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opentx.cpp
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/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* 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.
*/
#if !defined(SIMU)
#include "stm32_ws2812.h"
#include "boards/generic_stm32/rgb_leds.h"
#include "stm32_hal.h"
#include "stm32_hal_ll.h"
#endif
#include "opentx.h"
#include "io/frsky_firmware_update.h"
#include "hal/adc_driver.h"
#include "hal/switch_driver.h"
#include "hal/storage.h"
#include "hal/watchdog_driver.h"
#include "hal/abnormal_reboot.h"
#include "hal/usb_driver.h"
#include "timers_driver.h"
#include "switches.h"
#include "inactivity_timer.h"
#include "input_mapping.h"
#include "tasks.h"
#include "tasks/mixer_task.h"
#if defined(BLUETOOTH)
#include "bluetooth_driver.h"
#endif
#if defined(LIBOPENUI)
#include "libopenui.h"
#include "radio_calibration.h"
#include "view_main.h"
#include "view_text.h"
#include "theme_manager.h"
#include "switch_warn_dialog.h"
#include "startup_shutdown.h"
#include "gui/colorlcd/LvglWrapper.h"
#endif
#if defined(CROSSFIRE)
#include "telemetry/crossfire.h"
#endif
#if !defined(SIMU)
#include <malloc.h>
#endif
RadioData g_eeGeneral;
ModelData g_model;
#if defined(SDCARD)
Clipboard clipboard;
#endif
GlobalData globalData;
uint32_t maxMixerDuration; // microseconds
constexpr uint8_t HEART_TIMER_10MS = 0x01;
uint8_t heartbeat;
#if defined(OVERRIDE_CHANNEL_FUNCTION)
safetych_t safetyCh[MAX_OUTPUT_CHANNELS];
#endif
// __DMA for the MSC_BOT_Data member
union ReusableBuffer reusableBuffer __DMA;
#if !defined(SIMU)
uint8_t* MSC_BOT_Data = reusableBuffer.MSC_BOT_Data;
#endif
#if defined(DEBUG_LATENCY)
uint8_t latencyToggleSwitch = 0;
#endif
volatile uint8_t rtc_count = 0;
#if defined(DEBUG_LATENCY)
void toggleLatencySwitch()
{
latencyToggleSwitch ^= 1;
#if defined(PCBHORUS)
if (latencyToggleSwitch)
gpio_clear(EXTMODULE_TX_GPIO);
else
gpio_set(EXTMODULE_TX_GPIO);
#else
if (latencyToggleSwitch)
sportUpdatePowerOn();
else
sportUpdatePowerOff();
#endif
}
#endif
void checkValidMCU(void)
{
#if !defined(SIMU) && !defined(BOOT)
// Checks the radio MCU type matches intended firmware type
uint32_t idcode = DBGMCU->IDCODE & 0xFFF;
#if defined(RADIO_TLITE)
#define TARGET_IDCODE_SECONDARY 0x413
// Tlite ELRS have a CKS F4 run as an F2 (F4 firmware won't run on those)
#endif
#if defined(STM32F205xx)
#define TARGET_IDCODE 0x411
#elif defined(STM32F407xx)
#define TARGET_IDCODE 0x413
#elif defined(STM32F429xx)
#define TARGET_IDCODE 0x419
#elif defined(STM32F413xx)
#define TARGET_IDCODE 0x463
#elif defined(STM32H750xx) || defined(STM32H747xx)
#define TARGET_IDCODE 0x450
#else
// Ensure new radio get registered :)
#warning "Target MCU code undefined"
#define TARGET_IDCODE 0x0
#endif
#if defined(TARGET_IDCODE_SECONDARY)
if(idcode != TARGET_IDCODE && idcode != TARGET_IDCODE_SECONDARY) {
runFatalErrorScreen("Wrong MCU");
}
#else
if(idcode != TARGET_IDCODE) {
runFatalErrorScreen("Wrong MCU");
}
#endif
#endif
}
void per10ms()
{
DEBUG_TIMER_START(debugTimerPer10ms);
DEBUG_TIMER_SAMPLE(debugTimerPer10msPeriod);
g_tmr10ms++;
#if defined(GUI)
if (lightOffCounter) lightOffCounter--;
if (flashCounter) flashCounter--;
#if !defined(LIBOPENUI)
if (noHighlightCounter) noHighlightCounter--;
#endif
#endif
if (trimsCheckTimer) trimsCheckTimer--;
trainerDecTimer();
if (trimsDisplayTimer)
trimsDisplayTimer--;
else
trimsDisplayMask = 0;
#if defined(DEBUG_LATENCY_END_TO_END)
static tmr10ms_t lastLatencyToggle = 0;
if (g_tmr10ms - lastLatencyToggle == 10) {
lastLatencyToggle = g_tmr10ms;
toggleLatencySwitch();
}
#endif
#if defined(RTCLOCK)
/* Update global Date/Time every 100 per10ms cycles */
if (++g_ms100 == 100) {
g_rtcTime++; // inc global unix timestamp one second
g_ms100 = 0;
}
#endif
if (keysPollingCycle()) {
inactivityTimerReset(ActivitySource::Keys);
}
#if defined(FUNCTION_SWITCHES)
evalFunctionSwitches();
#endif
#if defined(ROTARY_ENCODER_NAVIGATION) && !defined(LIBOPENUI)
if (rotaryEncoderPollingCycle()) {
inactivityTimerReset(ActivitySource::Keys);
}
#endif
telemetryInterrupt10ms();
// These moved here from evalFlightModeMixes() to improve beep trigger reliability.
#if !defined(AUDIO)
if (mixWarning & 1) if(((g_tmr10ms&0xFF)== 0)) AUDIO_MIX_WARNING(1);
if (mixWarning & 2) if(((g_tmr10ms&0xFF)== 64) || ((g_tmr10ms&0xFF)== 72)) AUDIO_MIX_WARNING(2);
if (mixWarning & 4) if(((g_tmr10ms&0xFF)==128) || ((g_tmr10ms&0xFF)==136) || ((g_tmr10ms&0xFF)==144)) AUDIO_MIX_WARNING(3);
#endif
outputTelemetryBuffer.per10ms();
heartbeat |= HEART_TIMER_10MS;
DEBUG_TIMER_STOP(debugTimerPer10ms);
}
FlightModeData *flightModeAddress(uint8_t idx)
{
return &g_model.flightModeData[idx];
}
ExpoData *expoAddress(uint8_t idx )
{
return &g_model.expoData[idx];
}
LimitData *limitAddress(uint8_t idx)
{
return &g_model.limitData[idx];
}
USBJoystickChData *usbJChAddress(uint8_t idx)
{
return &g_model.usbJoystickCh[idx];
}
void memswap(void * a, void * b, uint8_t size)
{
uint8_t * x = (uint8_t *)a;
uint8_t * y = (uint8_t *)b;
uint8_t temp ;
while (size--) {
temp = *x;
*x++ = *y;
*y++ = temp;
}
}
#if defined(PXX2)
void setDefaultOwnerId()
{
uint8_t ch;
for (uint8_t i = 0; i < PXX2_LEN_REGISTRATION_ID; i++) {
ch = ((uint8_t *)cpu_uid)[4+i]&0x7f;
if(ch<0x20 || ch==0x7f) ch='-';
g_eeGeneral.ownerRegistrationID[PXX2_LEN_REGISTRATION_ID-1-i] = ch;
}
}
#endif
void generalDefault()
{
memclear(&g_eeGeneral, sizeof(g_eeGeneral));
#if defined(COLORLCD)
g_eeGeneral.blOffBright = 20;
#endif
#if defined(LCD_CONTRAST_DEFAULT)
g_eeGeneral.contrast = LCD_CONTRAST_DEFAULT;
#endif
#if defined(LCD_BRIGHTNESS_DEFAULT)
g_eeGeneral.backlightBright = LCD_BRIGHTNESS_DEFAULT;
#endif
#if defined(DEFAULT_INTERNAL_MODULE)
g_eeGeneral.internalModule = DEFAULT_INTERNAL_MODULE;
if (g_eeGeneral.internalModule == MODULE_TYPE_CROSSFIRE)
g_eeGeneral.internalModuleBaudrate = min(1, (int)CROSSFIRE_MAX_INTERNAL_BAUDRATE); // 921k if possible
#endif
adcCalibDefaults();
g_eeGeneral.potsConfig = adcGetDefaultPotsConfig();
g_eeGeneral.switchConfig = switchGetDefaultConfig();
#if defined(STICK_DEAD_ZONE)
g_eeGeneral.stickDeadZone = DEFAULT_STICK_DEADZONE;
#endif
// vBatWarn is voltage in 100mV, vBatMin is in 100mV but with -9V offset,
// vBatMax has a -12V offset
g_eeGeneral.vBatWarn = BATTERY_WARN;
if (BATTERY_MIN != 90)
g_eeGeneral.vBatMin = BATTERY_MIN - 90;
if (BATTERY_MAX != 120)
g_eeGeneral.vBatMax = BATTERY_MAX - 120;
#if defined(SURFACE_RADIO)
g_eeGeneral.stickMode = 0;
g_eeGeneral.templateSetup = 0;
#elif defined(DEFAULT_MODE)
g_eeGeneral.stickMode = DEFAULT_MODE - 1;
g_eeGeneral.templateSetup = DEFAULT_TEMPLATE_SETUP;
#endif
g_eeGeneral.backlightMode = e_backlight_mode_all;
g_eeGeneral.lightAutoOff = 2;
g_eeGeneral.inactivityTimer = 10;
g_eeGeneral.ttsLanguage[0] = 'e';
g_eeGeneral.ttsLanguage[1] = 'n';
g_eeGeneral.wavVolume = 2;
g_eeGeneral.backgroundVolume = 1;
auto controls = adcGetMaxInputs(ADC_INPUT_MAIN);
for (int i = 0; i < controls; ++i) {
g_eeGeneral.trainer.mix[i].mode = 2;
g_eeGeneral.trainer.mix[i].srcChn = inputMappingChannelOrder(i);
g_eeGeneral.trainer.mix[i].studWeight = 100;
}
#if defined(PCBX9E)
const int8_t defaultName[] = { 20, -1, -18, -1, -14, -9, -19 };
memcpy(g_eeGeneral.bluetoothName, defaultName, sizeof(defaultName));
#endif
#if defined(STORAGE_MODELSLIST)
strcpy(g_eeGeneral.currModelFilename, DEFAULT_MODEL_FILENAME);
#endif
#if defined(PXX2)
setDefaultOwnerId();
#endif
#if defined(RADIOMASTER_RTF_RELEASE)
// Those settings are for headless radio
g_eeGeneral.USBMode = USB_JOYSTICK_MODE;
g_eeGeneral.disableRtcWarning = 1;
g_eeGeneral.splashMode = 3; // Disable splash
g_eeGeneral.pwrOnSpeed = 1; // 1 second
#endif
#if defined(IFLIGHT_RELEASE)
g_eeGeneral.splashMode = 3;
g_eeGeneral.pwrOnSpeed = 2;
g_eeGeneral.pwrOffSpeed = 2;
#endif
#if defined(MANUFACTURER_RADIOMASTER)
g_eeGeneral.audioMuteEnable = 1;
#endif
// disable Custom Script
g_eeGeneral.modelCustomScriptsDisabled = true;
#if defined(USE_HATS_AS_KEYS)
g_eeGeneral.hatsMode = HATSMODE_SWITCHABLE;
#endif
g_eeGeneral.chkSum = 0xFFFF;
}
uint16_t evalChkSum()
{
uint16_t sum = 0;
auto main_calib_bytes = adcGetMaxInputs(ADC_INPUT_MAIN) * sizeof(CalibData);
const uint8_t *calibValues = (const uint8_t *)&g_eeGeneral.calib[0];
for (unsigned i = 0; i < main_calib_bytes; i++) {
sum += calibValues[i];
}
return sum;
}
bool isInputRecursive(int index)
{
ExpoData * line = expoAddress(0);
for (int i=0; i<MAX_EXPOS; i++, line++) {
if (line->chn > index)
break;
else if (line->chn < index)
continue;
else if (line->srcRaw >= MIXSRC_FIRST_LOGICAL_SWITCH)
return true;
}
return false;
}
#if defined(AUTOSOURCE)
constexpr int MULTIPOS_STEP_SIZE = (2 * RESX) / XPOTS_MULTIPOS_COUNT;
int8_t getMovedSource(uint8_t min)
{
int8_t result = 0;
static tmr10ms_t s_move_last_time = 0;
static int16_t inputsStates[MAX_INPUTS];
if (min <= MIXSRC_FIRST_INPUT) {
for (uint8_t i = 0; i < MAX_INPUTS; i++) {
if (abs(anas[i] - inputsStates[i]) > MULTIPOS_STEP_SIZE) {
if (!isInputRecursive(i)) {
result = MIXSRC_FIRST_INPUT + i;
break;
}
}
}
}
static int16_t sourcesStates[MAX_ANALOG_INPUTS];
if (result == 0) {
for (uint8_t i = 0; i < MAX_ANALOG_INPUTS; i++) {
if (abs(calibratedAnalogs[i] - sourcesStates[i]) > MULTIPOS_STEP_SIZE) {
auto offset = adcGetInputOffset(ADC_INPUT_FLEX);
if (i >= offset) {
result = MIXSRC_FIRST_POT + i - offset;
break;
}
result = MIXSRC_FIRST_STICK + inputMappingConvertMode(i);
break;
}
}
}
bool recent = ((tmr10ms_t)(get_tmr10ms() - s_move_last_time) > 10);
if (recent) {
result = 0;
}
if (result || recent) {
memcpy(inputsStates, anas, sizeof(inputsStates));
memcpy(sourcesStates, calibratedAnalogs, sizeof(sourcesStates));
}
s_move_last_time = get_tmr10ms();
return result;
}
#endif
#if defined(FLIGHT_MODES)
uint8_t getFlightMode()
{
for (uint8_t i=1; i<MAX_FLIGHT_MODES; i++) {
FlightModeData *phase = &g_model.flightModeData[i];
if (phase->swtch && getSwitch(phase->swtch)) {
return i;
}
}
return 0;
}
#endif
trim_t getRawTrimValue(uint8_t phase, uint8_t idx)
{
FlightModeData * p = flightModeAddress(phase);
return p->trim[idx];
}
int getTrimValue(uint8_t phase, uint8_t idx)
{
int result = 0;
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
trim_t v = getRawTrimValue(phase, idx);
if (v.mode == TRIM_MODE_NONE || v.mode == TRIM_MODE_3POS) {
return result;
}
else {
unsigned int p = v.mode >> 1;
if (p == phase || phase == 0) {
return result + v.value;
}
else {
phase = p;
if (v.mode % 2 != 0) {
result += v.value;
}
}
}
}
return 0;
}
bool setTrimValue(uint8_t phase, uint8_t idx, int trim)
{
for (uint8_t i=0; i<MAX_FLIGHT_MODES; i++) {
trim_t & v = flightModeAddress(phase)->trim[idx];
if (v.mode == TRIM_MODE_NONE || v.mode == TRIM_MODE_3POS)
return false;
unsigned int p = v.mode >> 1;
if (p == phase || phase == 0) {
v.value = trim;
break;
}
else if (v.mode % 2 == 0) {
phase = p;
}
else {
v.value = limit<int>(TRIM_EXTENDED_MIN, trim - getTrimValue(p, idx), TRIM_EXTENDED_MAX);
break;
}
}
storageDirty(EE_MODEL);
return true;
}
getvalue_t convert16bitsTelemValue(source_t channel, ls_telemetry_value_t value)
{
return value;
}
ls_telemetry_value_t maxTelemValue(source_t channel)
{
return 30000;
}
void checkBacklight()
{
static uint8_t tmr10ms ;
uint8_t x = g_blinkTmr10ms;
if (tmr10ms != x) {
tmr10ms = x;
if (inactivityCheckInputs()) {
inactivityTimerReset(ActivitySource::MainControls);
}
if (requiredBacklightBright == BACKLIGHT_FORCED_ON) {
currentBacklightBright = g_eeGeneral.getBrightness();
BACKLIGHT_ENABLE();
} else {
bool backlightOn = ((g_eeGeneral.backlightMode == e_backlight_mode_on) ||
(g_eeGeneral.backlightMode != e_backlight_mode_off &&
lightOffCounter) ||
(g_eeGeneral.backlightMode == e_backlight_mode_off &&
isFunctionActive(FUNCTION_BACKLIGHT)));
if (flashCounter) {
backlightOn = !backlightOn;
}
if (backlightOn) {
currentBacklightBright = requiredBacklightBright;
BACKLIGHT_ENABLE();
} else {
BACKLIGHT_DISABLE();
}
}
}
}
void resetBacklightTimeout()
{
uint16_t autoOff = g_eeGeneral.lightAutoOff;
#if defined(COLORLCD)
// prevent the timeout from being 0 seconds on color lcd radios
autoOff = std::max<uint16_t>(1, autoOff);
#endif
lightOffCounter = (autoOff*250) << 1;
}
#if defined(MULTIMODULE)
void checkMultiLowPower()
{
bool low_power_warning = false;
for (uint8_t i = 0; i < MAX_MODULES; i++) {
if (isModuleMultimodule(i) &&
g_model.moduleData[i].multi.lowPowerMode) {
low_power_warning = true;
}
}
if (low_power_warning) {
ALERT("MULTI", STR_WARN_MULTI_LOWPOWER, AU_ERROR);
}
}
#endif
static void checkRTCBattery()
{
if (!mixerTaskRunning()) getADC();
if (getRTCBatteryVoltage() < 200) {
ALERT(STR_BATTERY, STR_WARN_RTC_BATTERY_LOW, AU_ERROR);
}
}
void checkSDfreeStorage() {
if(sdIsFull()) {
ALERT(STR_SD_CARD, STR_SDCARD_FULL, AU_ERROR);
}
}
#if defined(PCBFRSKY) || defined(PCBFLYSKY)
static void checkFailsafe()
{
for (int i=0; i<NUM_MODULES; i++) {
#if defined(MULTIMODULE)
// use delayed check for MPM
if (isModuleMultimodule(i)) break;
#endif
if (isModuleFailsafeAvailable(i)) {
ModuleData & moduleData = g_model.moduleData[i];
if (moduleData.failsafeMode == FAILSAFE_NOT_SET) {
ALERT(STR_FAILSAFEWARN, STR_NO_FAILSAFE, AU_ERROR);
break;
}
}
}
}
#else
#define checkFailsafe()
#endif
#if defined(GUI)
void checkAll(bool isBootCheck)
{
#if defined(EEPROM_RLC) && !defined(SDCARD_RAW) && !defined(SDCARD_YAML)
checkLowEEPROM();
#endif
checkSDfreeStorage();
// we don't check the throttle stick if the radio is not calibrated
if (g_eeGeneral.chkSum == evalChkSum()) {
checkThrottleStick();
}
checkSwitches();
checkFailsafe();
if (isBootCheck && !g_eeGeneral.disableRtcWarning) {
// only done once at board start
enableVBatBridge();
checkRTCBattery();
}
disableVBatBridge();
if (g_model.displayChecklist && modelHasNotes()) {
cancelSplash();
#if defined(COLORLCD)
readChecklist();
#else
readModelNotes();
#endif
}
#if defined(MULTIMODULE)
checkMultiLowPower();
#endif
#if defined(COLORLCD)
if (!waitKeysReleased()) {
auto dlg = new FullScreenDialog(WARNING_TYPE_ALERT, STR_KEYSTUCK);
LED_ERROR_BEGIN();
AUDIO_ERROR_MESSAGE(AU_ERROR);
tmr10ms_t tgtime = get_tmr10ms() + 500;
uint32_t keys = readKeys();
std::string strKeys;
for (int i = 0; i < (int)MAX_KEYS; i++) {
if (keys & (1 << i)) {
strKeys += std::string(keysGetLabel(EnumKeys(i)));
}
}
dlg->setMessage(strKeys.c_str());
dlg->setCloseCondition([tgtime]() {
if (tgtime >= get_tmr10ms() && keyDown()) {
return false;
} else {
return true;
}
});
dlg->runForever();
LED_ERROR_END();
}
#else
if (!waitKeysReleased()) {
showMessageBox(STR_KEYSTUCK);
tmr10ms_t tgtime = get_tmr10ms() + 500;
while (tgtime != get_tmr10ms()) {
RTOS_WAIT_MS(1);
WDG_RESET();
}
}
#endif
#if defined(EXTERNAL_ANTENNA) && defined(INTERNAL_MODULE_PXX1)
checkExternalAntenna();
#endif
START_SILENCE_PERIOD();
}
#endif // GUI
#if defined(EEPROM_RLC) && !defined(SDCARD_RAW) && !defined(SDCARD_YAML)
void checkLowEEPROM()
{
if (g_eeGeneral.disableMemoryWarning) return;
if (EeFsGetFree() < 100) {
ALERT(STR_STORAGE_WARNING, STR_EEPROMLOWMEM, AU_ERROR);
}
}
#endif
bool isThrottleWarningAlertNeeded()
{
if (g_model.disableThrottleWarning) {
return false;
}
uint8_t thr_src = throttleSource2Source(g_model.thrTraceSrc);
// in case an output channel is choosen as throttle source
// we assume the throttle stick is the input (no computed channels yet)
if (thr_src >= MIXSRC_FIRST_CH) {
thr_src = throttleSource2Source(0);
}
if (!mixerTaskRunning()) getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
int16_t v = getValue(thr_src);
// TODO: this looks fishy....
if (g_model.thrTraceSrc && g_model.throttleReversed) {
v = -v;
}
if (g_model.enableCustomThrottleWarning) {
int16_t idleValue = (int32_t)RESX *
(int32_t)g_model.customThrottleWarningPosition /
(int32_t)100;
return abs(v - idleValue) > THRCHK_DEADBAND;
} else {
#if defined(SURFACE_RADIO) // surface radio, stick centered
return v > THRCHK_DEADBAND;
#else
return v > THRCHK_DEADBAND - RESX;
#endif
}
}
#if defined(COLORLCD)
void checkThrottleStick()
{
char throttleNotIdle[strlen(STR_THROTTLE_NOT_IDLE) + 9];
if (isThrottleWarningAlertNeeded()) {
if (g_model.enableCustomThrottleWarning) {
sprintf(throttleNotIdle, "%s (%d%%)", STR_THROTTLE_NOT_IDLE, g_model.customThrottleWarningPosition);
}
else {
strcpy(throttleNotIdle, STR_THROTTLE_NOT_IDLE);
}
LED_ERROR_BEGIN();
auto dialog = new ThrottleWarnDialog(throttleNotIdle);
dialog->runForever();
}
LED_ERROR_END();
}
#else
void checkThrottleStick()
{
char throttleNotIdle[strlen(STR_THROTTLE_NOT_IDLE) + 9];
if (!isThrottleWarningAlertNeeded()) {
return;
}
if (g_model.enableCustomThrottleWarning) {
sprintf(throttleNotIdle, "%s (%d%%)", STR_THROTTLE_NOT_IDLE, g_model.customThrottleWarningPosition);
}
else {
strcpy(throttleNotIdle, STR_THROTTLE_NOT_IDLE);
}
// first - display warning; also deletes inputs if any have been before
LED_ERROR_BEGIN();
RAISE_ALERT(TR_THROTTLE_UPPERCASE, throttleNotIdle, STR_PRESS_ANY_KEY_TO_SKIP, AU_THROTTLE_ALERT);
#if defined(PWR_BUTTON_PRESS)
bool refresh = false;
#endif
while (!keyDown()) {
if (!isThrottleWarningAlertNeeded()) {
return;
}
#if defined(PWR_BUTTON_PRESS)
uint32_t power = pwrCheck();
if (power == e_power_off) {
drawSleepBitmap();
boardOff();
break;
}
else if (power == e_power_press) {
refresh = true;
}
else if (power == e_power_on && refresh) {
RAISE_ALERT(TR_THROTTLE_UPPERCASE, throttleNotIdle, STR_PRESS_ANY_KEY_TO_SKIP, AU_NONE);
refresh = false;
}
#else
if (pwrCheck() == e_power_off) {
break;
}
#endif
checkBacklight();
WDG_RESET();
RTOS_WAIT_MS(10);
}
LED_ERROR_END();
}
#endif
void checkAlarm() // added by Gohst
{
if (g_eeGeneral.disableAlarmWarning) {
return;
}
if (IS_SOUND_OFF()) {
ALERT(STR_ALARMSWARN, STR_ALARMSDISABLED, AU_ERROR);
}
}
void alert(const char * title, const char * msg , uint8_t sound)
{
LED_ERROR_BEGIN();
TRACE("ALERT %s: %s", title, msg);
RAISE_ALERT(title, msg, STR_PRESSANYKEY, sound);
#if defined(PWR_BUTTON_PRESS)
bool refresh = false;
#endif
while (true) {
RTOS_WAIT_MS(10);
if (getEvent()) // wait for key release
break;
checkBacklight();
WDG_RESET();
const uint32_t pwr_check = pwrCheck();
if (pwr_check == e_power_off) {
drawSleepBitmap();
boardOff();
return; // only happens in SIMU, required for proper shutdown
}
#if defined(PWR_BUTTON_PRESS)
else if (pwr_check == e_power_press) {
refresh = true;
}
else if (pwr_check == e_power_on && refresh) {
RAISE_ALERT(title, msg, STR_PRESSANYKEY, AU_NONE);
refresh = false;
}
#endif
}
LED_ERROR_END();
}
#if defined(GVARS)
#if MAX_TRIMS == 8
int8_t trimGvar[MAX_TRIMS] = { -1, -1, -1, -1, -1, -1, -1, -1 };
#elif MAX_TRIMS == 6
int8_t trimGvar[MAX_TRIMS] = { -1, -1, -1, -1, -1, -1 };
#elif MAX_TRIMS == 4
int8_t trimGvar[MAX_TRIMS] = { -1, -1, -1, -1 };
#elif MAX_TRIMS == 2
int8_t trimGvar[MAX_TRIMS] = { -1, -1 };
#endif
#endif
void checkTrims()
{
event_t event = getTrimEvent();
if (event && !IS_KEY_BREAK(event)) {
int8_t k = EVT_KEY_MASK(event);
uint8_t idx = inputMappingConvertMode(uint8_t(k / 2));
uint8_t phase;
int before;
bool thro;
trim_t tmode = getRawTrimValue(mixerCurrentFlightMode, idx);
trimsDisplayTimer = 200; // 2 seconds
trimsDisplayMask |= (1<<idx);
#if defined(GVARS)
if (TRIM_REUSED(idx)) {
phase = getGVarFlightMode(mixerCurrentFlightMode, trimGvar[idx]);
before = GVAR_VALUE(trimGvar[idx], phase);
thro = false;
}
else {
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
before = getTrimValue(phase, idx);
thro = (idx == (g_model.getThrottleStickTrimSource() - MIXSRC_FIRST_TRIM) && g_model.thrTrim);
}
#else
phase = getTrimFlightMode(mixerCurrentFlightMode, idx);
before = getTrimValue(phase, idx);
thro = (idx==inputMappingConvertMode(inputMappingGetThrottle()) && g_model.thrTrim);
#endif
int8_t trimInc = g_model.trimInc + 1;
int16_t v = (trimInc==-1) ? min(32, abs(before)/4+1) : (1 << trimInc); // TODO flash saving if (trimInc < 0)
if (thro) v = 4; // if throttle trim and trim throttle then step=4
#if defined(GVARS)
if (TRIM_REUSED(idx)) v = tmode.mode == TRIM_MODE_3POS ? RESX : 1;
#endif
int16_t after = (k&1) ? before + v : before - v; // positive = k&1
bool beepTrim = true;
if (!thro && before!=0 && tmode.mode != TRIM_MODE_3POS &&
((!(after < 0) == (before < 0)) || after==0)) { //forcing a stop at centered trim when changing sides
after = 0;
AUDIO_TRIM_MIDDLE();
pauseTrimEvents(event);
}
#if defined(GVARS)
if (TRIM_REUSED(idx)) {
int8_t gvar = trimGvar[idx];
int16_t vmin = GVAR_MIN + g_model.gvars[gvar].min;
int16_t vmax = GVAR_MAX - g_model.gvars[gvar].max;
if (after < vmin) {
after = vmin;
beepTrim = false;
AUDIO_TRIM_MIN();
killTrimEvents(event);
}
else if (after > vmax) {
after = vmax;
beepTrim = false;
AUDIO_TRIM_MAX();
killTrimEvents(event);
}
setGVarValue(gvar, after, mixerCurrentFlightMode);
}
else
#endif
{
// Determine Max and Min trim values based on Extended Trim setting
int16_t tMax = g_model.extendedTrims ? TRIM_EXTENDED_MAX : TRIM_MAX;
int16_t tMin = g_model.extendedTrims ? TRIM_EXTENDED_MIN : TRIM_MIN;
// Play warning whe going past limits and remove any buffered trim moves
if (before >= tMin && after <= tMin) {
beepTrim = false;
AUDIO_TRIM_MIN();
killTrimEvents(event);
}
else if (before <= tMax && after >= tMax) {
beepTrim = false;
AUDIO_TRIM_MAX();
killTrimEvents(event);
}
// If the new value is outside the limit, set it to the limit. This could have
// been done while playing the warning above but this way it catches any other
// scenarios
if (after < tMin) {
after = tMin;
}
else if (after > tMax) {
after = tMax;
}
if (!setTrimValue(phase, idx, after)) {
// we don't play a beep, so we exit now the function
return;
}
}