radio/src/main_avr.cpp

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #include "opentx.h"
  22
  23 void checkBattery();
  24 uint8_t checkTrim(event_t event);
  25
  26 void perMain()
  27 {
  28 #if defined(SIMU)
  29   doMixerCalculations();
  30 #endif
  31 #if defined(LCD_ST7920)
  32   uint8_t lcdstate=0;
  33   #define IS_LCD_REFRESH_ALLOWED()       (0==lcdstate)
  34 #else
  35   #define IS_LCD_REFRESH_ALLOWED()       (1)
  36 #endif
  37   uint16_t t0 = getTmr16KHz();
  38   int16_t delta = (nextMixerEndTime - lastMixerDuration) - t0;
  39   if (delta > 0 && delta < MAX_MIXER_DELTA) {
  40 #if defined(PCBSTD) && defined(ROTARY_ENCODER_NAVIGATION)
  41     rotencPoll();
  42 #endif
  43
  44     // @@@ open.20.fsguruh
  45     // SLEEP();   // wouldn't that make sense? should save a lot of battery power!!!
  46 /*  for future use; currently very very beta...  */
  47 #if defined(POWER_SAVE)
  48     ADCSRA&=0x7F;   // disable ADC for power saving
  49     ACSR&=0xF7;   // disable ACIE Interrupts
  50     ACSR|=0x80;   // disable Analog Comparator
  51     // maybe we disable here a lot more hardware components in future to save even more power
  52
  53
  54
  55     MCUCR|=0x20;  // enable Sleep (bit5)
  56     // MCUCR|=0x28;  // enable Sleep (bit5) enable ADC Noise Reduction (bit3)
  57     // first tests showed: simple sleep would reduce cpu current from 40.5mA to 32.0mA
  58     //                     noise reduction sleep would reduce it down to 28.5mA; However this would break pulses in theory
  59     // however with standard module, it will need about 95mA. Therefore the drop to 88mA is not much noticable
  60     do {
  61       asm volatile(" sleep        \n\t");  // if _SLEEP() is not defined use this
  62       t0=getTmr16KHz();
  63       delta= (nextMixerEndTime - lastMixerDuration) - t0;
  64     } while ((delta>0) && (delta<MAX_MIXER_DELTA));
  65
  66     // reenabling of the hardware components needed here
  67     MCUCR&=0x00;  // disable sleep
  68     ADCSRA|=0x80;  // enable ADC
  69 #endif
  70     return;
  71   }
  72
  73   nextMixerEndTime = t0 + MAX_MIXER_DELTA;
  74   // this is a very tricky implementation; lastMixerEndTime is just like a default value not to stop mixcalculations totally;
  75   // the real value for lastMixerEndTime is calculated inside pulses_XXX.cpp which aligns the timestamp to the pulses generated
  76   // nextMixerEndTime is actually defined inside pulses_XXX.h
  77
  78   doMixerCalculations();
  79
  80   t0 = getTmr16KHz() - t0;
  81   lastMixerDuration = t0;
  82   if (t0 > maxMixerDuration) maxMixerDuration = t0;
  83
  84 #if defined(MODULE_ALWAYS_SEND_PULSES)
  85   if (startupWarningState < STARTUP_WARNING_DONE) {
  86     // don't do menu's until throttle and switch warnings are handled
  87     return;
  88   }
  89 #endif
  90
  91   if (eepromIsTransferComplete()) {
  92     if (theFile.isWriting())
  93       theFile.nextWriteStep();
  94     else if (TIME_TO_WRITE())
  95       storageCheck(false);
  96   }
  97
  98 #if defined(SDCARD)
  99   sdMountPoll();
 100   logsWrite();
 101 #endif
 102
 103   event_t evt = getEvent();
 104   evt = checkTrim(evt);
 105
 106   if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
 107   doLoopCommonActions();
 108
 109 #if defined(TELEMETRY_FRSKY) || defined(TELEMETRY_MAVLINK)
 110   telemetryWakeup();
 111 #endif
 112
 113 #if defined(NAVIGATION_STICKS)
 114   uint8_t sticks_evt = getSticksNavigationEvent();
 115   if (sticks_evt) evt = sticks_evt;
 116 #endif
 117
 118 #if defined(GUI)
 119   const char * warn = warningText;
 120   bool popupMenuActive = (popupMenuNoItems > 0);
 121
 122   if (IS_LCD_REFRESH_ALLOWED()) { // No need to redraw until lcdRefresh_ST7920(0) below completely refreshes the display.
 123     lcdClear();
 124     if (menuEvent) {
 125       menuVerticalPosition = menuEvent == EVT_ENTRY_UP ? menuVerticalPositions[menuLevel] : 0;
 126       menuHorizontalPosition = 0;
 127       evt = menuEvent;
 128       menuEvent = 0;
 129     }
 130     menuHandlers[menuLevel]((warn || popupMenuActive) ? 0 : evt);
 131
 132     if (warn) DISPLAY_WARNING(evt);
 133 #if defined(NAVIGATION_MENUS)
 134     if (popupMenuActive) {
 135       const char * result = runPopupMenu(evt);
 136       if (result) {
 137         popupMenuHandler(result);
 138       }
 139     }
 140 #endif
 141     drawStatusLine();
 142   }
 143
 144 #if defined(LCD_KS108)
 145   lcdRefreshSide();
 146 #elif defined(LCD_ST7920)
 147   lcdstate = lcdRefresh_ST7920(0);
 148 #else
 149   lcdRefresh();
 150 #endif
 151
 152 #endif // defined(GUI)
 153
 154   if (SLAVE_MODE()) {
 155     JACK_PPM_OUT();
 156   }
 157   else {
 158     JACK_PPM_IN();
 159   }
 160
 161   checkBattery();
 162 }