)
#endif
extern bar_threshold_t barsThresholds[THLD_MAX];
#else
#define FILL_THRESHOLD(idx, val)
#endif
#if defined(TELEMETRY_FRSKY)
ls_telemetry_value_t minTelemValue(source_t channel);
ls_telemetry_value_t maxTelemValue(source_t channel);
#else
#define minTelemValue(channel) 255
#define maxTelemValue(channel) 255
#endif
#if defined(CPUARM)
getvalue_t convert16bitsTelemValue(source_t channel, ls_telemetry_value_t value);
ls_telemetry_value_t max8bitsTelemValue(source_t channel);
#endif
getvalue_t convert8bitsTelemValue(source_t channel, ls_telemetry_value_t value);
getvalue_t convertLswTelemValue(LogicalSwitchData * cs);
#if defined(CPUARM)
#define convertTelemValue(channel, value) convert16bitsTelemValue(channel, value)
#define convertBarTelemValue(channel, value) convert8bitsTelemValue(channel, value)
#define maxBarTelemValue(channel) max8bitsTelemValue(channel)
#else
#define convertTelemValue(channel, value) convert8bitsTelemValue(channel, value)
#define convertBarTelemValue(channel, value) convert8bitsTelemValue(channel, value)
#define maxBarTelemValue(channel) maxTelemValue(channel)
#endif
#if defined(TELEMETRY_FRSKY) || defined(CPUARM)
lcdint_t applyChannelRatio(source_t channel, lcdint_t val);
#define ANA_CHANNEL_UNIT(channel) g_model.frsky.channels[channel].type
#endif
inline int div_and_round(int num, int den)
{
if (den == 0) {
return 0;
}
else if (num >= 0) {
num += den / 2;
}
else {
num -= den / 2;
}
return num / den;
}
#if defined(TELEMETRY_FRSKY)
NOINLINE uint8_t getRssiAlarmValue(uint8_t alarm);
extern const pm_uint8_t bchunit_ar[];
#if defined(CPUARM)
#define FRSKY_MULTIPLIER_MAX 5
#else
#define FRSKY_MULTIPLIER_MAX 3
#endif
enum TelemetryViews {
TELEMETRY_CUSTOM_SCREEN_1,
TELEMETRY_CUSTOM_SCREEN_2,
#if defined(CPUARM)
TELEMETRY_CUSTOM_SCREEN_3,
TELEMETRY_CUSTOM_SCREEN_4,
TELEMETRY_VIEW_MAX = TELEMETRY_CUSTOM_SCREEN_4
#else
TELEMETRY_VOLTAGES_SCREEN,
TELEMETRY_AFTER_FLIGHT_SCREEN,
TELEMETRY_VIEW_MAX = TELEMETRY_AFTER_FLIGHT_SCREEN
#endif
};
extern uint8_t s_frsky_view;
#endif
#define EARTH_RADIUSKM ((uint32_t)6371)
#define EARTH_RADIUS ((uint32_t)111194)
void getGpsPilotPosition();
void getGpsDistance();
void varioWakeup();
#if defined(AUDIO) && defined(BUZZER)
#define IS_SOUND_OFF() (g_eeGeneral.buzzerMode==e_mode_quiet && g_eeGeneral.beepMode==e_mode_quiet)
#else
#define IS_SOUND_OFF() (g_eeGeneral.beepMode == e_mode_quiet)
#endif
#if defined(CPUARM)
#define IS_IMPERIAL_ENABLE() (g_eeGeneral.imperial)
#elif defined(IMPERIAL_UNITS)
#define IS_IMPERIAL_ENABLE() (1)
#else
#define IS_IMPERIAL_ENABLE() (0)
#endif
#if defined(CPUARM)
#elif defined(TELEMETRY_FRSKY)
FORCEINLINE void convertUnit(getvalue_t & val, uint8_t & unit)
{
if (IS_IMPERIAL_ENABLE()) {
if (unit == UNIT_TEMPERATURE) {
val += 18;
val *= 115;
val >>= 6;
}
if (unit == UNIT_DIST) {
// m to ft *105/32
val = val * 3 + (val >> 2) + (val >> 5);
}
if (unit == UNIT_FEET) {
unit = UNIT_DIST;
}
if (unit == UNIT_KTS) {
// kts to mph
unit = UNIT_SPEED;
val = (val * 23) / 20;
}
}
else {
if (unit == UNIT_KTS) {
// kts to km/h
unit = UNIT_SPEED;
val = (val * 50) / 27;
}
}
if (unit == UNIT_HDG) {
unit = UNIT_TEMPERATURE;
}
}
#else
#define convertUnit(...)
#endif
#if !defined(CPUARM)
#define IS_USR_PROTO_FRSKY_HUB() (g_model.frsky.usrProto == USR_PROTO_FRSKY)
#define IS_USR_PROTO_WS_HOW_HIGH() (g_model.frsky.usrProto == USR_PROTO_WS_HOW_HIGH)
#endif
#if defined(TELEMETRY_FRSKY) && defined(FRSKY_HUB) && defined(GPS)
#define IS_GPS_AVAILABLE() IS_USR_PROTO_FRSKY_HUB()
#else
#define IS_GPS_AVAILABLE() (0)
#endif
#if defined(PCBTARANIS)
extern const pm_uchar logo_taranis[];
#endif
#if defined(USB_MASS_STORAGE)
void usbPluggedIn();
#endif
#include "lua/lua_api.h"
#if defined(SDCARD)
enum ClipboardType {
CLIPBOARD_TYPE_NONE,
CLIPBOARD_TYPE_CUSTOM_SWITCH,
CLIPBOARD_TYPE_CUSTOM_FUNCTION,
CLIPBOARD_TYPE_SD_FILE,
};
#if defined(SIMU)
#define CLIPBOARD_PATH_LEN 1024
#else
#define CLIPBOARD_PATH_LEN 32
#endif
struct Clipboard {
ClipboardType type;
union {
LogicalSwitchData csw;
CustomFunctionData cfn;
struct {
char directory[CLIPBOARD_PATH_LEN];
char filename[CLIPBOARD_PATH_LEN];
} sd;
} data;
};
extern Clipboard clipboard;
#endif
#if !defined(SIMU)
extern uint16_t s_anaFilt[NUMBER_ANALOG];
#endif
#if defined(JITTER_MEASURE)
extern JitterMeter<uint16_t> rawJitter[NUMBER_ANALOG];
extern JitterMeter<uint16_t> avgJitter[NUMBER_ANALOG];
#if defined(PCBHORUS)
#define JITTER_MEASURE_ACTIVE() (menuHandlers[menuLevel] == menuStatsAnalogs)
#elif defined(PCBTARANIS)
#define JITTER_MEASURE_ACTIVE() (menuHandlers[menuLevel] == menuRadioDiagAnalogs)
#elif defined(CLI)
#define JITTER_MEASURE_ACTIVE() (1)
#else
#define JITTER_MEASURE_ACTIVE() (0)
#endif
#endif
#if defined(INTERNAL_GPS)
#include "gps.h"
#endif
#endif // _OPENTX_H_
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