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edgetx-gx12/src/open9x.h
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bsongis 0c6dbbba4c [sky9x] No shutdown after INVALID EEPROM 
[all] Some functions names renamed
2012-12-17 21:06:36 +00:00

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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>
#include <stdlib.h>
#if defined(PCBSKY9X)
#define IF_PCBSKY9X(x) x,
#else
#define IF_PCBSKY9X(x)
#endif
#if defined(PCBX9D)
#define IF_PCBX9D(x) x,
#else
#define IF_PCBX9D(x)
#endif
#if defined(CPUARM)
#define IF_CPUARM(x) x,
#else
#define IF_CPUARM(x)
#endif
#if defined(RTCLOCK)
#define IF_RTCLOCK(x) x,
#else
#define IF_RTCLOCK(x)
#endif
#if defined(AUDIO)
#define IF_AUDIO(x) x,
#else
#define IF_AUDIO(x)
#endif
#if defined(VOICE)
#define IF_VOICE(x) x,
#else
#define IF_VOICE(x)
#endif
#if defined(VARIO)
#define IF_VARIO(x) x,
#else
#define IF_VARIO(x)
#endif
#if defined(HAPTIC)
#define IF_HAPTIC(x) x,
#else
#define IF_HAPTIC(x)
#endif
#if defined(SPLASH)
#define IF_SPLASH(x) x,
#else
#define IF_SPLASH(x)
#endif
#if defined(FRSKY)
#define IF_FRSKY(x) x,
#else
#define IF_FRSKY(x)
#endif
#if defined(SDCARD)
#define IF_SDCARD(x) x,
#else
#define IF_SDCARD(x)
#endif
#if defined(BLUETOOTH)
#define IF_BLUETOOTH(x) x,
#else
#define IF_BLUETOOTH(x)
#endif
#if defined(HELI)
#define IF_HELI(x) x,
#else
#define IF_HELI(x)
#endif
#if defined(TEMPLATES)
#define IF_TEMPLATES(x) x,
#else
#define IF_TEMPLATES(x)
#endif
#if defined(FLIGHT_PHASES)
#define IF_FLIGHT_PHASES(x) x,
#else
#define IF_FLIGHT_PHASES(x)
#endif
#if defined(CURVES)
#define IF_CURVES(x) x,
#else
#define IF_CURVES(x)
#endif
#if defined(GVARS)
#define IF_GVARS(x) x,
#else
#define IF_GVARS(x)
#endif
/*
#define HELI_VARIANT 0x0004
#define VOICE_VARIANT 0x0008
#define PHASES_VARIANT 0x0010
#define PXX_VARIANT 0x0020
#define DSM2_VARIANT 0x0040
#define VARIO_VARIANT 0x0080
#define HAPTIC_VARIANT 0x0100 */
#if defined(PCBX9D)
#include "board_x9d.h"
#elif defined(PCBSKY9X)
#include "board_sky9x.h"
#elif defined(PCBGRUVIN9X)
#include "board_gruvin9x.h"
#else
#include "board_stock.h"
#endif
#if defined(SIMU)
#include "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()
#define wdt_disable()
#define wdt_enable(x) WDT->WDT_MR = 0x3FFF217F;
#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"
#if defined(ROTARY_ENCODERS) && NUM_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 "eeprom_arm.h"
#include "pulses_arm.h"
#else
#include "eeprom_avr.h"
#include "pulses_avr.h"
#endif
#if defined(PCBX9D)
extern uint8_t modelBitmap[64*32/8];
void loadModelBitmap();
#define LOAD_MODEL_BITMAP() loadModelBitmap()
#else
#define LOAD_MODEL_BITMAP()
#endif
#if defined(DSM2)
extern bool s_bind_mode;
extern bool s_rangecheck_mode;
extern uint8_t s_bind_allowed;
#endif
#if defined(DSM2)
#define IS_DSM2_PROTOCOL(protocol) (protocol==PROTO_DSM2)
#else
#define IS_DSM2_PROTOCOL(protocol) (0)
#endif
#if defined(PXX)
#define IS_PXX_PROTOCOL(protocol) (protocol==PROTO_PXX)
#else
#define IS_PXX_PROTOCOL(protocol) (0)
#endif
#include "lcd.h"
#include "menus.h"
#ifdef TEMPLATES
#include "templates.h"
#endif
#if !defined(SIMU)
#define assert(x)
#if !defined(CPUARM) || !defined(DEBUG)
#define printf printf_not_allowed
#endif
#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 (PCBGRUVIN9X)
# define INP_L_SPARE6 7
# define INP_L_SPARE5 6
# define INP_L_KEY_EXT 5
# define INP_L_KEY_MEN 4
# define INP_L_KEY_LFT 3
# define INP_L_KEY_RGT 2
# define INP_L_KEY_UP 1
# define INP_L_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 OUT_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
#if defined(VOICE)
# define OUT_H_14DRESET 3
# define OUT_H_14DCLK 4
# define OUT_H_14DDATA 5
# define INP_H_14DBUSY 6
#endif
#define KEYS_PRESSED() (~PINL) // used only for DBLKEYS code.
#define DBLKEYS_PRESSED_RGT_LFT(i) ((in & ((1<<INP_L_KEY_RGT) + (1<<INP_L_KEY_LFT))) == ((1<<INP_L_KEY_RGT) + (1<<INP_L_KEY_LFT)))
#define DBLKEYS_PRESSED_UP_DWN(i) ((in & ((1<<INP_L_KEY_UP) + (1<<INP_L_KEY_DWN))) == ((1<<INP_L_KEY_UP) + (1<<INP_L_KEY_DWN)))
#define DBLKEYS_PRESSED_RGT_UP(i) ((in & ((1<<INP_L_KEY_RGT) + (1<<INP_L_KEY_UP))) == ((1<<INP_L_KEY_RGT) + (1<<INP_L_KEY_UP)))
#define DBLKEYS_PRESSED_LFT_DWN(i) ((in & ((1<<INP_L_KEY_LFT) + (1<<INP_L_KEY_DWN))) == ((1<<INP_L_KEY_LFT) + (1<<INP_L_KEY_DWN)))
#elif defined(PCBSTD) // stock board ...
#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 OUT_G_HAPTIC 2
#define INP_G_RF_POW 1
#define INP_G_RuddDR 0
#define KEYS_PRESSED() (~PINB)
#define DBLKEYS_PRESSED_RGT_LFT(i) ((in & ((1<<INP_B_KEY_RGT) + (1<<INP_B_KEY_LFT))) == ((1<<INP_B_KEY_RGT) + (1<<INP_B_KEY_LFT)))
#define DBLKEYS_PRESSED_UP_DWN(i) ((in & ((1<<INP_B_KEY_UP) + (1<<INP_B_KEY_DWN))) == ((1<<INP_B_KEY_UP) + (1<<INP_B_KEY_DWN)))
#define DBLKEYS_PRESSED_RGT_UP(i) ((in & ((1<<INP_B_KEY_RGT) + (1<<INP_B_KEY_UP))) == ((1<<INP_B_KEY_RGT) + (1<<INP_B_KEY_UP)))
#define DBLKEYS_PRESSED_LFT_DWN(i) ((in & ((1<<INP_B_KEY_LFT) + (1<<INP_B_KEY_DWN))) == ((1<<INP_B_KEY_LFT) + (1<<INP_B_KEY_DWN)))
#endif // defined (PCBGRUVIN9X)
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,
#if defined(PCBX9D)
KEY_ENTER,
KEY_PAGE,
KEY_PLUS,
KEY_MINUS,
#else
KEY_DOWN,
KEY_UP,
KEY_RIGHT,
KEY_LEFT,
#endif
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
NUM_KEYS,
SW_BASE=NUM_KEYS,
//SW_NC,
//SW_ON,
#if defined(PCBX9D)
SW_SA0=SW_BASE,
SW_SA2,
SW_SB0,
SW_SB1,
SW_SB2,
SW_SC0,
SW_SC1,
SW_SC2,
SW_SD0,
SW_SD1,
SW_SD2,
SW_SE0,
SW_SE1,
SW_SE2,
SW_SF0,
SW_SF1,
SW_SF2,
SW_SG0,
SW_SG1,
SW_SG2,
SW_SH0,
SW_SH2,
#else
SW_THR=SW_BASE,
SW_RUD,
SW_ELE,
SW_ID0,
SW_ID1,
SW_ID2,
SW_AIL,
SW_GEA,
SW_TRN,
#endif
SW_SW1,
SW_SW2,
SW_SW3,
SW_SW4,
SW_SW5,
SW_SW6,
SW_SW7,
SW_SW8,
SW_SW9,
SW_SWA,
SW_SWB,
SW_SWC,
};
#define DSW(x) (1+(x)-SW_BASE)
#if defined(PCBX9D)
#define KEY_RIGHT KEY_PLUS
#define KEY_UP KEY_PLUS
#define KEY_LEFT KEY_MINUS
#define KEY_DOWN KEY_MINUS
/* mapping of 9x switches */
#define SW_THR SW_SA2
#define SW_RUD SW_SB2
#define SW_ELE SW_SC2
#define SW_ID0 SW_SD0
#define SW_ID1 SW_SD1
#define SW_ID2 SW_SD2
#define SW_AIL SW_SF2
#define SW_GEA SW_SG2
#define SW_TRN SW_SH2
#else
#define KEY_ENTER KEY_MENU
#define KEY_PLUS KEY_RIGHT
#define KEY_MINUS KEY_LEFT
#endif
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_START 97
#define KSTATE_PAUSE 98
#define KSTATE_KILLED 99
uint8_t m_vals; // key debounce? 4 = 40ms
uint8_t m_cnt;
uint8_t m_state;
public:
void input(bool val, EnumKeys enuk);
bool state() { return m_vals > 0; }
void pauseEvents() { m_state = KSTATE_PAUSE; m_cnt = 0; }
void killEvents() { m_state = KSTATE_KILLED; }
};
extern Key keys[NUM_KEYS];
enum BaseCurves {
CURVE_NONE,
CURVE_X_GT0,
CURVE_X_LT0,
CURVE_ABS_X,
CURVE_F_GT0,
CURVE_F_LT0,
CURVE_ABS_F,
CURVE_BASE
};
#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
enum CswFunctions {
CS_OFF,
CS_VPOS, // v>offset
CS_VNEG, // v<offset
CS_APOS, // |v|>offset
CS_ANEG, // |v|<offset
CS_AND,
CS_OR,
CS_XOR,
CS_EQUAL,
CS_NEQUAL,
CS_GREATER,
CS_LESS,
CS_EGREATER,
CS_ELESS,
CS_DIFFEGREATER,
CS_ADIFFEGREATER,
CS_MAXF = CS_ADIFFEGREATER
};
#define CS_VOFS 0
#define CS_VBOOL 1
#define CS_VCOMP 2
#define CS_VDIFF 3
#define CS_STATE(x) ((x)<CS_AND ? CS_VOFS : ((x)<CS_EQUAL ? CS_VBOOL : ((x)<CS_DIFFEGREATER ? CS_VCOMP : CS_VDIFF)))
#define NUM_STICKS 4
#if defined(PCBX9D)
#define MAX_PSWITCH (SW_SH2-SW_SA0+1)
#define NUM_POTS 4
#define NUM_SW_SRCRAW 8
#else
#define MAX_PSWITCH (SW_TRN-SW_THR+1) // 9 physical switches
#define NUM_POTS 3
#define NUM_SW_SRCRAW 1
#endif
#define MAX_SWITCH (MAX_PSWITCH+NUM_CSW)
#define SWITCH_ON (1+MAX_SWITCH)
#define SWITCH_OFF (-SWITCH_ON)
#define NUM_CYC 3
#if defined(PCBX9D)
#define CSW_PPM_BASE 24 // TODO garbage to compile ...
#else
#define CSW_PPM_BASE (MIXSRC_3POS+NUM_CYC) // because srcRaw is shifted +1!
#endif
#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_A2
#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+NUM_STICKS+1/*MAX*/+NUM_SW_SRCRAW+NUM_CYC+NUM_PPM+NUM_CHNOUT)
#if defined(PCBX9D)
#define NUM_XCHNMIX (NUM_XCHNRAW+NUM_CSW)
#define NUM_XCHNCSW (NUM_XCHNRAW+NUM_CSW+NUM_TELEMETRY)
#define NUM_XCHNPLAY (NUM_XCHNRAW+NUM_CSW+TELEM_DISPLAY_MAX)
#else
#define NUM_XCHNMIX (NUM_XCHNRAW+MAX_SWITCH)
#define NUM_XCHNCSW (NUM_XCHNRAW+NUM_TELEMETRY)
#define NUM_XCHNPLAY (NUM_XCHNRAW+TELEM_DISPLAY_MAX)
#endif
#define THRCHK_DEADBAND 16
#if defined(FSPLASH) || defined(XSPLASH)
#define SPLASH_TIMEOUT (g_eeGeneral.splashMode == 0 ? 60000/*infinite=10mn*/ : ((4*100) * (g_eeGeneral.splashMode & 0x03)))
#else
#define SPLASH_TIMEOUT (4*100) // 4 seconds
#endif
#define TRM_BASE TRM_LH_DWN
#define _MSK_KEY_BREAK 0x20
#define _MSK_KEY_REPT 0x40
#define _MSK_KEY_LONG 0x80
#define IS_KEY_BREAK(key) (((key)&0xf0) == 0x20)
#define IS_KEY_FIRST(key) (((key)&0xf0) == 0x60)
#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_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 uint8_t inacPrescale;
extern uint16_t inacCounter;
extern uint16_t inacSum;
#if defined(PXX)
extern uint8_t pxxFlag;
#endif
#define PXX_SEND_RXNUM 0x01
#define PXX_SEND_FAILSAFE 0x02
#define ZCHAR_MAX (40 + LEN_SPECIAL_CHARS)
extern char idx2char(int8_t idx);
void clearKeyEvents();
void pauseEvents(uint8_t enuk);
void killEvents(uint8_t enuk);
#if defined(CPUARM)
uint8_t getEvent(bool trim);
#else
uint8_t getEvent();
#endif
void putEvent(uint8_t evt);
uint8_t keyDown();
enum PowerState {
e_power_on,
e_power_trainer,
e_power_usb,
e_power_off
};
#if defined(CPUARM)
uint32_t keyState(EnumKeys enuk);
uint32_t check_soft_power();
#else
bool keyState(EnumKeys enuk);
#if defined(PCBGRUVIN9X)
uint8_t check_soft_power();
#else
#define check_soft_power() (e_power_on)
#endif
#endif
void readKeysAndTrims();
uint16_t evalChkSum();
#if defined(VOICE)
#define MESSAGE_SOUND_ARG , uint8_t sound
#define MESSAGE(title, msg, info, sound) message(title, msg, info, sound)
#define ALERT(title, msg, sound) alert(title, msg, sound)
#else
#define MESSAGE_SOUND_ARG
#define MESSAGE(title, msg, info, sound) message(title, msg, info)
#define ALERT(title, msg, sound) alert(title, msg)
#endif
extern void message(const pm_char *title, const pm_char *s, const char *last MESSAGE_SOUND_ARG);
extern void alert(const pm_char * t, const pm_char * s MESSAGE_SOUND_ARG);
enum PerOutMode {
e_perout_mode_normal = 0,
e_perout_mode_notrainer = 1,
e_perout_mode_notrims = 2,
e_perout_mode_nosticks = 4,
e_perout_mode_noinput = e_perout_mode_notrainer+e_perout_mode_notrims+e_perout_mode_nosticks
};
#ifdef SIMU
#ifndef FORCEINLINE
#define FORCEINLINE
#endif
#ifndef NOINLINE
#define NOINLINE
#endif
#else
#define FORCEINLINE inline __attribute__ ((always_inline))
#define NOINLINE __attribute__ ((noinline))
#define SIMU_SLEEP(x)
#endif
// Fiddle to force compiler to use a pointer
#define FORCE_INDIRECT(ptr) __asm__ __volatile__ ("" : "=e" (ptr) : "0" (ptr))
extern uint8_t s_perout_flight_phase;
#if defined(CPUARM)
#define bitfield_channels_t uint32_t
#else
#define bitfield_channels_t uint16_t
#endif
void perOut(uint8_t mode, uint8_t tick10ms);
void perMain();
NOINLINE void per10ms();
int16_t getValue(uint8_t i);
bool getSwitch(int8_t swtch, bool nc);
extern uint8_t switches_states;
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(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);
}
#if defined(PCBSKY9X)
#define ROTARY_ENCODER_GRANULARITY 4
#else
#define ROTARY_ENCODER_GRANULARITY 1
#endif
#endif
#if defined(GVARS)
#if defined(CPUM64)
int16_t getGVarValue(int8_t x, int16_t min, int16_t max);
void setGVarValue(uint8_t x, int8_t value);
#define GET_GVAR(x, min, max, p) getGVarValue(x, min, max)
#define SET_GVAR(idx, val, p) setGVarValue(idx, val)
#else
uint8_t getGVarFlightPhase(uint8_t phase, uint8_t idx);
int16_t getGVarValue(int8_t x, int16_t min, int16_t max, int8_t phase);
void setGVarValue(uint8_t x, int8_t value, int8_t phase);
#define GET_GVAR(x, min, max, p) getGVarValue(x, min, max, p)
#define SET_GVAR(idx, val, p) setGVarValue(idx, val, p)
#endif
#define GVAR_DISPLAY_TIME 100 /*1 second*/;
extern uint8_t s_gvar_timer;
extern uint8_t s_gvar_last;
#else
#define GET_GVAR(x, ...) (x)
#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 unexpectedShutdown;
extern uint8_t g_tmr1Latency_max;
extern uint8_t g_tmr1Latency_min;
extern uint16_t maxMixerDuration;
extern uint16_t lastMixerDuration;
#if defined(THRTRACE)
#define MAXTRACE 120
extern uint8_t s_traceBuf[MAXTRACE];
extern uint8_t s_traceWr;
extern int8_t s_traceCnt;
#endif
#if defined(CPUARM)
static inline uint16_t getTmr2MHz() { return TC1->TC_CHANNEL[0].TC_CV; }
#else
uint16_t getTmr16KHz();
#endif
#if defined(CPUARM)
uint16_t stack_free(uint8_t tid);
#else
uint16_t stack_free();
#endif
#if defined(CPUM64)
void memclear(void *ptr, uint8_t size);
#else
#define memclear(p, s) memset(p, 0, s)
#endif
#if defined(SPLASH)
void doSplash();
#endif
void checkLowEEPROM();
void checkTHR();
void checkSwitches();
void checkAlarm();
void checkAll();
#define ADC_VREF_TYPE 0x40 // AVCC with external capacitor at AREF pin
#define GETADC_SING = 0
#define GETADC_OSMP = 1
#define GETADC_FILT = 2
#if !defined(SIMU)
void getADC();
#endif
#define STORE_MODELVARS eeDirty(EE_MODEL)
#define STORE_GENERALVARS eeDirty(EE_GENERAL)
extern void backlightOn();
#if defined (CPUARM)
#define __BACKLIGHT_ON (PWM->PWM_CH_NUM[0].PWM_CDTY = g_eeGeneral.backlightBright)
#define __BACKLIGHT_OFF (PWM->PWM_CH_NUM[0].PWM_CDTY = 100)
#if defined(REVA)
#define NUMBER_ANALOG 8
#else
#define NUMBER_ANALOG 9
#endif
extern uint16_t Analog_values[NUMBER_ANALOG] ;
void read_9_adc(void ) ;
#elif defined (PCBGRUVIN9X)
#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)
#elif defined(SP22)
#define __BACKLIGHT_ON PORTB &= ~(1 << OUT_B_LIGHT)
#define __BACKLIGHT_OFF PORTB |= (1 << OUT_B_LIGHT)
#else
#define __BACKLIGHT_ON PORTB |= (1 << OUT_B_LIGHT)
#define __BACKLIGHT_OFF PORTB &= ~(1 << OUT_B_LIGHT)
#endif
#if defined(PCBSTD) && defined(VOICE) && !defined(SIMU)
#define BACKLIGHT_ON() (Voice.Backlight = 1)
#define BACKLIGHT_OFF() (Voice.Backlight = 0)
#else
#define BACKLIGHT_ON() __BACKLIGHT_ON
#define BACKLIGHT_OFF() __BACKLIGHT_OFF
#endif
#define BUZZER_ON PORTE |= (1 << OUT_E_BUZZER)
#define BUZZER_OFF PORTE &= ~(1 << OUT_E_BUZZER)
#if defined(HAPTIC)
#if defined(PCBSKY9X)
#define HAPTIC_OFF hapticOff()
#elif defined(PCBGRUVIN9X)
#define HAPTIC_ON PORTD &= ~(1 << OUT_D_HAPTIC)
#define HAPTIC_OFF PORTD |= (1 << OUT_D_HAPTIC)
#else
#define HAPTIC_ON PORTG |= (1 << OUT_G_HAPTIC)
#define HAPTIC_OFF PORTG &= ~(1 << OUT_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]))
/// 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
#if defined(CPUARM)
#if !defined(SIMU)
extern "C" {
#include <CoOS.h>
}
#endif
extern OS_MutexID mixerMutex;
inline void pauseMixerCalculations()
{
CoEnterMutexSection(mixerMutex);
}
inline void resumeMixerCalculations()
{
CoLeaveMutexSection(mixerMutex);
}
#else
#define pauseMixerCalculations()
#define resumeMixerCalculations()
#endif
#if defined(CPUARM) || defined(PCBGRUVIN9X)
void saveTimers();
#else
#define saveTimers()
#endif
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);
void generalDefault();
void modelDefault(uint8_t id);
#if defined(CPUARM)
inline int32_t calc100toRESX(register int8_t x)
{
return x * 1024 / 100;
}
inline int16_t calc1000toRESX(register int32_t x) // improve calc time by Pat MacKenzie
{
return x * 1024 / 1000;
}
inline int16_t calcRESXto1000(register int32_t x)
{
return x * 1000 / 1024;
}
inline int16_t calcRESXto100(register int32_t x)
{
return x * 100 / 1024;
}
#else
extern int16_t calc100toRESX(int8_t x);
extern int16_t calc1000toRESX(int16_t x);
extern int16_t calcRESXto1000(int16_t x);
#endif
#if defined(CPUARM)
// This doesn't need protection on this processor
#define tmr10ms_t uint32_t
extern volatile tmr10ms_t g_tmr10ms;
#define get_tmr10ms() g_tmr10ms
#else
#define tmr10ms_t uint16_t
extern volatile tmr10ms_t g_tmr10ms;
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 eeprom_stamp[];
extern uint8_t g_vbat100mV;
#define g_blinkTmr10ms (*(uint8_t*)&g_tmr10ms)
extern uint8_t g_beepCnt;
extern uint8_t g_beepVal[5];
extern uint8_t ppmInState; //0=unsync 1..8= wait for value i-1
extern int16_t g_ppmIns[8];
extern int32_t chans[NUM_CHNOUT];
extern int16_t ex_chans[NUM_CHNOUT]; // Outputs (before LIMITS) of the last perMain
extern int16_t g_chans512[NUM_CHNOUT];
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);
extern int16_t applyLimits(uint8_t channel, int32_t value);
extern uint16_t anaIn(uint8_t chan);
extern int16_t thrAnaIn(uint8_t chan);
extern int16_t calibratedStick[NUM_STICKS+NUM_POTS];
#define FLASH_DURATION 50 /*500ms*/
extern uint8_t beepAgain;
extern uint16_t lightOffCounter;
extern uint8_t mixWarning;
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 int8_t *curveaddress(uint8_t idx);
extern CustomSwData *cswaddress(uint8_t idx);
struct CurveInfo {
int8_t *crv;
uint8_t points;
bool custom;
};
extern CurveInfo curveinfo(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();
#if defined(CPUARM)
#define ACTIVE_EXPOS_TYPE uint32_t
#define ACTIVE_MIXES_TYPE uint64_t
#define ACTIVE_PHASES_TYPE uint16_t
#else
#define ACTIVE_EXPOS_TYPE uint16_t
#define ACTIVE_MIXES_TYPE uint32_t
#define ACTIVE_PHASES_TYPE uint8_t
#endif
#ifdef BOLD_FONT
extern ACTIVE_EXPOS_TYPE activeExpos;
extern ACTIVE_MIXES_TYPE activeMixes;
inline bool isExpoActive(uint8_t expo)
{
return activeExpos & ((ACTIVE_EXPOS_TYPE)1 << expo);
}
inline bool isMixActive(uint8_t mix)
{
return activeMixes & ((ACTIVE_MIXES_TYPE)1 << mix);
}
#else
#define isExpoActive(x) false
#define isMixActive(x) false
#endif
#if defined(CPUARM)
#define MASK_FSW_TYPE uint32_t // current max = 32 function switches
#define MASK_FUNC_TYPE uint32_t // current max = 32 functions
#else
#define MASK_FSW_TYPE uint16_t // current max = 16 function switches
#define MASK_FUNC_TYPE uint16_t // current max = 16 functions
#endif
extern MASK_FSW_TYPE activeFunctionSwitches;
extern MASK_FUNC_TYPE activeFunctions;
inline bool isFunctionActive(uint8_t func)
{
return activeFunctions & ((MASK_FUNC_TYPE)1 << (func-FUNC_TRAINER));
}
#if defined(ROTARY_ENCODERS)
// Global rotary encoder registers
#if defined(PCBSKY9X)
typedef uint32_t rotenc_t;
#else
typedef uint8_t rotenc_t;
#endif
extern volatile rotenc_t g_rotenc[ROTARY_ENCODERS];
#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_BACKGROUND 0x20
/* make sure the defines below always go in numeric order */
enum AUDIO_SOUNDS {
AU_INACTIVITY,
AU_TX_BATTERY_LOW,
#if defined(CPUARM)
AU_TX_MAH_HIGH,
AU_TX_TEMP_HIGH,
#endif
#if defined(VOICE)
AU_THROTTLE_ALERT,
AU_SWITCH_ALERT,
AU_BAD_EEPROM,
AU_EEPROM_FORMATTING,
#endif
AU_ERROR,
AU_KEYPAD_UP,
AU_KEYPAD_DOWN,
AU_MENUS,
AU_TRIM_MOVE,
AU_WARNING1,
AU_WARNING2,
AU_WARNING3,
AU_TRIM_MIDDLE,
#if defined(CPUARM)
AU_TRIM_END,
#endif
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_BEEP1 = AU_FRSKY_FIRST,
AU_FRSKY_BEEP2,
AU_FRSKY_BEEP3,
AU_FRSKY_WARN1,
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(CPUARM)
#include "sky9x/audio.h"
#else
#include "stock/audio.h"
#endif
#else
#include "beeper.h"
#endif
#if defined(PCBSTD) && defined(VOICE)
#include "stock/voice.h"
#endif
#if defined(PCBGRUVIN9X) && defined(VOICE)
#include "gruvin9x/somo14d.h"
#endif
#include "translations.h"
#if defined(HAPTIC)
#include "haptic.h"
#endif
#if defined(SDCARD)
#include "sdcard.h"
#endif
#if defined(RTCLOCK)
#include "rtc.h"
#endif
// Re-useable byte array to save having multiple buffers
#define SD_SCREEN_FILE_LENGTH (32)
union ReusableBuffer
{
/* 128 bytes on stock */
#if !defined(CPUARM)
uint8_t eefs_buffer[BLOCKS]; // 128bytes used by EeFsck
#endif
struct
{
char mainname[42];
char listnames[7][LEN_MODEL_NAME];
uint16_t listsizes[7];
uint16_t eepromfree;
#if defined(SDCARD)
char menu_bss[MENU_MAX_LINES][MENU_LINE_LENGTH];
#endif
} models; // 128bytes used by menuModelSelect (mainname reused for SD card archive / restore)
struct
{
int16_t midVals[NUM_STICKS+NUM_POTS];
int16_t loVals[NUM_STICKS+NUM_POTS];
int16_t hiVals[NUM_STICKS+NUM_POTS];
} calib; // 42 bytes used by menuGeneralCalib
#if defined(SDCARD)
struct
{
char lines[7][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;
} sd;
#endif
};
extern union ReusableBuffer reusableBuffer;
void checkFlashOnBeep();
#if defined(FRSKY) || defined(CPUARM)
void putsTelemetryValue(uint8_t x, uint8_t y, int16_t val, uint8_t unit, uint8_t att);
#endif
#if defined(CPUARM)
uint8_t zlen(const char *str, uint8_t size);
char * strcat_zchar(char * dest, char * name, uint8_t size, const char *defaultName, uint8_t defaultNameSize, uint8_t defaultIdx);
#define strcat_modelname(dest, idx) strcat_zchar(dest, ModelNames[idx], sizeof(g_model.name), STR_MODEL, PSIZE(TR_MODEL), idx+1)
#define strcat_phasename_default(dest, idx) strcat_zchar(dest, NULL, 0, STR_FP, PSIZE(TR_FP), idx+1)
#define strcat_phasename_nodefault(dest, idx) strcat_zchar(dest, g_model.phaseData[idx].name, sizeof(PhaseData), NULL, 0, 0)
#define strcat_mixername_default(dest, idx) strcat_zchar(dest, NULL, 0, STR_MIX, PSIZE(TR_MIX), idx+1)
#define strcat_mixername_nodefault(dest, idx) strcat_zchar(dest, g_model.mixData[idx].name, sizeof(MixData), NULL, 0, 0)
#define ZLEN(s) zlen(s, sizeof(s))
#endif
#if defined(PCBX9D)
#define KEY_MOVE_UP KEY_MINUS
#define KEY_MOVE_DOWN KEY_PLUS
#else
#define KEY_MOVE_UP KEY_UP
#define KEY_MOVE_DOWN KEY_DOWN
#endif
#endif
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