From 8d3c5f5f968b314d707ab2295fe4dccf0679bb4f Mon Sep 17 00:00:00 2001 From: John Beidl Date: Thu, 13 Feb 2014 11:22:42 -0500 Subject: [PATCH 01/29] Initial Commit with noobee's 02/13/2013 master --- AVRootloader/AVR/AVRootloader.asm | 832 +++++ AVRootloader/AVR/AVRootloader.asmproj | 40 + AVRootloader/AVR/AVRootloader.atsln | 17 + AVRootloader/AVR/AVRootloader.inc | 394 +++ AVRootloader/AVR/AvrBuild.bat | 15 + AVRootloader/AVR/Crypt.inc | 259 ++ AVRootloader/AVR/Special.inc | 259 ++ .../AVR/default/AVRootloader_AQUASTAR.hex | 35 + .../AVR/default/AVRootloader_DLUX.hex | 35 + .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 + .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 + .../AVR/default/AVRootloader_TGY160A.hex | 35 + AVRootloader/Windows/AVRootloader.dev | 108 + AVRootloader/Windows/AVRootloader.exe | Bin 0 -> 798208 bytes AVRootloader/Windows/AVRootloader.ini | 79 + AVRootloader/readme.txt | 38 + Aquastar/Aquastar.ino | 784 +++++ Aquastar/FlightStab.h | 68 + Builds/20140208_AQUASTAR.hex | 405 +++ Builds/20140208_DLUX.hex | 405 +++ Builds/20140208_EAGLE_A3PRO.hex | 809 +++++ .../20140208_EAGLE_A3PRO_NO_STICKCONFIG.hex | 738 +++++ Builds/20140208_MINI_MWC_CPPM.hex | 782 +++++ Builds/20140208_MINI_MWC_CPPM_EXTERNAL_RX.hex | 779 +++++ Builds/20140208_MINI_MWC_SBUS.hex | 878 ++++++ Builds/20140208_MINI_MWC_SPEKTRUM.hex | 858 +++++ Builds/20140208_NANOWII.hex | 1013 ++++++ Builds/20140208_NANOWII_CPPM.hex | 1005 ++++++ Builds/20140208_NANOWII_SBUS.hex | 1095 +++++++ Builds/20140208_NANOWII_SPEKTRUM.hex | 1075 +++++++ Builds/20140208_RX3SM.hex | 811 +++++ Builds/20140208_RX3S_V1.hex | 812 +++++ Builds/20140208_RX3S_V1_CPPM.hex | 792 +++++ Builds/20140208_RX3S_V1_SBUS.hex | 890 ++++++ Builds/20140208_RX3S_V1_SPEKTRUM.hex | 871 ++++++ Builds/20140208_RX3S_V2.hex | 812 +++++ Builds/20140208_RX3S_V2_CPPM.hex | 793 +++++ Builds/20140208_RX3S_V2_SBUS.hex | 892 ++++++ Builds/20140208_RX3S_V2_SPEKTRUM.hex | 872 ++++++ Builds/20140210_TGY160A.hex | 506 +++ Builds/20140212_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 812 +++++ CMakeLists.txt | 119 + Docs/EagleA3Pro Guide.pdf | Bin 0 -> 1101348 bytes FlightStab/FlightStab.h | 68 + FlightStab/FlightStab.ino | 2764 +++++++++++++++++ FlightStab/OneWireSerial.ino | 213 ++ FlightStab/SerialRX.ino | 190 ++ FlightStabGUI/FlightStabGUI.pde | 512 +++ cmake/ArduinoToolchain.cmake | 76 + cmake/Platform/Arduino.cmake | 2195 +++++++++++++ 50 files changed, 27910 insertions(+) create mode 100644 AVRootloader/AVR/AVRootloader.asm create mode 100644 AVRootloader/AVR/AVRootloader.asmproj create mode 100644 AVRootloader/AVR/AVRootloader.atsln create mode 100644 AVRootloader/AVR/AVRootloader.inc create mode 100644 AVRootloader/AVR/AvrBuild.bat create mode 100644 AVRootloader/AVR/Crypt.inc create mode 100644 AVRootloader/AVR/Special.inc create mode 100644 AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_DLUX.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_TGY160A.hex create mode 100644 AVRootloader/Windows/AVRootloader.dev create mode 100644 AVRootloader/Windows/AVRootloader.exe create mode 100644 AVRootloader/Windows/AVRootloader.ini create mode 100644 AVRootloader/readme.txt create mode 100644 Aquastar/Aquastar.ino create mode 100644 Aquastar/FlightStab.h create mode 100644 Builds/20140208_AQUASTAR.hex create mode 100644 Builds/20140208_DLUX.hex create mode 100644 Builds/20140208_EAGLE_A3PRO.hex create mode 100644 Builds/20140208_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20140208_MINI_MWC_CPPM.hex create mode 100644 Builds/20140208_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20140208_MINI_MWC_SBUS.hex create mode 100644 Builds/20140208_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20140208_NANOWII.hex create mode 100644 Builds/20140208_NANOWII_CPPM.hex create mode 100644 Builds/20140208_NANOWII_SBUS.hex create mode 100644 Builds/20140208_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20140208_RX3SM.hex create mode 100644 Builds/20140208_RX3S_V1.hex create mode 100644 Builds/20140208_RX3S_V1_CPPM.hex create mode 100644 Builds/20140208_RX3S_V1_SBUS.hex create mode 100644 Builds/20140208_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20140208_RX3S_V2.hex create mode 100644 Builds/20140208_RX3S_V2_CPPM.hex create mode 100644 Builds/20140208_RX3S_V2_SBUS.hex create mode 100644 Builds/20140208_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20140210_TGY160A.hex create mode 100644 Builds/20140212_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 CMakeLists.txt create mode 100644 Docs/EagleA3Pro Guide.pdf create mode 100644 FlightStab/FlightStab.h create mode 100644 FlightStab/FlightStab.ino create mode 100644 FlightStab/OneWireSerial.ino create mode 100644 FlightStab/SerialRX.ino create mode 100644 FlightStabGUI/FlightStabGUI.pde create mode 100644 cmake/ArduinoToolchain.cmake create mode 100644 cmake/Platform/Arduino.cmake diff --git a/AVRootloader/AVR/AVRootloader.asm b/AVRootloader/AVR/AVRootloader.asm new file mode 100644 index 0000000..136c814 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asm @@ -0,0 +1,832 @@ +; copyright HR + +.nolist + +#if defined(AQUASTAR) || defined(DLUX) +.include "m8def.inc" ; ATmega8 +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(TGY160A) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(RX3S_V1V2V3_AILR_OUT) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD7 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD7 +#endif + +#if defined(MINI_MWC_A0) +.include "m328Pdef.inc" ; ATmega328P +.equ RX_PORT = PORTC ; Receive port and pin +.equ RX = PC0 +.equ TX_PORT = PORTC ; Transmit port and pin +.equ TX = PC0 +#endif + +; supported devices +;.include "can128def.inc" ; AT90CAN128 +;.include "can32def.inc" ; AT90CAN32 +;.include "can64def.inc" ; AT90CAN64 +;.include "m1280def.inc" ; ATmega1280 +;.include "m1281def.inc" ; ATmega1281 +;.include "m1284Pdef.inc" ; ATmega1284P +;.include "m128Adef.inc" ; ATmega128A +;.include "m128def.inc" ; ATmega128 +;.include "m161def.inc" ; ATmega161 +;.include "m162def.inc" ; ATmega162 +;.include "m163def.inc" ; ATmega163 +;.include "m164PAdef.inc" ; ATmega164PA +;.include "m164Pdef.inc" ; ATmega164P +;.include "m165def.inc" ; ATmega165 +;.include "m165Pdef.inc" ; ATmega165P +;.include "m168def.inc" ; ATmega168 +;.include "m168PAdef.inc" ; ATmega168PA +;.include "m168Pdef.inc" ; ATmega168P +;.include "m169def.inc" ; ATmega169 +;.include "m169Pdef.inc" ; ATmega169P +;.include "m16Adef.inc" ; ATmega16A +;.include "m16def.inc" ; ATmega16 +;.include "m16HVAdef.inc" ; ATmega16HVA +;.include "m16M1def.inc" ; ATmega16M1 +;.include "m16U2def.inc" ; ATmega16U2 +;.include "m16U4def.inc" ; ATmega16U4 +;.include "m2560def.inc" ; ATmega2560 +;.include "m2561def.inc" ; ATmega2561 +;.include "m323def.inc" ; ATmega323 +;.include "m324PAdef.inc" ; ATmega324PA +;.include "m324Pdef.inc" ; ATmega324P +;.include "m3250def.inc" ; ATmega3250 +;.include "m3250Pdef.inc" ; ATmega3250P +;.include "m325def.inc" ; ATmega325 +;.include "m325Pdef.inc" ; ATmega325P +;.include "m328Pdef.inc" ; ATmega328P +;.include "m3290def.inc" ; ATmega3290 +;.include "m3290Pdef.inc" ; ATmega3290P +;.include "m329def.inc" ; ATmega329 +;.include "m329Pdef.inc" ; ATmega329P +;.include "m32Adef.inc" ; ATmega32A +;.include "m32C1def.inc" ; ATmega32C1 +;.include "m32def.inc" ; ATmega32 +;.include "m32HVBdef.inc" ; ATmega32HVB +;.include "m32M1def.inc" ; ATmega32M1 +;.include "m32U2def.inc" ; ATmega32U2 +;.include "m32U4def.inc" ; ATmega32U4 +;.include "m32U6def.inc" ; ATmega32U6 +;.include "m406def.inc" ; ATmega406 +;.include "m48def.inc" ; ATmega48 +;.include "m48PAdef.inc" ; ATmega48PA +;.include "m48Pdef.inc" ; ATmega48P +;.include "m640def.inc" ; ATmega640 +;.include "m644def.inc" ; ATmega644 +;.include "m644Pdef.inc" ; ATmega644P +;.include "m6450def.inc" ; ATmega6450 +;.include "m645def.inc" ; ATmega645 +;.include "m6490def.inc" ; ATmega6490 +;.include "m649def.inc" ; ATmega649 +;.include "m64Adef.inc" ; ATmega64A +;.include "m64C1def.inc" ; ATmega64C1 +;.include "m64def.inc" ; ATmega64 +;.include "m64M1def.inc" ; ATmega64M1 +;.include "m8515def.inc" ; ATmega8515 +;.include "m8535def.inc" ; ATmega8535 +;.include "m88def.inc" ; ATmega88 +;.include "m88PAdef.inc" ; ATmega88PA +;.include "m88Pdef.inc" ; ATmega88P +;.include "m8Adef.inc" ; ATmega8A +;.include "m8def.inc" ; ATmega8 +;.include "m8HVAdef.inc" ; ATmega8HVA +;.include "pwm216def.inc" ; AT90PWM216 +;.include "pwm2Bdef.inc" ; AT90PWM2B +;.include "pwm2def.inc" ; AT90PWM2 +;.include "pwm316def.inc" ; AT90PWM316 +;.include "pwm324def.inc" ; AT90PWM324 +;.include "pwm3Bdef.inc" ; AT90PWM3B +;.include "pwm3def.inc" ; AT90PWM3 +;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used +;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used +;.include "tn167def.inc" ; ATtiny167 +;.include "tn2313def.inc" ; ATtiny2313 +;.include "tn24Adef.inc" ; ATtiny24A +;.include "tn24def.inc" ; ATtiny24 +;.include "tn25def.inc" ; ATtiny25 +;.include "tn261def.inc" ; ATtiny261 +;.include "tn43Udef.inc" ; ATtiny43U +;.include "tn44Adef.inc" ; ATtiny44A +;.include "tn44def.inc" ; ATtiny44 +;.include "tn45def.inc" ; ATtiny45 +;.include "tn461def.inc" ; ATtiny461 +;.include "tn48def.inc" ; ATtiny48 +;.include "tn84def.inc" ; ATtiny84 +;.include "tn85def.inc" ; ATtiny85 +;.include "tn861def.inc" ; ATtiny861 +;.include "tn87def.inc" ; ATtiny87 +;.include "tn88def.inc" ; ATtiny88 +;.include "usb1286def.inc" ; AT90USB1286 +;.include "usb1287def.inc" ; AT90USB1287 +;.include "usb162def.inc" ; AT90USB162 +;.include "usb646def.inc" ; AT90USB646 +;.include "usb647def.inc" ; AT90USB647 +;.include "usb82def.inc" ; AT90USB82 + +; unsupported devices, no self programming or sram to small +;.include "1200def.inc" ; AT90S1200 +;.include "2313def.inc" ; AT90S2313 +;.include "2323def.inc" ; AT90S2323 +;.include "2343def.inc" ; AT90S2343 +;.include "4414def.inc" ; AT90S4414 +;.include "4433def.inc" ; AT90S4433 +;.include "4434def.inc" ; AT90S4434 +;.include "8515def.inc" ; AT90S8515 +;.include "8535def.inc" ; AT90S8535 +;.include "AT86RF401def.inc" ; AT86RF401 +;.include "ATxmega128A1def.inc" ; ATxmega128A1 +;.include "ATxmega128A3def.inc" ; ATxmega128A3 +;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B +;.include "ATxmega256A3def.inc" ; ATxmega256A3 +;.include "ATxmega16A4def.inc" ; ATxmega16A4 +;.include "ATxmega32A4def.inc" ; ATxmega32A4 +;.include "ATxmega64A1def.inc" ; ATxmega64A1 +;.include "ATxmega64A3def.inc" ; ATxmega64A3 +;.include "m103def.inc" ; ATmega103 +;.include "tn10def.inc" ; ATtiny10 +;.include "tn11def.inc" ; ATtiny11 +;.include "tn12def.inc" ; ATtiny12 +;.include "tn15def.inc" ; ATtiny15 +;.include "tn22def.inc" ; ATtiny22 +;.include "tn26def.inc" ; ATtiny26 +;.include "tn28def.inc" ; ATtiny28 + + +.ifndef PageSize +.error "Device don't support Bootloader !" +.else + +#message "compile for" __PART_NAME__ + + +; set follow equ to 0/1 to de/activate.... +.equ UseBootMode = 0 ; 0 = start bootloader always + ; 1 = start on power up reset or by call from application + ; 2 = start on external reset or by call from application + ; 3 = start on watchdog reset or by call from application + ; 4 = start on USB reset or by call from application (only USB Devices) + ; 5 = start only by call from application (not recommended) + ; with these bootmodes you can shorten startup time for application + +.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) +.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) + +.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) +.equ UseE2Read = 1 ; EEPROM read command + +.equ UseCrypt = 0 ; cryptography (crypt.inc) +.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH +.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM + +.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) +.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) +.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) + +.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code +.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH +.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS +.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH +.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg + ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs + +.equ UseAutobaud = 1 ; Baudrate detection +.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. + ; First after BootDelay milliseconds inactivity the application is called. + ; Otherwise the timeout BootDelay defines an overall timeout for connection. + +.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) +.equ UseRS485 = 0 ; activate RS-485 Data Enable pin +.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) + +;;.equ RX_PORT = PORTD ; Receive port and pin +;;.equ RX = PD7 +;;.equ TX_PORT = PORTD ; Transmit port and pin +;;.equ TX = PD7 + +.if UseRS485 +.equ DE_PORT = PORTB ; DE enable pin of RS-485 +.equ DE = PB2 ; must be only set if RS485 DE is used +.endif + +.set XTAL = 16000000 ; +.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) +.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important +.set BootVersion = 6 ; Version 6 (must be not changed) +.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again + ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) + +;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode + +; now scroll down at end of source to configure BootSign and BootMsg + +.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) +.message "WARNING: actual settings compromise security !" +.endif + + +.include "AVRootloader.inc" +;.listmac +.list + +.org BootStart +init: cli + xwdr + clr zerol + + ldi cmdl, byte1(RamEnd) + xout SPL, cmdl +.ifdef SPH + ldi cmdl, byte2(RamEnd) + xout SPH, cmdl +.endif ; .if SPH + +.if UseSaveMCUSR || UseBootMode + xin paral, MCUSR +.if UseSaveMCUSR + push paral ; save old MCUSR ontop of stack +.endif ; .if UseSaveMCUSR +.endif ; .if UseSaveMCUSR || UseBootMode + +.if UseWDR +; xin cmdl, WDTCR +; ori cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) + xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT + xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout + xout WDTCR, cmdh +.elif UseBootMode + xout MCUSR, zerol +.endif ; .if UseWDR + +.if UseBootMode + andi paral, ResetFlags + breq bm1 +.ifdef BootModeFlag + sbrs paral, BootModeFlag +.endif + jmpapp +bm1: +.endif ; .if UseBootMode + +; initialize ports + cbi RX_DDR, RX +.if UseUartInvert && Use1Wire + cbi RX_PORT, RX +.else + sbi RX_PORT, RX +.endif ; .if UseUartInvert && Use1Wire +.if !Use1Wire +.if UseUartInvert + sbi TX_PORT, TX +.else + cbi TX_PORT, TX +.endif ; .if UseUartInvert + sbi TX_DDR, TX +.endif ; .if !Use11Wire + +.if UseRS485 + sbi DE_DDR, DE + de_0 +.endif ; .if UseRS485 + +; initialize crc polynom and RAMPZ + clr zeroh + ldi polyl, byte1(POLYNOM) + ldi polyh, byte2(POLYNOM) +.if BigMega + ldi cmdl, byte3(BootSign *2) + xout RAMPZ, cmdl +.else + xout RAMPZ, zerol +.endif ; .if BigMega + + +; baudrate and identifier scanning +.if UseResetDelay +abd: +.endif + ldi cmdl, byte3(BootDelay / 6) + ldi xh, byte2(BootDelay / 6) + ldi xl, byte1(BootDelay / 6) +.if !UseResetDelay +abd: +.endif + movw crcl, zerol + ldi parah, (BootMsg - BootSign) * 2 + ldi zl, byte1(BootSign * 2) + ldi zh, byte2(BootSign * 2) + +.if UseAutobaud +; baudrate detection +; autobaud based on P.Dannegger with some optimization +; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 + movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low +ab1: add yl, yl + adc yh, yh + movw cntl, zerol +ab2: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne ab2 + breq id2 ; exit +ab3: sbiw yl, 1 + adiw cntl, 2 + brcs exit + rx_1 + rjmp ab3 + asr yl + sbiw yl, BaudTolerance + adiw yl, BaudTolerance * 2 + movw yl, cntl + brcc ab1 + sbiw cntl, UartLoop + brcs ab1 + movw baudl, cntl +.else +; fixed baudrate + ldi yl, byte1(Baudrate) + ldi yh, byte2(Baudrate) + movw baudl, yl +.endif ; .if UseAutobaud + +; identifier (BootSign) scanning with timeout and checksum + +id1: sbiw xl, 1 ; UART getc with timeouts + sbc cmdl, zerol + rx_1 + brne id1 +id2: breq exit +id3: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne id3 + breq exit + rcall getx + xlpm r0, z+ + cp r0, paral + brne abd + dec parah + brne id1 + rcall getw + brne abd + +; send info about chip/bootloader (BootMsg + BootInfo) +info: ldi parah, (BootInfo - BootMsg) * 2 +4 +in1: xlpm paral, z+ + rcall putc + dec parah + brne in1 + +.if UseVersioning +;send application software version (AppVersion) +vers: ldi parah, 4 + ldi zl, byte1(AppVerAddr) + ldi zh, byte2(AppVerAddr) +ve1: xlpm paral, z+ + rcall putc + dec parah + brne ve1 +.endif ; .if UseVersioning + + +; main commandloop +; 0=run/restart +; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM +; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive +main: ldi paral, SUCCESS +mai1: rcall putc + movw crcl, zerol + rcall getw + movw cmdl, paral + cpi cmdh, 0xFE + brlo mai2 + rcall getw + movw yl, paral + sbrc cmdh, 0 + movw zl, paral +.if BigMega + sbrc cmdh, 0 + mov zx, cmdl +.endif ; .if BigMega + +mai2: rcall getw +mai3: ldi paral, ERRORCRC + brne mai1 + cpi cmdh, 0xFE + breq setbuf + brsh main + cpse cmdh, zerol + rjmp mai4 +; run application/restart bootloader + cpse cmdl, zerol +exit: jmpapp + rjmp init + +; set buffer +setbuf: +.if UseCrypt + clr flag + cpi cmdl, 0xFE + brlo set3 + bst cmdl, 0 + ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 + ldi zl, byte1(SRAM_START) + ldi zh, byte2(SRAM_START) + movw xl, feedl + adiw xl, 8 ; last feedback + clr r0 +set1: brtc set2 + ld r0, x+ +set2: st z+, r0 + dec cnt + brne set1 +.endif ; .if UseCrypt + +set3: ldi xl, byte1(SRAM_START + 16) + ldi xh, byte2(SRAM_START + 16) + movw sraml, xl +.if UseSRAM + cpi cmdl, 1 + brne set4 + movw xl, zl +.endif ; .if UseSRAM + +set4: rcall getc + st x+, paral + sbiw yl, 1 + brne set4 +.if !UseCrypt + inc cmdh + rjmp mai2 +.else + rcall getw + brne mai3 + ori flag, 0x01 +set5: + cpi cmdl, 0xFE + brlo proB ; rjmp main + rjmp decrypt +.endif ; .if !UseCrypt + +mai4: cpi cmdh, 3 + brsh mai5 +; program/erase + bst cmdh, 0 +prog: ldi paral, ERRORPROG +.if UseCrypt + brtc pro1 +.if UseCryptFLASH + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptFLASH + brlo pro8 +.endif ; .if UseCrypt + +pro1: movw yl, sraml +pro2: cpi zl, byte1(BootStart *2) + ldi parah, byte2(BootStart *2) + cpc zh, parah +.if BigMega + xout RAMPZ, zx + ldi parah, byte3(BootStart *2) + cpc zx, parah +.endif ; .if BigMega + brsh pro8 + + ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + brtc pro5 + + ldi cntl, (1 << SPMEN) + ldi cnt, pagesize +pro4: ld r0, y+ + ld r1, y+ +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + adiw zl, 2 + dec cnt + brne pro4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) + subi yl, byte1(PageSize *2) + sbci yh, byte2(PageSize *2) + + ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + +pro5: +.if BLS +.ifdef RWWSRE + ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section + rcall dospm +.endif ; .if RWWSRE +.endif ; .if BLS + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + ldi cnt, byte1(pagesize * 2) + ldi paral, ERRORVERIFY + ldi parah, 0xFF +pro6: xlpm r0, z+ + brtc pro7 + ld parah, y+ +pro7: cpse parah, r0 +pro8: rjmp mai1 + dec cnt + brne pro6 + +.if BigMega + cp zl, zerol + cpc zh, zeroh + brne pro9 + inc zx +.endif ; .if BigMega + +pro9: brtc proA + cp yl, xl + cpc yh, xh + brlo pro2 + brne pro8 +proA: dec cmdl + brne prog +proB: rjmp main + +mai5: +.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) + breq mai8 +.elif UseVerify + brne mai6 +veri: ldi paral, ERRORVERIFY +ver1: movw yl, sraml +ver2: ld r0, y+ +.if BigMega + xout RAMPZ, zx + xlpm r1, z + adiw z, 1 + adc zx, zerol +.else + xlpm r1, z+ +.endif ; .if BigMega + cpse r0, r1 + rjmp mai1 + cp yl, xl + cpc yh, xh + brne ver2 + dec cmdl + brne ver1 + rjmp main +.endif ; .if UseVerify + +mai6: +.if UseE2Read && UseE2Write + cpi cmdh, 6 + brsh mai7 + bst cmdh, 0 +.if UseCrypt + brtc ee1 + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + brts ee3 + sbi EECR, EERE + in paral, EEDR + rcall putp + rjmp ee5 +ee3: ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee4: xwdr + sbic EECR, EEWE + rjmp ee4 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 +ee5: dec cmdl + brne ee1 + brts ee6 + rcall putw +ee6: rjmp main +.elif UseE2Read + cpi cmdh, 5 + breq maiY + brsh mai7 +ee1: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + sbi EECR, EERE + in paral, EEDR + rcall putp + dec cmdl + brne ee1 + rcall putw + rjmp main +.elif UseE2Write + cpi cmdh, 5 + brlo maiY + brne mai7 +.if UseCrypt + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee3: xwdr + sbic EECR, EEWE + rjmp ee3 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 + dec cmdl + brne ee1 + rjmp main +.endif ;.elif UseE2Write + +mai7: +.if UseSRAM +.if !UseE2Read || !UseE2Write + cpi cmdh, 6 +.endif ; .if !UseE2Read || !UseE2Write + + brne mai8 +sram: ld paral, z+ + rcall putp + dec cmdl + brne sram + rcall putw + rjmp main +.endif ; .if UseSRAM + +mai8: +; here new command #7 + +maiY: ldi paral, ERRORCOMMAND +maiZ: rjmp mai1 + + +; send char with crc +.if UseE2Read || UseSRAM +putw: movw paral, crcl + rcall putc + mov paral, parah +putp: eor crcl, paral + ldi cnt, 8 +put1: lsr crch + ror crcl + brcc put2 + eor crch, polyh + eor crcl, polyl +put2: dec cnt + brne put1 +.endif ; .if UseE2Read || UseSRAM + +; send char +putc: xwdr + de_1 + rcall waitf + rcall waitf + ldi cnt, 10 + com paral +put3: tx_out ; 1 + rcall waitf ; 15 + lsr paral ; 1 + brcs put4 ; 1 + tx_0 ; 1 +put4: rcall put5 ; 7 + dec cnt ; 1 + brne put3 ; 2 = 29 + baud +put5: ret + +; receive char/word +getw: rcall getc +getm: mov parah, paral +getc: xwdr + de_0 +get5: rx_1 + rjmp get5 +get1: rx_0 + rjmp get1 +getx: ldi cnt, 8 + movw cntl, baudl + lsr cnth + ror cntl + rcall waith +get2: rcall waitf ; 15 + baud + lsr paral ; 1 + rx_0 ; 1 + ori paral, 0x80 ; 1 + sbrc paral, 7 ; 1 + eor crcl, polyl ; 1 + lsr crch ; 1 + ror crcl ; 1 + brcc get3 ; 1 + eor crch, polyh ; 1 +get3: brcc get4 ; 1 + eor crcl, polyl ; 1 +get4: dec cnt ; 1 + brne get2 ; 2 = 29 + baud + eor crcl, crch + eor crcl, crch + ret + +; UART delays ; by P.Dannegger +waitf: movw cntl, baudl ; 1 +waith: sbiw cntl, 4 ; 2 + brcc waith ; 2/1 + cpi cntl, 0xFD ; 1 + brcs wait1 ; 2/1 (2) + breq wait1 ; 2/1 (3) + cpi cntl, 0xFF ; 1 + breq wait1 ; 2/1 (4/5) +wait1: tx_1 ; 1 + ret ; 4 + 3 (rcall) = 15 + +.if UseCrypt +.include "Crypt.inc" +.endif ; .if UseCrypt + + +BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini +BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars +BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed + +.if UseCrypt +; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature +BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC +.endif ; .if UseCrypt + + +.include "Special.inc" + +.endif ; .ifndef PageSize -> end of source + + diff --git a/AVRootloader/AVR/AVRootloader.asmproj b/AVRootloader/AVR/AVRootloader.asmproj new file mode 100644 index 0000000..6676d6b --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asmproj @@ -0,0 +1,40 @@ + + + + 2.0 + 6.0 + com.Atmel.AVRAssembler + 52202416-41a7-4c61-892b-f36132641d3c + none + ATmega168PA + AVRootloader + .obj + $(MSBuildProjectDirectory)\$(Configuration) + ASSEMBLY + Executable + Native + + true + false + + 0 + $(MSBuildProjectDirectory)\AVRootloader.asm + 3.5.0 + + + bin\default\ + + + True + Error + ($IncludeFile) + + + + + + + compile + + + \ No newline at end of file diff --git a/AVRootloader/AVR/AVRootloader.atsln b/AVRootloader/AVR/AVRootloader.atsln new file mode 100644 index 0000000..4b6a147 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.atsln @@ -0,0 +1,17 @@ + +Microsoft Visual Studio Solution File, Format Version 11.00 +# Atmel Studio Solution File, Format Version 11.00 +Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + default|AVR = default|AVR + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/AVRootloader/AVR/AVRootloader.inc b/AVRootloader/AVR/AVRootloader.inc new file mode 100644 index 0000000..70a8bee --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.inc @@ -0,0 +1,394 @@ +; copyright HR + +.equ RX_DDR = RX_PORT -1 +.equ RX_PIN = RX_PORT -2 +.equ TX_DDR = TX_PORT -1 +.equ TX_PIN = TX_PORT -2 + +.if UseRS485 +.equ DE_DDR = DE_PORT -1 +.endif + +.if RX_PORT == TX_PORT && RX == TX +.set Use1Wire = 1 +.else +.set Use1Wire = 0 +.endif ; .if RX_PORT == TX_PORT && RX == TX + +.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed +.equ BaudTolerance = 3 + +.if !UseAutobaud +.set Baudrate = XTAL / BootBaudrate - UartLoop +.endif ; .if !UseAutobaud + +.set SUCCESS = 0x30 +.set ERRORVERIFY = 0xC0 +.set ERRORCOMMAND = 0xC1 +.set ERRORCRC = 0xC2 +.set ERRORBOUNDS = 0xC3 +.set ERRORCRYPT = 0xC4 +.set ERRORPROG = 0xC5 +.set ERRORVERSION = 0xC6 + +.if UseCrypt +.set SUCCESS = SUCCESS | 0x01 +.if UseCryptFLASH +.set SUCCESS = SUCCESS | 0x02 +.endif ; .if UseCryptFLASH +.if UseCryptE2 +.set SUCCESS = SUCCESS | 0x04 +.endif ; .if UseCryptE2 +.endif ; .if UseCrypt +.if UseVersioning +.set SUCCESS = SUCCESS | 0x08 +.endif ; .if UseVersioning + +.equ POLYNOM = 0xA001 ; CRC Polynom + +.def feedl = r4 ; feedback pointer +.def feedh = r5 +.def zx = r7 ; RAMPZ +.def crcl = r8 ; CRC 16Bit +.def crch = r9 +.def zerol = r10 ; zero +.def zeroh = r11 +.def baudl = r12 ; baudrate +.def baudh = r13 +.def sraml = r14 ; SRAM buffer start +.def sramh = r15 +.def paral = r16 ; params for UART +.def parah = r17 +.def polyl = r18 ; Polynom CRC +.def polyh = r19 +.def cnt = r20 ; counter in UART loops +.def flag = r21 ; flag for crypto +.def cmdl = r22 ; commands +.def cmdh = r23 +.def cntl = r24 ; temp/baudrate +.def cnth = r25 + +.if FlashEnd > 0x7FFF +.set BigMega = 1 ; ATMega with big FLASH +.else +.set BigMega = 0 +.endif ; .if FlashEnd > 0x7FFF + +.ifdef FirstBootStart +.set BLS = 1 ; Bootloader Section supported +.else +.set BLS = 0 +.endif ; .ifdef FirstBootStart + +; calculate Bootloader start address +.ifdef FirstBootStart +.set FirstBoot = FirstBootStart +.else +.set FirstBoot = FlashEnd +1 +.endif ; .ifdef FirstBootStart + +.ifdef SecondBootStart +.set SecondBoot = SecondBootStart +.else +.set SecondBoot = FlashEnd +1 +.endif ; .ifdef SecondBootStart + +.ifdef ThirdBootStart +.set ThirdBoot = ThirdBootStart +.else +.set ThirdBoot = FlashEnd +1 +.endif ; .ifdef ThirdBootStart + +.ifdef FourthBootStart +.set FourthBoot = FourthBootStart +.else +.set FourthBoot = FlashEnd +1 +.endif ; .ifdef FourthBootStart + +.if BootCodeSize +.if BLS +.set FlashSize = FlashEnd +1 +.if FlashSize - FirstBoot >= BootCodeSize >> 1 +.equ BootStart = FirstBoot +.message "Please program Boot Fuse to First Boot Start !" +.elif FlashSize - SecondBoot >= BootCodeSize >> 1 +.equ BootStart = SecondBoot +.message "Please program Boot Fuse to Second Boot Start !" +.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 +.equ BootStart = ThirdBoot +.message "Please program Boot Fuse to Third Boot Start !" +.elif FlashSize - FourthBoot >= BootCodeSize >> 1 +.equ BootStart = FourthBoot +.message "Please program Boot Fuse to Fourth Boot Start !" +.else +.equ BootStart = 0 +.error "BootStart is undefinied !" +.endif ; .if FlashSize ... +.else +.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 +.equ BootStart = FlashSize - FlashSize % PageSize +.message "Compile Bootloader without Boot Section !" +.endif ; .if BLS +.else +.if (FLASHEND > 1023) +.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 +.else +.equ BootStart = 0 +.endif +.message "Please set used CSEG to BootSize !" +.endif ; .if BootCodeSize + +; fix bug with parsing HEX files in AVRStudio 4.16 +.if BootCodeSize +.org 0 +.db 0xFF, 0xFF +.endif + +.set BootPages = (FlashEnd +1 - BootStart) / PageSize + +.if UseVersioning +.if BLS +.set AppVerAddr = BootStart * 2 - 4 +.else +.set AppVerAddr = BootStart * 2 - 6 +.endif ; .if BLS +.endif ; .if UseVersioning + +; examine special handling for SPM +.if BLS && (SIGNATURE_000 == 0x1e) +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 +.set SPMspecial = 1 +.endif +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 +.set SPMspecial = 2 +.endif +.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 +.set SPMspecial = 3 +.endif +.endif + +; BootMode flags +.if UseBootMode == 1 +.set BootModeFlag = PORF +.elif UseBootMode == 2 +.set BootModeFlag = EXTRF +.elif UseBootMode == 3 +.set BootModeFlag = WDRF +.elif UseBootMode == 4 +.ifndef USBRF +.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" +.else +.set BootModeFlag = USBRF +.endif +.endif + +.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) +.ifdef BORF +.set ResetFlags = ResetFlags | (1 << BORF) +.endif +.ifdef JTRF +.set ResetFlags = ResetFlags | (1 << JTRF) +.endif +.ifdef BODRF +.set ResetFlags = ResetFlags | (1 << BODRF) +.endif +.ifdef OCDRF +.set ResetFlags = ResetFlags | (1 << OCDRF) +.endif +.ifdef USBRF +.set ResetFlags = ResetFlags | (1 << USBRF) +.endif + + +; some redefinition of register names or bits +.ifndef MCUSR +.ifndef MCUCSR +.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" +.else +.equ MCUSR = MCUCSR +.endif +.endif ; .ifndef MCUCSR + +.ifndef WDCE +.ifndef WDDE +.equ WDCE = WDTOE +.else +.equ WDCE = WDDE +.endif ; .ifndef WDDE +.endif ; .ifndef WDCE + +.ifndef WDTCR +.equ WDTCR = WDTCSR +.endif ; .ifndef WDTCR + +.ifndef SPMCSR +.equ SPMCSR = SPMCR +.endif ; .ifndef SPMCSR + +.ifndef RWWSRE +.ifdef ASRE +.equ RWWSRE = ASRE +.endif ; .ifdef ASRE +.endif ; .ifndef RWWSRE + +.ifndef SPMEN +.equ SPMEN = SELFPRGEN +.endif ; .ifndef SPMEN + + +.ifndef EEMWE +.equ EEMWE = EEMPE +.endif ; .ifndef EEMWE + +.ifndef EEWE +.equ EEWE = EEPE +.endif ; .ifndef EEWE + +.ifndef EEARL +.equ EEARL = EEAR +.endif ; .ifndef EEARL + +; macros +.macro xout +.ifdef @0 +.if @0 > 0x3F + sts @0, @1 +.else + out @0, @1 +.endif +.endif +.endmacro + +.macro xin +.ifdef @1 +.if @1 > 0x3F + lds @0, @1 +.else + in @0, @1 +.endif +.endif +.endmacro + +.macro xwdr +.if UseWDR + wdr +.endif ; .if UseWDR +.endmacro + +.macro xlpm +.if BigMega + elpm @0, @1 +.else + lpm @0, @1 +.endif +.endmacro + +.macro jmpapp +.if BLS +#if defined(AQUASTAR) || defined(DLUX) + rjmp FLASHEND +1 ; run application +#else + jmp FLASHEND +1 ; run application +#endif +.elif BootStart + rjmp BootStart -1 ; run application +.else + rjmp BootStart ; dummy +.endif ; .if BLS +.endmacro + +.macro bjmp +.if @1 + rjmp @0 +.else + ret +.endif +.endmacro + +.macro rx_0 +.if UseUartInvert + sbic RX_PIN, RX +.else + sbis RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + +.macro rx_1 +.if UseUartInvert + sbis RX_PIN, RX +.else + sbic RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + + +.macro tx_1 + +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx1 = (1 << RX) +.else +.set tx1 = (1 << TX) | (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx1 = 0 +.else +.set tx1 = (1 << TX) +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx1 = tx1 | (1 << DE) +.endif +.endif + ldi cnth, tx1 +.endmacro + +.macro tx_0 +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx0 = (1 << TX) | (1 << RX) +.else +.set tx0 = (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx0 = (1 << TX) +.else +.set tx0 = 0 +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx0 = tx0 | (1 << DE) +.endif +.endif + ldi cnth, tx0 +.endmacro + + +.macro tx_out +.if Use1Wire + xout TX_DDR, cnth +.else + xout TX_PORT, cnth +.endif ; .if Use1Wire +.endmacro + +.macro de_0 +.if UseRS485 +.if UseRS485Invert + sbi DE_PORT, DE +.else + cbi DE_PORT, DE +.endif +.endif +.endmacro + +.macro de_1 +.if UseRS485 +.if UseRS485Invert + cbi DE_PORT, DE +.else + sbi DE_PORT, DE +.endif +.endif +.endmacro + diff --git a/AVRootloader/AVR/AvrBuild.bat b/AVRootloader/AVR/AvrBuild.bat new file mode 100644 index 0000000..cdc98e0 --- /dev/null +++ b/AVRootloader/AVR/AvrBuild.bat @@ -0,0 +1,15 @@ +@ECHO OFF +set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler + +call :buildhex AQUASTAR +call :buildhex DLUX +call :buildhex TGY160A +call :buildhex RX3S_V1V2V3_AILR_OUT +call :buildhex MINI_MWC_A0 +goto :eof + +:buildhex +set OUT=default\AVRootloader_%~1 +echo %OUT% +"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" +goto :eof \ No newline at end of file diff --git a/AVRootloader/AVR/Crypt.inc b/AVRootloader/AVR/Crypt.inc new file mode 100644 index 0000000..74c73fd --- /dev/null +++ b/AVRootloader/AVR/Crypt.inc @@ -0,0 +1,259 @@ +; copyright HR +; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code +.nolist + +.undef feedl +.undef feedh +.undef crcl +.undef crch +.undef paral +.undef parah +.undef polyl +.undef polyh +.undef zx +.undef cmdl +.undef cmdh +.undef cntl +.undef cnth + +.def a0 = r0 +.def a1 = r1 +.def a2 = r2 +.def a3 = r3 +.def b0 = r4 ; feedl +.def b1 = r5 ; feedh +.def b2 = r6 +.def b3 = r7 ; zx +.def t0 = r8 ; crcl +.def t1 = r9 ; crch +;.def zerol = r10 ; zerol +;.def zeroh = r11 ; zeroh +;.def baudl = r12 ; baudl +;.def baudh = r13 ; baudl +;.def sraml = r14 ; SRAM buffer start +;.def sramh = r15 +.def s0 = r16 ; paral +.def s1 = r17 ; parah +.def s2 = r18 ; polyl, restored +.def s3 = r19 ; polyh, restored +;.def cnt = r20 ; cnt +;.def flag = r21 ; flag +.def round = r22 ; cmdl +.def t4 = r23 ; cmdh +.def t2 = r24 ; cntl +.def t3 = r25 ; cnth +;.def XL = r26 ; buffer_endl +;.def XH = r27 ; buffer_endh +;.def YL = r28 ; unused +;.def YH = r29 ; unused +;.def ZL = r30 ; overwritten Address +;.def ZH = r31 ; +.list + + +; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup +; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback +; X points after buffer +; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption +; cycles: +; 698 * 8 Bytes -1 = 5583 one data block +; + 98 for CMDL=0xFE=init +; + 76 for CMDL=0xFF=data +; thus average throughput by 8Mhz is 11kByte/sec + +decrypt: + movw yl, sraml + sbiw yl, 16 + movw sraml, yl + sbiw xl, 16 +.if BigMega + ldi cnt, byte3(BootKey * 2) + xout RAMPZ, cnt +.endif ; .if BigMega + +tea1: ldi cnt, 8 + movw zl, zerol ; zerol, z points to register file r0-r7 = a,b +tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock + ldd t1, y +16 ; in next round buffer is feedback + eor t0, t1 + std y +8, t0 + st z+, t1 ; setup a,b = cipherblock + adiw yl, 1 + dec cnt + brne tea2 + + ldi s0, 0x20 ; sum = 32 * delta + ldi s1, 0x37 + ldi s2, 0xef + ldi s3, 0xc6 + + rcall teadec ; first 16 rounds + +tea3: ld t0, z ; ciphertext = ciphertext xor feedback + ld t1, y+ + eor t0, t1 + st z+, t0 + dec cnt + brne tea3 + + rcall teadec ; second 16 rounds + +tea4: ld t0, z+ ; plaintext = ciphertext xor feedback + ld t1, y + eor t0, t1 + st y+, t0 + dec cnt + brne tea4 + + cp yl, xl ; sram buffer end reached ? + cpc yh, xh + brlo tea1 + ldi s0, ERRORCRYPT + brcs tea7 ; overflow, datasize not a multiple of 8 + + sbiw yl, 8 ; points to signature + dummy + address + +.if UseVersioning + brts tea80 + + ldi zl, byte1(AppVerAddr) ; check version number + ldi zh, byte2(AppVerAddr) + ldi cnt, 4 + sbiw yl, 4 + ldi s2, 0xFF + ldi s3, 0xFF + +tea8: ld r0, y+ + xlpm r1, z+ + and s3, r1 + cpse r0, s2 + cpc r0, r1 + dec cnt + brne tea8 + + ldi s0, ERRORVERSION + cpse s3, s2 + brcs tea7 + ldi s0, ERRORCRYPT +tea80: +.endif ;.if UseVersioning + + ori flag, 0x02 ; success crypt + + ldi zl, byte1(BootKey * 2) + ldi zh, byte2(BootKey * 2) + movw xl, yl + ldi cnt, 4 ; check signature + brts tea5 + sbiw zl, 4 + ldi cnt, 8 ; check BootInfo and signature +tea5: ld r0, y+ + xlpm r1, z+ + cpse r0, r1 + clr flag ; signature don't match + dec cnt + brne tea5 + + movw b0, xl ; feedback + + brtc tea6 + ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data + sub xl, s1 + sbc xh, zerol + ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF + ldd zh, y +2 + ldd zl, y +3 + +tea6: sbrc flag, 1 + ldi s0, SUCCESS +tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom + ldi s3, byte2(POLYNOM) + rjmp mai1 + + +; plain XTEA decryption +teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext + movw t0, a0 + movw t2, a2 + +dec1: clr t4 ; t = (a shr 4) xor (a shl 5) + ldi cnt, 3 +dec2: lsl t0 + rol t1 + rol t2 + rol t3 + rol t4 + dec cnt + brne dec2 + + lsl t0 + eor t0, t1 + rol t1 + eor t1, t2 + rol t2 + eor t2, t3 + rol t3 + eor t3, t4 + + add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a + adc t1, a1 + adc t2, a2 + adc t3, a3 + + ldi zl, low(BootKey *2) + ldi zh, high(BootKey *2) + + sbrc round, 0 + rjmp dec3 + + sbrc s1, 3 ; k = key[(sum shr 11) and 3] + adiw zl, 4 + sbrc s1, 4 + adiw zl, 8 + + rjmp dec4 + +dec3: subi s0, 0xB9 ; sum = sum - delta + sbci s1, 0x79 + sbci s2, 0x37 + sbci s3, 0x9E + + sbrc s0, 0 ; k = key[sum and 3] + adiw zl, 4 + sbrc s0, 1 + adiw zl, 8 + +dec4: xlpm t4, z+ ; t = t xor (sum + k) + add t4, s0 + eor t0, t4 + xlpm t4, z+ + adc t4, s1 + eor t1, t4 + xlpm t4, z+ + adc t4, s2 + eor t2, t4 + xlpm t4, z+ + adc t4, s3 + eor t3, t4 + + sub b0, t0 ; b = b - t + sbc b1, t1 + sbc b2, t2 + sbc b3, t3 + + movw t0, b0 ; b = a, a = b + movw t2, b2 + movw b0, a0 + movw b2, a2 + movw a0, t0 + movw a2, t2 + + dec round + brne dec1 + + ldi cnt, 8 + movw zl, zerol + sbiw yl, 8 + + ret + diff --git a/AVRootloader/AVR/Special.inc b/AVRootloader/AVR/Special.inc new file mode 100644 index 0000000..6ba25f5 --- /dev/null +++ b/AVRootloader/AVR/Special.inc @@ -0,0 +1,259 @@ +.nolist +; copyright HR +; special functions to provide for application code access to FLASH +; can be expanded with own functions and place a rjmp vector at end of this file + +; First calculate size of code to align code at end of FLASH, better solution possible ? + +; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. +; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm +; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and +; thus the last FLASH page should be always unchanged. With a own application and help of +; dospm function can the remaining bootloader section repogrammed. Please remember that +; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own +; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) +; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function +; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider +; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits +; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. +; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to +; use SPM in application code. + + +.set SpecialSize = 0 + +.if UseSpecialWrite +.set SpecialSize = SpecialSize +48 +.if UseSpecialWriteBoot +.set SpecialSize = SpecialSize +5 +.endif +.if BigMega +.set SpecialSize = SpecialSize +4 +.endif +.if BLS +.set SpecialSize = SpecialSize +5 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.ifdef RWWSRE +.set SpecialSize = SpecialSize +2 +.endif +.else +.set SpecialSize = SpecialSize +8 +.endif +.if UseWDR +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialRead +.set SpecialSize = SpecialSize +9 +.if BigMega +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.endif + +; rjmp vector table +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.elif UseSpecialBootVect +.set SpecialSize = SpecialSize +1 +.if BLS +.set SpecialSize = SpecialSize +1 +.endif +.endif + +; dospm +.if SpecialSize > 0 +.if BLS +.set SpecialSize = SpecialSize +6 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.endif + +; align follow code at flash end +.if BootCodeSize +.org (FLASHEND +1) - SpecialSize +.endif +.endif ; .if SpecialSize > 0 + +; end of size calculation +.list + + +.if UseSpecialMsg +getbootmsg: +; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas + ldi r22, byte1(BootMsg * 2) + ldi r23, byte2(BootMsg * 2) + ldi r24, byte3(BootMsg * 2) + ldi r25, (BootInfo - BootMsg) * 2 + ret +.endif ;.if UseSpecialMsg + + +.if UseSpecialRead +readflash: +; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 +.if BigMega + xout RAMPZ, r24 +.endif + movw zl, r22 + movw xl, r18 + movw r24, r20 +rf1: sbiw r24, 1 + brcs rf2 + xlpm r23, z+ + st x+, r23 + rjmp rf1 +rf2: ret +.endif ;.if UseSpecialRead + + +.if UseSpecialWrite +writeflash: +; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + movw zl, r22 ; address to r24:Z + movw xl, r18 ; SRAM buffer to X + movw r18, yl ; save Y to r18 + movw yl, r20 ; size to Y + movw r20, r16 ; save r17:r16 to r21:r20 + movw r16, r24 ; + xin r23, SREG ; save SREG to r23 + cli ; disable IRQs +.if UseSpecialWriteBoot + clt ; set T flag if MSB of address is a magic to deactivate + cpi r17, 0xAC ; write cheks to bootloader section + brne wf1 + set +.endif ; .if UseSpecialWriteBoot + +wf1: sbic EECR, EEWE ; wait for EEPROM + rjmp wf1 + + andi r22, PageSize *2 -1 ; align address + sub zl, r22 + +wf2: ldi r17, PageSize +.if UseSpecialWriteBoot + brts wf3 ; if T flag is set ignore sanity check +.endif + cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader + ldi r24, byte2(BootStart *2) + cpc zh, r24 +.if BigMega + ldi r24, byte3(BootStart * 2) + cpc r16, r24 +.endif + brsh wf8 + +wf3: ldi r24, (1 << SPMEN) +.if BigMega + xout RAMPZ, r16 +.endif +wf4: xlpm r0, z+ ; first load word from FLASH + xlpm r1, z + sbiw z, 1 + sbiw yl, 0 ; size = 0 ? + breq wf7 + cpi r22, 1 + brlo wf5 + breq wf6 + subi r22, 2 + rjmp wf7 +wf5: ld r0, x+ + sbiw yl, 1 + breq wf7 +wf6: ld r1, x+ + sbiw yl, 1 + clr r22 +wf7: xwdr +.if BLS + rcall dospm ; fill FLASH buffer +.else + xout SPMCSR, r24 + spm +.endif + adiw z, 2 + dec r17 ; PageSize + brne wf4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) +.if BLS + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + rcall dospm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + rcall dospm +.ifdef RWWSRE + ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page + rcall dospm +.endif +.else + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + xout SPMCSR, r24 + spm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + xout SPMCSR, r24 + spm +.endif + subi zl, byte1(-PageSize *2) + sbci zh, byte2(-PageSize *2) +.if BigMega + sbci r16, byte3(-PageSize *2) +.endif + sbiw yl, 0 ; size = 0 ? + brne wf2 + +wf8: clr r1 ; restore r1=zero + movw yl, r18 ; restore Y + movw r16, r20 ; restore r17:r16 + xout SREG, r23 ; restore SREG + ret +.endif ;.if UseSpecialWrite + + +; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page +; r25=cnth destroyed, r24=cntl unchanged +.if BLS +dospm: xout SPMCSR, r24 + spm +.ifdef SPMspecial +.dw $FFFF + nop +.endif +dspm1: xin r25, SPMCSR + sbrc r25, SPMEN + rjmp dspm1 + ret +.endif ; .if BLS + + +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +; rjmp vectors for support from application code +; can be expanded with own vectors to own code, look into AVRootloader.h how to call +; please don't reorder this jump table, but you can expand it to own code +; if you expand it remember to update above SpecialSize calculation + bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret + bjmp readflash, UseSpecialRead + bjmp writeflash, UseSpecialWrite + bjmp dospm, BLS + rjmp bootstart +.elif UseSpecialBootVect +.if BLS + rjmp dospm +.endif + rjmp bootstart +.endif diff --git a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/AVRootloader/AVR/default/AVRootloader_DLUX.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_DLUX.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 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+:103FE00091E00895424F4F544C4F41444552940B39 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/AVRootloader/Windows/AVRootloader.dev b/AVRootloader/Windows/AVRootloader.dev new file mode 100644 index 0000000..90b3139 --- /dev/null +++ b/AVRootloader/Windows/AVRootloader.dev @@ -0,0 +1,108 @@ +ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 +9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 +9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 +9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 +930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 +9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 +9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 +9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 +9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 +9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 +9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 +9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 +9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 +9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 +9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 +9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 +9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 +9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/AVRootloader/Windows/AVRootloader.exe b/AVRootloader/Windows/AVRootloader.exe new file mode 100644 index 0000000000000000000000000000000000000000..125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8 GIT binary patch literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G zR?aG1R-CZ9Xw^eSiyujN#9gc=Jg_vO$h|Vby>iLYqJ%liR;Jw5B{p%?kCFX<>E?1O z$~1#T>ANuPj!3*GlwX#1HW>RV-&z!9m`PZ>teq6a4x=52+!1DE9I`Q1`1GZ5ai&qpcHP0$?FRgGW!(d}Hrxz|R67G-`N~HsK220K(i&v~z 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Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR. +; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen +; bis es wieder von vorne losgeht. + +[GUI] +Left=394 +Top=190 +Width=563 +Height=523 + +[Baudrates] +0=2400 +1=4800 +2=9600 +3=14400 +4=19200 +5=28800 +6=38400 +7=56000 +8=57600 +9=115200 +10=128000 +11=230400 +12=256000 +13=921600 + +[Signs] +0=BOOTLOADER +1=BOOT + +[FLASH] +0=C:\test\main.hex +1= + +[EEPROM] +0=C:\test\main.eep +1= diff --git a/AVRootloader/readme.txt b/AVRootloader/readme.txt new file mode 100644 index 0000000..643dd32 --- /dev/null +++ b/AVRootloader/readme.txt @@ -0,0 +1,38 @@ +changes for building avrootloader firmware for rx3s vs aquastar + +1. AVRootloader.asmproj +project/avrootloader properties/device/atmega168pa +vs +project/avrootloader properties/device/atmega8 + +--- + +2. AVR\AVRootloader.asm + +; RX3S +;.include "m168PAdef.inc" ; ATmega168PA +vs +; Aquastar +.include "m8Adef.inc" ; ATmega8A + +; RX3S +;.equ RX_PORT = PORTD ; Receive port and pin +;.equ RX = PD7 +;.equ TX_PORT = PORTD ; Transmit port and pin +;.equ TX = PD7 +vs +; Aquastar +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 + +--- + +3. AVR\AVRootloader.inc + +; RX3S +; jmp FLASHEND +1 ; run application +vs +; Aquastar + rjmp FLASHEND +1 ; run application \ No newline at end of file diff --git a/Aquastar/Aquastar.ino b/Aquastar/Aquastar.ino new file mode 100644 index 0000000..ba75fc0 --- /dev/null +++ b/Aquastar/Aquastar.ino @@ -0,0 +1,784 @@ +/* Aquastar ****************************************************************************************************/ + +#include +#include +#include +#include + +#include "FlightStab.h" + +//#define USE_SERIAL_LIGHT // use lightweight serial routines (atmega8 115200 poll-based) + +/* + Aquastar/DLUX pin mapping + PB0 8 LCD_D4 PC0 14/A0 PD0 0 RXD + PB1 9 LCD_D5 PC1 15/A1 PD1 1 TXD + PB2 10 LCD_D6 PC2 16/A2 LCD_RS PD2 2 UP_BUTTON + PB3 11 LCD_D7 (MOSI) PC3 17/A3 LCD_RW PD3 3 LEFT_BUTTON + PB4 12 (MISO) PC4 18/A4 LCD_EN (SDA) PD4 4 RIGHT_BUTTON (DLUX=DOWN_BUTTON) + PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 DOWN_BUTTON (DLUX=RIGHT_BUTTON) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 + PB7 15 (XTAL2) PD7 7 +*/ + +// button pins +#if defined(AQUASTAR) +const uint8_t button_pin[] = {2, 3, 4, 5}; // up, left, right, down +#endif +#if defined(DLUX) || defined(TGY160A) +const uint8_t button_pin[] = {2, 3, 5, 4}; // up, left, right, down +#endif + +// lcd pins +LiquidCrystal lcd(A2, A3, A4, 8, 9, 10, 11); // (rs, rw, enable, d4, d5, d6, d7) + +// lcd custom characters +byte up_arrow[8] = { + B00100, + B01110, + B10101, + B00100, + B00100, + B00100, + B00000, +}; + +byte down_arrow[8] = { + B00000, + B00100, + B00100, + B00100, + B10101, + B01110, + B00100, +}; + +// string tables in flash + +#define CHAR_DEGREE \xdf +#define CHAR_RIGHT_ARROW \x7e +#define STR(s) #s +#define XSTR(s) STR(s) + +// eeprom cfg and stats +struct _eeprom_cfg cfg; +struct _eeprom_stats stats; + +// device names +prog_char undef_device[] PROGMEM = " Undefined"; +prog_char rx3s_v1[] PROGMEM = " RX3S V1"; +prog_char rx3s_v2v3[] PROGMEM = " RX3S V2/V3"; +prog_char nanowii[] PROGMEM = " NanoWii"; +prog_char eagle_a3pro[] PROGMEM = " Eagle A3Pro"; +prog_char rx3sm[] PROGMEM = " RX3SM"; +prog_char mini_mwc[] PROGMEM = " Mini MWC"; + +prog_char *device_name[] PROGMEM = { // must match enum DEVICE_IDS in eeprom_stats.device_id + undef_device, + rx3s_v1, + rx3s_v2v3, + nanowii, + eagle_a3pro, + rx3sm, + mini_mwc +}; + +// status +prog_char status[] PROGMEM = "STATUS"; +prog_char status_device_id[] PROGMEM = "ID="; +prog_char status_device_ver[] PROGMEM = "VER="; +prog_char status_device_eeprom[] PROGMEM = "1E/2E/R="; + +// eeprom +prog_char eeprom[] PROGMEM = "EEPROM"; +prog_char eeprom_instr[] PROGMEM = "Up/Dn then " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_update_cfg[] PROGMEM = "Update Config " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_erase_cfg[] PROGMEM = "Erase Config " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_erase_stats[] PROGMEM = "Erase Stats " XSTR(CHAR_RIGHT_ARROW); + +// config modes +prog_char wing_mode[] PROGMEM = "WING MODE"; +prog_char wing_use_dipsw[] PROGMEM = "DIP SW"; +prog_char wing_single_ail[] PROGMEM = "Single Ail"; +prog_char wing_delta[] PROGMEM = "Delta"; +prog_char wing_vtail[] PROGMEM = "V-Tail"; +prog_char wing_dual_ail[] PROGMEM = "Dual Ail"; + +prog_char mixer_epa_mode[] PROGMEM = "EPA MODE"; +prog_char mixer_epa_full[] PROGMEM = "Full 1000-2000"; +prog_char mixer_epa_norm[] PROGMEM = "Norm 1100-1900"; +prog_char mixer_epa_track[] PROGMEM = "Tracking"; + +prog_char serialrx_order[] PROGMEM = "SERIALRX ORDER"; +prog_char serialrx_none[] PROGMEM = "None"; +prog_char serialrx_RETA1a2f[] PROGMEM = "RETA1a2F"; +prog_char serialrx_TAER1a2F[] PROGMEM = "TAER1a2F"; +prog_char serialrx_AETR1a2F[] PROGMEM = "AETR1a2F"; + +prog_char mount_orient[] PROGMEM = "MOUNT ORIENT"; +prog_char mount_normal[] PROGMEM = "Normal"; +prog_char mount_roll90left[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Left"; +prog_char mount_roll90right[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Right"; + +prog_char stick_gain_throw[] PROGMEM = "STK-GAIN THROW"; +prog_char stick_gain_throw_full[] PROGMEM = "Full"; +prog_char stick_gain_throw_half[] PROGMEM = "Half"; +prog_char stick_gain_throw_quarter[] PROGMEM = "Quarter"; + +prog_char max_rotate[] PROGMEM = "MAX STK-ROTATE"; +prog_char max_rotate_vlow[] PROGMEM = "Very Low 0.25x"; +prog_char max_rotate_low[] PROGMEM = "Low 0.5x"; +prog_char max_rotate_med[] PROGMEM = "Medium 1x"; +prog_char max_rotate_high[] PROGMEM = "High 2x"; +prog_char max_rotate_vhigh[] PROGMEM = "Very High 4x"; + +prog_char rate_mode_stick_rotate[] PROGMEM = "RATE STK-ROTATE"; +prog_char disabled[] PROGMEM = "Disabled"; +prog_char enabled[] PROGMEM = "Enabled"; + +prog_char inflight_calibrate[] PROGMEM = "INFLIGHT CALIB"; + +prog_char vr_gain[] PROGMEM = "VR-GAIN A/E/R"; + +prog_char pid_rate[] PROGMEM = "RATE "; +prog_char pid_hold[] PROGMEM = "HOLD "; +prog_char pid_roll[] PROGMEM = "Ail "; +prog_char pid_pitch[] PROGMEM = "Ele "; +prog_char pid_yaw[] PROGMEM = "Rud "; + +prog_char *param_text[][6] PROGMEM = { + {status, + status_device_id, status_device_ver, status_device_eeprom}, + {wing_mode, + wing_use_dipsw, wing_single_ail, wing_delta, wing_vtail, wing_dual_ail}, + {mixer_epa_mode, + mixer_epa_full, mixer_epa_norm, mixer_epa_track}, + {serialrx_order, + serialrx_none, serialrx_RETA1a2f, serialrx_TAER1a2F, serialrx_AETR1a2F}, + {mount_orient, + mount_normal, mount_roll90left, mount_roll90right}, + {stick_gain_throw, + stick_gain_throw_full, stick_gain_throw_half, stick_gain_throw_quarter}, + {max_rotate, + max_rotate_vlow, max_rotate_low, max_rotate_med, max_rotate_high, max_rotate_vhigh}, + {rate_mode_stick_rotate, + disabled, enabled}, + {inflight_calibrate, + disabled, enabled}, + {vr_gain, + }, + {pid_rate, + pid_roll, pid_pitch, pid_yaw}, + {pid_hold, + pid_roll, pid_pitch, pid_yaw}, + {eeprom, + eeprom_instr, eeprom_update_cfg, eeprom_erase_cfg, eeprom_erase_stats} +}; + +const int8_t param_min[] = { + 1, // status + WING_USE_DIPSW, + MIXER_EPA_FULL, + SERIALRX_NONE, + MOUNT_NORMAL, + STICK_GAIN_THROW_FULL, + MAX_ROTATE_VLOW, + RATE_MODE_STICK_ROTATE_DISABLE, + INFLIGHT_CALIBRATE_DISABLE, + 0, // vr_gain + 0, // pid_rate + 0, // pid_hold + 1 // eeprom +}; + +const int8_t param_max[] = { + 3, // status + WING_DUAL_AIL, + MIXER_EPA_TRACK, + SERIALRX_AETR1a2F, + MOUNT_ROLL_90_RIGHT, + STICK_GAIN_THROW_QUARTER, + MAX_ROTATE_VHIGH, + RATE_MODE_STICK_ROTATE_ENABLE, + INFLIGHT_CALIBRATE_ENABLE, + 0, // vr_gain + 0, // pid_rate + 0, // pid_hold + 4 // eeprom +}; + +int8_t param_val_status = 1; +int8_t param_val_eeprom = 1; + +const int8_t kpid_map[] = {0, 1, 2, 0, 1, 2, 0, 1, 2}; // index = subpage +const int8_t axis_map[] = {0, 0, 0, 1, 1, 1, 2, 2, 2}; // index = subpage + +struct _pid_param_array { + int16_t *param[3]; // param[kpid][axis] = value +}; + +struct _pid_param_array pid_param_array_rate = {{cfg.pid_param_rate.kp, cfg.pid_param_rate.ki, cfg.pid_param_rate.kd}}; +struct _pid_param_array pid_param_array_hold = {{cfg.pid_param_hold.kp, cfg.pid_param_hold.ki, cfg.pid_param_hold.kd}}; + +int8_t * const param_pval[] = { + ¶m_val_status, + (int8_t*) &cfg.wing_mode, + (int8_t*) &cfg.mixer_epa_mode, + (int8_t*) &cfg.serialrx_order, + (int8_t*) &cfg.mount_orient, + (int8_t*) &cfg.stick_gain_throw, + (int8_t*) &cfg.max_rotate, + (int8_t*) &cfg.rate_mode_stick_rotate, + (int8_t*) &cfg.inflight_calibrate, + &cfg.vr_gain[0], + (int8_t*) &pid_param_array_rate, + (int8_t*) &pid_param_array_hold, + ¶m_val_eeprom, +}; + +enum PARAM_TYPE {PARAM_STATUS, PARAM_ENUM, PARAM_VR_GAIN, PARAM_PID, PARAM_EEPROM}; + +enum PARAM_TYPE param_type[] = { + PARAM_STATUS, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_VR_GAIN, + PARAM_PID, + PARAM_PID, + PARAM_EEPROM, +}; + +const int8_t param_num_pages = sizeof(param_type)/sizeof(param_type[0]); + + +/*************************************************************************************************************** +* BUTTONS +***************************************************************************************************************/ + +enum BUTTON_ID {BUTTON_ID_UP, BUTTON_ID_LEFT, BUTTON_ID_RIGHT, BUTTON_ID_DOWN}; +enum BUTTON_STATE {BUTTON_UP, BUTTON_DOWN, BUTTON_DOWN_AUTO}; +enum BUTTON_EVENT {BUTTON_NONE, BUTTON_RELEASE, BUTTON_PRESS}; +BUTTON_STATE button_state[] = {BUTTON_UP, BUTTON_UP, BUTTON_UP, BUTTON_UP}; +BUTTON_EVENT button_event[] = {BUTTON_NONE, BUTTON_NONE, BUTTON_NONE, BUTTON_NONE}; + +bool button_read() +{ + bool has_event = false; + uint32_t t = micros(); + static uint32_t button_down_time[4]; + static uint32_t button_debounce_time[4]; // time of last button state change + const int32_t button_debounce_delay = 50000; // debounce interval + const int32_t button_auto_delay = 600000; // time between first press and auto repeat start + const int32_t button_auto_period = 100000; // time between auto repeat events + + for (int8_t i=0; i<4; i++) { + button_event[i] = BUTTON_NONE; + BUTTON_STATE b = digitalRead(button_pin[i]) ? BUTTON_UP : BUTTON_DOWN; + + switch ((b << 4) | button_state[i]) { + + // release up + case ((BUTTON_UP << 4) | BUTTON_DOWN): + case ((BUTTON_UP << 4) | BUTTON_DOWN_AUTO): + if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) { + button_event[i] = BUTTON_RELEASE; + button_state[i] = BUTTON_UP; + button_debounce_time[i] = t; + } + break; + + // press down + case ((BUTTON_DOWN << 4) | BUTTON_UP): + if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) { + button_event[i] = BUTTON_PRESS; + button_state[i] = BUTTON_DOWN; + button_down_time[i] = t; + button_debounce_time[i] = t; + } + break; + + // holding down till auto repeat start + case ((BUTTON_DOWN << 4) | BUTTON_DOWN): + if ((int32_t)(t - button_down_time[i]) > button_auto_delay) { + button_event[i] = BUTTON_PRESS; + button_state[i] = BUTTON_DOWN_AUTO; + button_down_time[i] = t; + } + break; + + // holding down during auto repeat + case ((BUTTON_DOWN << 4) | BUTTON_DOWN_AUTO): + if ((int32_t)(t - button_down_time[i]) > button_auto_period) { + button_event[i] = BUTTON_PRESS; + button_down_time[i] = t; + } + break; + } + + has_event = has_event || (button_event[i] != BUTTON_NONE); + } + return has_event; +} + +void button_init() +{ + for (int8_t i=0; i<4; i++) { + pinMode(button_pin[i], INPUT); + digitalWrite(button_pin[i], HIGH); + } +} + +/*************************************************************************************************************** +* ATMEGA8 USART 115200 8N1 POLL-BASED +***************************************************************************************************************/ + +#if defined(USE_SERIAL_LIGHT) +bool serial2_available() +{ + return UCSRA & (1 << RXC); // check for data +} + +uint8_t serial2_read() +{ + while (!serial2_available()); + return UDR; +} + +void serial2_write(uint8_t b) +{ + while (!(UCSRA & (1 << UDRE))); // wait for ready + UDR = b; +} + +void serial2_init() +{ +// PORTD |= 0x03; // enable pullup + UBRRH = 0; // 16 with U2X enabled means 115200 baud with 16MHz CPU: 16000000 / 115200 / 8 - 1 == 16 + UBRRL = 16; // seems to have too much error without U2X. + UCSRA |= (1 << U2X); + UCSRB = (1 << RXEN) | (1 << TXEN); + UCSRC = (1 << URSEL) |(1 << UCSZ1) | (1 << UCSZ0); // 8N1 +} +#endif + +/*************************************************************************************************************** +* MESSAGE TRANSPORT +***************************************************************************************************************/ + +void serial_write_byte(uint8_t b, bool last_byte) { +#if defined(USE_SERIAL_LIGHT) + serial2_write(b); + serial2_read(); +#else + Serial.write(b); + Serial.read(); // drain the echo received due to loopback +#endif + if (!last_byte) + delay(2); // delay for one-wire library on the target to ready the next receive +} + +bool send_msg(void *buf, int8_t buf_len) { + uint8_t chksum = buf_len; + serial_write_byte('$', false); + serial_write_byte(buf_len, false); + for (int8_t i=0; i param_min[page] ? byte(0) : ' '); // up arrow + lcd.write(*param_pval[page] < param_max[page] ? byte(1) : ' '); // down arrow +#endif + lcd.setCursor(0, 1); + + switch (param_type[page]) { + case PARAM_STATUS: + v = *param_pval[page]; + lcd.print((const __FlashStringHelper*) pgm_read_word(¶m_text[page][v])); + switch (v) { + case 1: // device_id + lcd.print(stats.device_id); + lcd.print((const __FlashStringHelper*) pgm_read_word(&device_name[stats.device_id])); + break; + case 2: // device_ver + lcd.print(stats.device_ver); + break; + case 3: // eeprom err and reset + lcd.print(stats.eeprom_cfg1_err); + lcd.print('/'); + lcd.print(stats.eeprom_cfg2_err); + lcd.print('/'); + lcd.print(stats.eeprom_cfg12_reset); + break; + } + break; + + case PARAM_ENUM: + case PARAM_EEPROM: + v = *param_pval[page]; + if ((v >= param_min[page]) && (v <= param_max[page])) { + lcd.print((const __FlashStringHelper*) pgm_read_word(¶m_text[page][v])); + } else { + lcd.print(F("Inval ")); // out of range + lcd.print(v); + } + break; + + case PARAM_VR_GAIN: + pvr_gain = (int8_t *)param_pval[page]; + for (int8_t i=0; i<3; i++) { + bool sel = (i == kpid_map[subpage]); + if (sel) lcd.print('['); + if (pvr_gain[i] == vr_gain_use_pot) + lcd.print(F("POT")); + else + lcd.print(pvr_gain[i]); + if (sel) lcd.print(']'); + if (i< 2) + lcd.print('/'); + } + break; + + case PARAM_PID: + axis = axis_map[subpage]; + kpid = kpid_map[subpage]; + ppid = (struct _pid_param_array *)param_pval[page]; + lcd.clear(); + lcd.print((const __FlashStringHelper*) pgm_read_word(¶m_text[page][0])); + lcd.print((const __FlashStringHelper*) pgm_read_word(¶m_text[page][axis + 1])); + lcd.print(F("P/I/D")); + lcd.setCursor(0, 1); + for (int8_t i=0; i<3; i++) { + bool sel = (i == kpid); + if (sel) lcd.print('['); + lcd.print(ppid->param[i][axis]); + if (sel) lcd.print(']'); + if (i< 2) + lcd.print('/'); + } + break; + } +} + + +void loop() +{ + uint32_t t = micros(); + uint32_t last_msg_time = t; + + enum OW_STATE { + OW_WAIT_CONNECT, + OW_WAIT_STATS, + OW_CONNECTED, + OW_SEND, + OW_BAD_CFG_VER + } ow_state = OW_WAIT_CONNECT; + + struct _ow_msg ow_msg; + int8_t ow_send_len; + + int8_t page=0, subpage=0; + bool update_lcd = true; + +again: + t = micros(); + + // connection state machine + if ((int32_t)(t - last_msg_time) > (ow_state == OW_WAIT_CONNECT ? 50000L : 250000L)) { // 50ms to connect, else every 250ms + + int8_t msg_len = 1; // + 1 for ow_msg.cmd + switch (ow_state) { + case OW_WAIT_CONNECT: ow_msg.cmd = OW_GET_CFG; break; + case OW_WAIT_STATS: ow_msg.cmd = OW_GET_STATS; break; + case OW_CONNECTED: ow_msg.cmd = OW_NULL; break; + case OW_SEND: msg_len += ow_send_len; break; // ow_msg already set up + case OW_BAD_CFG_VER: ow_msg.cmd = OW_NULL; break; + } + send_msg(&ow_msg, msg_len); + uint8_t resp_cmd = ow_msg.cmd | 0x80; + + if (recv_msg(&ow_msg, sizeof(ow_msg), 20) && (ow_msg.cmd == resp_cmd)) { // wait 20ms for response + switch (ow_state) { + case OW_WAIT_CONNECT: + if (ow_msg.u.eeprom_cfg.ver != eeprom_cfg_ver) { + ow_state = OW_BAD_CFG_VER; + update_lcd = true; + break; + } + cfg = ow_msg.u.eeprom_cfg; + ow_state = OW_WAIT_STATS; + break; + case OW_WAIT_STATS: + stats = ow_msg.u.eeprom_stats; + ow_state = OW_CONNECTED; + page = subpage = 0; + update_lcd = true; + break; + case OW_SEND: + ow_state = OW_WAIT_CONNECT; // restart state machine + update_lcd = true; + break; + } + } else { + // TODO: separate timeout from msg_err (eg. too large) + if (ow_state != OW_WAIT_CONNECT) { + update_lcd = true; + } + ow_state = OW_WAIT_CONNECT; // reset to initial state + } + last_msg_time = t; + } + + if (update_lcd) { + lcd.clear(); + + switch (ow_state) { + case OW_WAIT_CONNECT: + lcd.print(F("OpenFlightStab")); + lcd.setCursor(0, 1); + lcd.print(F("CfgVer=")); + lcd.print(eeprom_cfg_ver); +// lcd.print(F(" ")); +// lcd.print(sizeof(cfg)); + break; + case OW_CONNECTED: + param_lcd_update(page, subpage); + break; + case OW_BAD_CFG_VER: + lcd.print(F("CfgVer Mismatch")); + lcd.setCursor(0, 1); + lcd.print(F("read=")); + lcd.print(ow_msg.u.eeprom_cfg.ver); + lcd.print(F(" need=")); + lcd.print(eeprom_cfg_ver); + break; + } + + update_lcd = false; + } + + // button handler + if ((ow_state == OW_CONNECTED) && button_read()) { + + if (button_event[BUTTON_ID_LEFT] == BUTTON_PRESS) { + enum PARAM_TYPE ptype = param_type[page]; + bool page_change = false; + + if ((ptype == PARAM_VR_GAIN || ptype == PARAM_PID) && subpage > 0) { + subpage--; + } else { + if (page > 0) { + page--; + if (param_type[page] == PARAM_VR_GAIN) + subpage = 2; + else if (param_type[page] == PARAM_PID) + subpage = 8; + } + } + } + + if (button_event[BUTTON_ID_RIGHT] == BUTTON_PRESS) { + enum PARAM_TYPE ptype = param_type[page]; + bool page_change = false; + + if (ptype == PARAM_EEPROM) { + switch (param_val_eeprom) { + case 2: // update cfg + ow_msg.u.eeprom_cfg = cfg; // copy cfg to message buffer + ow_msg.cmd = OW_SET_CFG; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_cfg); + break; + case 3: // erase cfg + ow_msg.u.eeprom_cfg.ver = 0; // invalidate ver + ow_msg.cmd = OW_SET_CFG; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_cfg); + break; + case 4: // erase stats + ow_msg.u.eeprom_stats.device_id = 0; // invalidate device_id + ow_msg.cmd = OW_SET_STATS; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_stats); + break; + } + } else if ((ptype == PARAM_VR_GAIN && subpage < 2) || + (ptype == PARAM_PID && subpage < 8)) { + subpage++; + } else { + if (page < param_num_pages - 1) { + page++; + subpage = 0; + // reset to safe option (1=eeprom_instr) when paging into eeprom page. + // prevents user autorepeating right through it + if (param_type[page] == PARAM_EEPROM) + param_val_eeprom = 1; + } + } + } + + int16_t diff = 0; + int16_t diff2 = param_type[page] == PARAM_PID ? 10 : 1; + + if (button_event[BUTTON_ID_UP] == BUTTON_PRESS) { + diff = diff2; // up to increase + } + if (button_event[BUTTON_ID_DOWN] == BUTTON_PRESS) { + diff = -diff2; // down to decrease + } + + if (diff != 0) { + int8_t axis; + int8_t kpid; + int8_t *pv; + struct _pid_param_array *ppid; + + switch (param_type[page]) { + case PARAM_VR_GAIN: + kpid = kpid_map[subpage]; + pv = (int8_t *)param_pval[page]; + pv[kpid] = constrain(pv[kpid] + diff, -128, 127); + break; + case PARAM_PID: + axis = axis_map[subpage]; + kpid = kpid_map[subpage]; + ppid = (struct _pid_param_array *)param_pval[page]; + ppid->param[kpid][axis] = constrain(ppid->param[kpid][axis] + diff, 0, 1000); + break; + default: + *param_pval[page] = constrain(*param_pval[page] + diff, param_min[page], param_max[page]); + break; + } + } + + update_lcd = true; + } + + goto again; +} diff --git a/Aquastar/FlightStab.h b/Aquastar/FlightStab.h new file mode 100644 index 0000000..df1a613 --- /dev/null +++ b/Aquastar/FlightStab.h @@ -0,0 +1,68 @@ +/* FlightStab **************************************************************************************************/ + +/* NOTE: +./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the +aquastar programming box to be in sync with the flightstab firmware. +*/ + +#if !defined(FLIGHTSTAB_H) +#define FLIGHTSTAB_H + +const int8_t eeprom_cfg_ver = 6; + +enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC}; + +enum WING_MODE {WING_USE_DIPSW=1, WING_SINGLE_AIL, WING_DELTA, WING_VTAIL, WING_DUAL_AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK}; +enum SERIALRX_ORDER {SERIALRX_NONE=1, SERIALRX_RETA1a2F, SERIALRX_TAER1a2F, SERIALRX_AETR1a2F}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; +enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important +enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4, MAX_ROTATE_VHIGH=5}; // values are important +enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; +enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE}; + +struct _eeprom_stats { + int8_t device_id; + uint32_t device_ver; + int8_t eeprom_cfg1_err; + int8_t eeprom_cfg2_err; + int8_t eeprom_cfg12_reset; +}; + +struct _pid_param { + int16_t kp[3]; // [0, 1000] 11b signed + int16_t ki[3]; + int16_t kd[3]; + int8_t output_shift; +}; + +struct _eeprom_cfg { + uint8_t ver; + enum WING_MODE wing_mode; // overridden by DIP switches if available + enum MIXER_EPA_MODE mixer_epa_mode; + enum SERIALRX_ORDER serialrx_order; + enum MOUNT_ORIENT mount_orient; + enum STICK_GAIN_THROW stick_gain_throw; + enum MAX_ROTATE max_rotate; + enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate; + enum INFLIGHT_CALIBRATE inflight_calibrate; + int8_t vr_gain[3]; + struct _pid_param pid_param_rate; + struct _pid_param pid_param_hold; + uint8_t chksum; +}; + +const int8_t vr_gain_use_pot = -128; + +enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG}; + +struct _ow_msg { + uint8_t cmd; + union { + struct _eeprom_cfg eeprom_cfg; // OW_*_CFG + struct _eeprom_stats eeprom_stats; // OW_*_STATS + } u; + uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one +}; + +#endif // FLIGHTSTAB_H \ No newline at end of file diff --git a/Builds/20140208_AQUASTAR.hex b/Builds/20140208_AQUASTAR.hex new file mode 100644 index 0000000..3aa2048 --- /dev/null +++ b/Builds/20140208_AQUASTAR.hex @@ -0,0 +1,405 @@ +:10000000C9C1EDC1ECC1EBC1EAC1E9C1E8C1E7C1B9 +:10001000E6C128CAE4C1E3C1E2C1E1C1E0C1DFC178 +:10002000DEC1DDC1DCC120556E646566696E656444 +:100030000020525833532056310020525833532059 +:1000400056322F563300204E616E6F57696900207B +:100050004561676C6520413350726F002052583300 +:10006000534D00204D696E69204D574300260031E5 +:10007000003A0046004F005C006300535441545561 +:10008000530049443D005645523D0031452F32450D 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+:10323800000000000000000301050109010B010066 +:1032480000000000000000D201D401D601D801001E +:1032580000000000000000000004050607FFFFFF53 +:10326800FFFF7889988778899887FF000000000019 +:10327800000500040003000200A0860100801A0671 +:103288000005030403030502020201010101010113 +:0C329800010101E001E201E401E6010097 +:00000001FF diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..8db4b9b --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,119 @@ +#====================================================================# +# FlightStab cmake # +#====================================================================# + +# build instructions for windows +# ============================== +# cd ./Builds +# optional: rd /s . (to wipe out all intermediate files) +# cmake [-DTODAY=yyyymmdd] -G"MSYS Makefiles" .. +# (cmake will use the system date if -DTODAY is not specified) +# make [VERBOSE=1] + +# install instructions for windows +# ================================ +# install C:\Program Files (x86)\CMake 2.8 +# ensure PATH includes C:\Program Files (x86)\CMake 2.8\bin +# install C:\Program Files\arduino-1.0.5 (this exact path is important!) +# ensure PATH includes C:\Program Files\arduino-1.0.5\hardware\tools\avr\utils\bin + +# other useful commands +# ===================== +# avr-readelf -a .elf +# avr-objdump -dS .elf +# avr-nm -Cn .elf +# avr-size [-C] .elf +# avr-strings .elf +# avrdude -C "C:\Program Files\arduino-1.0.5\hardware\tools\avr\etc\avrdude.conf" -c usbasp -p m168p -U flash:r:.hex + +set(CMAKE_TOOLCHAIN_FILE cmake/ArduinoToolchain.cmake) +cmake_minimum_required(VERSION 2.8) +project(FlightStab C CXX) + +if (MSYS) + link_directories("$ENV{USERPROFILE}\\Documents\\Arduino\\libraries") +else (MSYS) + link_directories("~/Arduino/libraries") +endif (MSYS) + +#====================================================================# +# macros # +#====================================================================# + +# get current date +macro(get_today today) + if (MSYS) + EXECUTE_PROCESS(COMMAND wmic os get localdatetime /format:list OUTPUT_VARIABLE ${today}) + STRING(REGEX REPLACE ".*LocalDateTime=(........).*" "\\1" ${today} ${${today}}) + #EXECUTE_PROCESS(COMMAND "cmd" " /C date /T" OUTPUT_VARIABLE ${today}) + #STRING(REGEX REPLACE ".*(..)/(..)/(....).*" "\\3\\1\\2" ${today} ${${today}}) + else (MSYS) + set(today "NODATE") + endif (MSYS) +endmacro(get_today) + +# build specific target +macro(add_arduino_firmware target sketch board defines) + set(${target}_SKETCH ${sketch}) + set(${target}_BOARD ${board}) + generate_arduino_firmware(${target}) + set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defines}") +endmacro(add_arduino_firmware) + +#====================================================================# +# build all targets # +#====================================================================# + +print_board_list() +print_programmer_list() + +# get system date if is not specified in cmake command line (cmake -Dtoday=yyyymmdd .....) +if (NOT TODAY) + get_today(TODAY) +endif (NOT TODAY) + +# defines = semicolon-separated list of key-value pairs "RX3S_V1;DEF=VAL;DEF2=VAL2" + +# AQUASTAR/DLUX Programming Box +add_arduino_firmware(${TODAY}_AQUASTAR Aquastar atmega8 "USE_SERIAL_LIGHT;AQUASTAR") +add_arduino_firmware(${TODAY}_DLUX Aquastar atmega8 "USE_SERIAL_LIGHT;DLUX") +add_arduino_firmware(${TODAY}_TGY160A Aquastar pro5v "TGY160A") + +# NANOWII +add_arduino_firmware(${TODAY}_NANOWII FlightStab leonardo "NANOWII") +add_arduino_firmware(${TODAY}_NANOWII_CPPM FlightStab leonardo "NANOWII;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_NANOWII_SPEKTRUM FlightStab leonardo "NANOWII;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_NANOWII_SBUS FlightStab leonardo "NANOWII;SERIALRX_SBUS") + +# MINI MWC +add_arduino_firmware(${TODAY}_MINI_MWC_CPPM FlightStab pro5v "MINI_MWC;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_MINI_MWC_CPPM_EXTERNAL_RX FlightStab pro5v "MINI_MWC;SERIALRX_CPPM;MINI_MWC_EXTERNAL_RX") +add_arduino_firmware(${TODAY}_MINI_MWC_SPEKTRUM FlightStab pro5v "MINI_MWC;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_MINI_MWC_SBUS FlightStab pro5v "MINI_MWC;SERIALRX_SBUS") + +# RX3S V1/V2V3/RX3SM 16MHz +add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1") +add_arduino_firmware(${TODAY}_RX3S_V1_CPPM FlightStab pro5v "RX3S_V1;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_RX3S_V1_SPEKTRUM FlightStab pro5v "RX3S_V1;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_RX3S_V1_SBUS FlightStab pro5v "RX3S_V1;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_RX3S_V2 FlightStab pro5v "RX3S_V2") +add_arduino_firmware(${TODAY}_RX3S_V2_AILR_IN_ON_RUD_IN FlightStab pro5v "RX3S_V2;AILR_IN_ON_RUD_IN") +add_arduino_firmware(${TODAY}_RX3S_V2_CPPM FlightStab pro5v "RX3S_V2;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_RX3S_V2_SPEKTRUM FlightStab pro5v "RX3S_V2;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_RX3S_V2_SBUS FlightStab pro5v "RX3S_V2;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_RX3SM FlightStab pro5v "RX3SM") + +# EagleA3Pro +add_arduino_firmware(${TODAY}_EAGLE_A3PRO FlightStab pro5v "EAGLE_A3PRO") +add_arduino_firmware(${TODAY}_EAGLE_A3PRO_NO_STICKCONFIG FlightStab pro5v "EAGLE_A3PRO;NO_STICKCONFIG") + +# test permutations +add_arduino_firmware(TEST_RX3S_V1_8MHZ FlightStab pro "RX3S_V1") +add_arduino_firmware(TEST_RX3S_V2_8MHZ FlightStab pro "RX3S_V2") +add_arduino_firmware(TEST_RX3S_V2_SERIAL_DEBUG FlightStab pro5v "RX3S_V2;SERIAL_DEBUG") +add_arduino_firmware(TEST_RX3S_V2_DUMP_SENSORS FlightStab pro5v "RX3S_V2;DUMP_SENSORS") +add_arduino_firmware(TEST_RX3S_V2_LED_TIMING FlightStab pro5v "RX3S_V2;LED_TIMING") +add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEVLIB") +add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE") +add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG") + diff --git a/Docs/EagleA3Pro Guide.pdf b/Docs/EagleA3Pro Guide.pdf new file mode 100644 index 0000000000000000000000000000000000000000..86b8ceae97d98510eba38d0c68aef30034b3c3de GIT binary patch literal 1101348 zcmce7Rajh2^XCli5C{YkWN-Lb@Ffq{cC}g z7Kn@Qzxru`p35|KbaVd45OW_~EK$*CH8d^VoIG63E#3Z;LEY8KT+7lOWW@388W4wq z!?W>H&lxSf-TzTqU(M`;rMdev_8%UX0O&bA`vdf^DA{M1{L7K$<^(;b|ILu`c9+v~ zH+8rCmn)~m#RYm!|FA(E&lE4{IsI?2l#{)atCq8=`G3&TmR6=7_U=+D21=m++5+N` z(t5V)KZZSv_%B3LPVyN6{#VjJ2=M<9|0?%vn6ss;yY0V*KEG5~E^g3s`i~ON6c6Y* z{f`p=1gq9ZTR;c|DSpxYisXr>H6#=S^HVS*oy-*pTFuL8JIMZ76i02{ujp0g0lDvlpln^0viR%It=Ev{|gQK^J zo=8i}N?WyF#2p-tH#F~+-aolU|A{iDIhzfCx=YFp+TI)8e&7Cd(@XWZwfe}v&GGc0 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Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR. -; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen -; bis es wieder von vorne losgeht. - -[GUI] -Left=394 -Top=190 -Width=563 -Height=523 - -[Baudrates] -0=2400 -1=4800 -2=9600 -3=14400 -4=19200 -5=28800 -6=38400 -7=56000 -8=57600 -9=115200 -10=128000 -11=230400 -12=256000 -13=921600 - -[Signs] -0=BOOTLOADER -1=BOOT - -[FLASH] -0=C:\test\main.hex -1= - -[EEPROM] -0=C:\test\main.eep -1= diff --git a/AVRootloader/readme.txt b/AVRootloader/readme.txt deleted file mode 100644 index 643dd32..0000000 --- a/AVRootloader/readme.txt +++ /dev/null @@ -1,38 +0,0 @@ -changes for building avrootloader firmware for rx3s vs aquastar - -1. AVRootloader.asmproj -project/avrootloader properties/device/atmega168pa -vs -project/avrootloader properties/device/atmega8 - ---- - -2. AVR\AVRootloader.asm - -; RX3S -;.include "m168PAdef.inc" ; ATmega168PA -vs -; Aquastar -.include "m8Adef.inc" ; ATmega8A - -; RX3S -;.equ RX_PORT = PORTD ; Receive port and pin -;.equ RX = PD7 -;.equ TX_PORT = PORTD ; Transmit port and pin -;.equ TX = PD7 -vs -; Aquastar -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 - ---- - -3. AVR\AVRootloader.inc - -; RX3S -; jmp FLASHEND +1 ; run application -vs -; Aquastar - rjmp FLASHEND +1 ; run application \ No newline at end of file diff --git a/Builds/20140322_AQUASTAR.hex b/Builds/20140322_AQUASTAR.hex deleted file mode 100644 index c27b56b..0000000 --- a/Builds/20140322_AQUASTAR.hex +++ /dev/null @@ -1,400 +0,0 @@ -:10000000CDC1F1C1F0C1EFC1EEC1EDC1ECC1EBC199 -:10001000EAC10FCAE8C1E7C1E6C1E5C1E4C1E3C175 -:10002000E2C1E1C1E0C120556E646566696E656438 -:100030000020525833532056310020525833532059 -:1000400056322F563300204E616E6F57696900207B -:100050004561676C6520413350726F002052583300 -:10006000534D00204D696E69204D57430020464C8A -:10007000495020312E3500260031003A0046004F0D -:10008000005C0063006D00535441545553004944D3 -:100090003D005645523D0031452F32452F523D001F -:1000A000454550524F4D0055702F446E2074686581 -:1000B0006E207E0055706461746520436F6E6669C2 -:1000C00067207E00457261736520436F6E666967C5 -:1000D000207E004572617365205374617473207EC5 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-:0C1E10000590F491E02D0994F894FFCFA8 -:101E1C00D502DD02EF02F702F902FB02010309030E -:101E2C0011031B03210327032903310339031C026C -:101E3C00220228022F0235023B02010100000100A0 -:101E4C00010002000300010001000100010001007B -:101E5C000100040005000500060000000007020850 -:101E6C000001000100010000000000010001000160 -:101E7C000001000100010080FF00000000010003D0 -:101E8C000008000300140007000200030003000414 -:101E9C0000020002007F00E803E80304002A0100AE -:101EAC00020202040205020D020F021102130215B6 -:101EBC0002170219021E0124012B0100000001016E -:101ECC00010202020001020001020001025245540B -:101EDC0041316132660002030504000000004C0829 -:101EEC00AD0B000040001400540000000000080B73 -:0A1EFC00AD0B9E0ACF0AAF0AF80AE8 -:00000001FF diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 4957f7c..8b0bf73 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -444,7 +444,7 @@ bool ow_loop(); // OneWireSerial.ino PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD) PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM) - PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN + PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM) PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM) PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN @@ -984,7 +984,8 @@ uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) i2c_start(addr << 1); // write reg i2c_write(reg); i2c_start((addr << 1) | 1); // read data - return i2c_read(true); + //jrb return i2c_read(true); + return i2c_read(false); } void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) @@ -2272,7 +2273,8 @@ void setup() wdt_disable(); #endif // __AVR_ATmega168__ || __AVR_ATmega328P__ -#if defined(NANO_WII) || defined(MINI_MWC) +//jrb #if defined(NANO_WII) || defined(MINI_MWC) +#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5) // set up default parameters for No DIPSW and No POT cfg.wing_mode = WING_RUDELE_2AIL; for (i=0; i<3; i++) { diff --git a/FlightStab/SerialRX.ino b/FlightStab/SerialRX.ino index e9cf222..2034cad 100644 --- a/FlightStab/SerialRX.ino +++ b/FlightStab/SerialRX.ino @@ -8,6 +8,9 @@ ***************************************************************************************************************/ #if defined(SERIALRX_SPEKTRUM) +#define SERIAL_FRAME_SIZE 16 +//jrb - added 20140831 Add define for Quiet Time +#define SERIAL_WAIT_TIME 7000 int8_t rshift; #endif @@ -16,6 +19,13 @@ int8_t rshift; // to make the center pulse width = 1500 when the TX output is 1500 // TODO(noobee): i guess we would need to make this configurable.. #define SBUS_OFFSET 1009 // 1009 for Futaba X8R, 1003 for Taranis FRSKY X8R, 984 for Orange R800x + +//jrb - added 20140829 Use defines for SBUS Constants instead of hard coded numbers +// SBUS unique defines +#define SBUS_SYNC_BYTE 0x0F +#define SBUS_END_BYTE 0x00 +#define SERIAL_FRAME_SIZE 25 +#define SERIAL_WAIT_TIME 5000 #endif #if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) @@ -26,7 +36,7 @@ int8_t rshift; #endif // NANOWI //jrb add for debug - #if defined(SERIAL_DEBUG) && 1 + #if defined(SERIALRX_DEBUG) && 1 volatile int8_t RXcount; int8_t PrintIndex; uint16_t work; @@ -41,46 +51,64 @@ int8_t rshift; #endif #if defined (SERIALRX_SBUS) pSerial->begin(100000L, SERIAL_8E2); + #if defined (FLIP_SERIALRX_DEBUG) + pinMode(4,OUTPUT); + pinMode(5,OUTPUT); + pinMode(6,OUTPUT); + digitalWrite(4,HIGH); // D4 provides negative pulse that windows the serial receive frame + digitalWrite(5,HIGH); // D5 provides negative pulse when last byte of SBUS frame != 0x00 + digitalWrite(5,HIGH); // D6 provides negative pulse when serialrx_update function is active + #endif #endif } bool serialrx_update() { - static uint8_t buf[25]; static int8_t index = 0; #if defined (SERIALRX_SBUS) bool sbus_return = false; #endif // SERIALRX_SBUS - #if defined (SERIALRX_SPEKTRUM) // Used only for Spektrum + //jrb 20140831 use for both Spektrum & SBUS #if defined (SERIALRX_SPEKTRUM) // Used only for Spektrum static uint32_t last_rx_time; uint32_t t; - #endif + static uint8_t buf[SERIAL_FRAME_SIZE]; + //jrb 20140831 use for both Spektrum & SBUS #endif //jrb add for debug - #if defined(SERIAL_DEBUG) && 0 + #if defined(SERIALRX_DEBUG) && 0 Serial.println("Serial update"); #endif - while (pSerial->available()) { + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(5,HIGH); + digitalWrite(6,LOW); + #endif + + //jrb - added 20140829 Limit "while loop" to not exceed buffer size + while (pSerial->available() && indexread(); +//jrb - 20140832 make frame time test common to both Spektrum and SBUS + t = micros1(); + // we assume loop() calls to serialrx_update() in << SERIAL_WAIT_TIME intervals + if ((int32_t)(t - last_rx_time) > SERIAL_WAIT_TIME) { + index = 0; // found pause before new frame, resync + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(4,HIGH); + #endif + } + last_rx_time = t; + #if defined (SERIALRX_SPEKTRUM) #warning SERIALRX_SPEKTRUM defined // emit device name //jrb add for debug - #if defined(SERIAL_DEBUG) && 0 + #if defined(SERIALRX_DEBUG) && 0 Serial.println("Serial Spektrum"); #endif - t = micros1(); - // we assume loop() calls to serialrx_update() in << 7ms intervals - if ((int32_t)(t - last_rx_time) > 7000) { - index = 0; // found pause before new frame, resync - } - last_rx_time = t; buf[index++] = ch; - - if (index >= 15) { + if (index >= SERIAL_FRAME_SIZE) { /*jrb // Satellites alone never return frame size information in buf[1] the best I can tell @@ -106,7 +134,7 @@ jrb*/ index = 0; //jrb add for debug - #if defined(SERIAL_DEBUG) && 0 + #if defined(SERIALRX_DEBUG) && 0 if (RXcount > 100) { Serial.print("rshift = "); @@ -146,18 +174,32 @@ jrb*/ #if defined (SERIALRX_SBUS) #warning SERIALRX_SBUS defined // emit device name //jrb add for debug - #if defined(SERIAL_DEBUG) && 0 + #if defined(SERIALRX_DEBUG) && 0 Serial.println("Serial S.BUS"); #endif - if (index == 0 && ch != 0x0f) { // SBUS_SYNCBYTE + if (index == 0 && ch != SBUS_SYNC_BYTE) { break; } + #if defined (FLIP_SERIALRX_DEBUG) + if (index == 0) + { + digitalWrite(4,LOW); + } + #endif buf[index++] = ch; - if (index >= 25) { + if (index >= SERIAL_FRAME_SIZE) { volatile int16_t **p = rx_chan; uint8_t adj_index; - + //jrb - added 20140829 to detect and discard invalid frames + if (buf[24] != SBUS_END_BYTE) { // There is a sync problem - discard this frame and try again + index = 0; + sbus_return = false; + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(5,LOW); + #endif + } + // Only process first 8 channels *p[0] = (((((uint16_t)buf[1] >> 0) | ((uint16_t)buf[2] << 8)) & 0x7ff) >> 1) + SBUS_OFFSET; *p[1] = (((((uint16_t)buf[2] >> 3) | ((uint16_t)buf[3] << 5)) & 0x7ff) >> 1) + SBUS_OFFSET; @@ -179,10 +221,13 @@ jrb*/ } index = 0; sbus_return = true; + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(4,HIGH); + #endif } //jrb add for debug - #if defined(SERIAL_DEBUG) && 1 + #if defined(SERIALRX_DEBUG) && 1 if (RXcount > 100) { for (index = 0; index < 8; index++) @@ -195,6 +240,10 @@ jrb*/ RXcount++; #endif } +#if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(6,HIGH); + #endif + return (sbus_return); #endif // SERIALRX_SBUS } From b202daabf41456759226926878511b728634e561 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 1 Sep 2014 11:51:38 -0400 Subject: [PATCH 03/29] 16 Channel S.BUS fix, Flip 1.5 fix, Minor I2C fix --- Docs/2014-09-01 Change Log.txt | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 Docs/2014-09-01 Change Log.txt diff --git a/Docs/2014-09-01 Change Log.txt b/Docs/2014-09-01 Change Log.txt new file mode 100644 index 0000000..afe3f87 --- /dev/null +++ b/Docs/2014-09-01 Change Log.txt @@ -0,0 +1,24 @@ +2014-09-01 FlightStab Change Log + +20140505 +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum From 59de6f9377230a5c8d99b738d0b08ef936a94c36 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 1 Sep 2014 16:55:27 -0400 Subject: [PATCH 04/29] 16 Channel S.BUS fix, Flip 1.5 fix, Minor I2C fix --- Builds/20140901_AQUASTAR.hex | 400 ++++++ Builds/20140901_DLUX.hex | 400 ++++++ Builds/20140901_EAGLE_A3PRO.hex | 805 ++++++++++++ .../20140901_EAGLE_A3PRO_NO_STICKCONFIG.hex | 731 +++++++++++ Builds/20140901_FLIP_1_5.hex | 801 ++++++++++++ Builds/20140901_FLIP_1_5_CPPM.hex | 779 ++++++++++++ Builds/20140901_FLIP_1_5_SBUS.hex | 886 +++++++++++++ Builds/20140901_FLIP_1_5_SPEKTRUM.hex | 862 +++++++++++++ Builds/20140901_MINI_MWC_CPPM.hex | 779 ++++++++++++ Builds/20140901_MINI_MWC_CPPM_EXTERNAL_RX.hex | 775 ++++++++++++ Builds/20140901_MINI_MWC_SBUS.hex | 886 +++++++++++++ Builds/20140901_MINI_MWC_SPEKTRUM.hex | 862 +++++++++++++ Builds/20140901_NANOWII.hex | 1012 +++++++++++++++ Builds/20140901_NANOWII_CPPM.hex | 1003 +++++++++++++++ Builds/20140901_NANOWII_SBUS.hex | 1103 +++++++++++++++++ Builds/20140901_NANOWII_SPEKTRUM.hex | 1079 ++++++++++++++++ Builds/20140901_RX3SM.hex | 807 ++++++++++++ Builds/20140901_RX3S_V1.hex | 808 ++++++++++++ Builds/20140901_RX3S_V1_CPPM.hex | 779 ++++++++++++ Builds/20140901_RX3S_V1_SBUS.hex | 890 +++++++++++++ Builds/20140901_RX3S_V1_SPEKTRUM.hex | 866 +++++++++++++ Builds/20140901_RX3S_V2.hex | 810 ++++++++++++ Builds/20140901_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 810 ++++++++++++ Builds/20140901_RX3S_V2_CPPM.hex | 782 ++++++++++++ Builds/20140901_RX3S_V2_SBUS.hex | 893 +++++++++++++ Builds/20140901_RX3S_V2_SPEKTRUM.hex | 869 +++++++++++++ Builds/20140901_TGY160A.hex | 498 ++++++++ 27 files changed, 21975 insertions(+) create mode 100644 Builds/20140901_AQUASTAR.hex create mode 100644 Builds/20140901_DLUX.hex create mode 100644 Builds/20140901_EAGLE_A3PRO.hex create mode 100644 Builds/20140901_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20140901_FLIP_1_5.hex create mode 100644 Builds/20140901_FLIP_1_5_CPPM.hex create mode 100644 Builds/20140901_FLIP_1_5_SBUS.hex create mode 100644 Builds/20140901_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20140901_MINI_MWC_CPPM.hex create mode 100644 Builds/20140901_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20140901_MINI_MWC_SBUS.hex create mode 100644 Builds/20140901_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20140901_NANOWII.hex create mode 100644 Builds/20140901_NANOWII_CPPM.hex create mode 100644 Builds/20140901_NANOWII_SBUS.hex create mode 100644 Builds/20140901_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20140901_RX3SM.hex create mode 100644 Builds/20140901_RX3S_V1.hex create mode 100644 Builds/20140901_RX3S_V1_CPPM.hex create mode 100644 Builds/20140901_RX3S_V1_SBUS.hex create mode 100644 Builds/20140901_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20140901_RX3S_V2.hex create mode 100644 Builds/20140901_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20140901_RX3S_V2_CPPM.hex create mode 100644 Builds/20140901_RX3S_V2_SBUS.hex create mode 100644 Builds/20140901_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20140901_TGY160A.hex diff --git a/Builds/20140901_AQUASTAR.hex b/Builds/20140901_AQUASTAR.hex new file mode 100644 index 0000000..c27b56b --- /dev/null +++ b/Builds/20140901_AQUASTAR.hex @@ -0,0 +1,400 @@ +:10000000CDC1F1C1F0C1EFC1EEC1EDC1ECC1EBC199 +:10001000EAC10FCAE8C1E7C1E6C1E5C1E4C1E3C175 +:10002000E2C1E1C1E0C120556E646566696E656438 +:100030000020525833532056310020525833532059 +:1000400056322F563300204E616E6F57696900207B +:100050004561676C6520413350726F002052583300 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+:101E4C00010002000300010001000100010001007B +:101E5C000100040005000500060000000007020850 +:101E6C000001000100010000000000010001000160 +:101E7C000001000100010080FF00000000010003D0 +:101E8C000008000300140007000200030003000414 +:101E9C0000020002007F00E803E80304002A0100AE +:101EAC00020202040205020D020F021102130215B6 +:101EBC0002170219021E0124012B0100000001016E +:101ECC00010202020001020001020001025245540B +:101EDC0041316132660002030504000000004C0829 +:101EEC00AD0B000040001400540000000000080B73 +:0A1EFC00AD0B9E0ACF0AAF0AF80AE8 +:00000001FF From 262698ec5d8d5c976e67eb00709c3059d6d7ace2 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 16 Dec 2014 18:01:06 -0500 Subject: [PATCH 05/29] Add Support for Multiplex and HoTT SRXL Protocol --- AVRootloader/AVR/AVRootloader.asm | 832 +++++++++++++ AVRootloader/AVR/AVRootloader.asmproj | 40 + AVRootloader/AVR/AVRootloader.atsln | 17 + AVRootloader/AVR/AVRootloader.inc | 394 ++++++ AVRootloader/AVR/AvrBuild.bat | 15 + AVRootloader/AVR/Crypt.inc | 259 ++++ AVRootloader/AVR/Special.inc | 259 ++++ .../AVR/default/AVRootloader_AQUASTAR.hex | 35 + .../AVR/default/AVRootloader_DLUX.hex | 35 + .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 + .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 + .../AVR/default/AVRootloader_TGY160A.hex | 35 + AVRootloader/Windows/AVRootloader.dev | 108 ++ AVRootloader/Windows/AVRootloader.exe | Bin 0 -> 798208 bytes AVRootloader/Windows/AVRootloader.ini | 79 ++ AVRootloader/readme.txt | 38 + Builds/20140901_AQUASTAR.hex | 400 ------ Builds/20140901_DLUX.hex | 400 ------ Builds/20140901_EAGLE_A3PRO.hex | 805 ------------ .../20140901_EAGLE_A3PRO_NO_STICKCONFIG.hex | 731 ----------- Builds/20140901_FLIP_1_5.hex | 801 ------------ Builds/20140901_FLIP_1_5_CPPM.hex | 779 ------------ Builds/20140901_FLIP_1_5_SBUS.hex | 886 ------------- Builds/20140901_FLIP_1_5_SPEKTRUM.hex | 862 ------------- Builds/20140901_MINI_MWC_CPPM.hex | 779 ------------ Builds/20140901_MINI_MWC_CPPM_EXTERNAL_RX.hex | 775 ------------ Builds/20140901_MINI_MWC_SBUS.hex | 886 ------------- Builds/20140901_MINI_MWC_SPEKTRUM.hex | 862 ------------- Builds/20140901_NANOWII.hex | 1012 --------------- Builds/20140901_NANOWII_CPPM.hex | 1003 --------------- Builds/20140901_NANOWII_SBUS.hex | 1103 ----------------- Builds/20140901_NANOWII_SPEKTRUM.hex | 1079 ---------------- Builds/20140901_RX3SM.hex | 807 ------------ Builds/20140901_RX3S_V1.hex | 808 ------------ Builds/20140901_RX3S_V1_CPPM.hex | 779 ------------ Builds/20140901_RX3S_V1_SBUS.hex | 890 ------------- Builds/20140901_RX3S_V1_SPEKTRUM.hex | 866 ------------- Builds/20140901_RX3S_V2.hex | 810 ------------ Builds/20140901_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 810 ------------ Builds/20140901_RX3S_V2_CPPM.hex | 782 ------------ Builds/20140901_RX3S_V2_SBUS.hex | 893 ------------- Builds/20140901_RX3S_V2_SPEKTRUM.hex | 869 ------------- Builds/20140901_TGY160A.hex | 498 -------- CMakeLists.txt | 12 +- FlightStab/FlightStab.ino | 49 +- FlightStab/SerialRX.ino | 103 +- 46 files changed, 2361 insertions(+), 21994 deletions(-) create mode 100644 AVRootloader/AVR/AVRootloader.asm create mode 100644 AVRootloader/AVR/AVRootloader.asmproj create mode 100644 AVRootloader/AVR/AVRootloader.atsln create mode 100644 AVRootloader/AVR/AVRootloader.inc create mode 100644 AVRootloader/AVR/AvrBuild.bat create mode 100644 AVRootloader/AVR/Crypt.inc create mode 100644 AVRootloader/AVR/Special.inc create mode 100644 AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_DLUX.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_TGY160A.hex create mode 100644 AVRootloader/Windows/AVRootloader.dev create mode 100644 AVRootloader/Windows/AVRootloader.exe create mode 100644 AVRootloader/Windows/AVRootloader.ini create mode 100644 AVRootloader/readme.txt delete mode 100644 Builds/20140901_AQUASTAR.hex delete mode 100644 Builds/20140901_DLUX.hex delete mode 100644 Builds/20140901_EAGLE_A3PRO.hex delete mode 100644 Builds/20140901_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20140901_FLIP_1_5.hex delete mode 100644 Builds/20140901_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20140901_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20140901_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20140901_MINI_MWC_CPPM.hex delete mode 100644 Builds/20140901_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20140901_MINI_MWC_SBUS.hex delete mode 100644 Builds/20140901_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20140901_NANOWII.hex delete mode 100644 Builds/20140901_NANOWII_CPPM.hex delete mode 100644 Builds/20140901_NANOWII_SBUS.hex delete mode 100644 Builds/20140901_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20140901_RX3SM.hex delete mode 100644 Builds/20140901_RX3S_V1.hex delete mode 100644 Builds/20140901_RX3S_V1_CPPM.hex delete mode 100644 Builds/20140901_RX3S_V1_SBUS.hex delete mode 100644 Builds/20140901_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20140901_RX3S_V2.hex delete mode 100644 Builds/20140901_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20140901_RX3S_V2_CPPM.hex delete mode 100644 Builds/20140901_RX3S_V2_SBUS.hex delete mode 100644 Builds/20140901_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20140901_TGY160A.hex diff --git a/AVRootloader/AVR/AVRootloader.asm b/AVRootloader/AVR/AVRootloader.asm new file mode 100644 index 0000000..136c814 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asm @@ -0,0 +1,832 @@ +; copyright HR + +.nolist + +#if defined(AQUASTAR) || defined(DLUX) +.include "m8def.inc" ; ATmega8 +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(TGY160A) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(RX3S_V1V2V3_AILR_OUT) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD7 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD7 +#endif + +#if defined(MINI_MWC_A0) +.include "m328Pdef.inc" ; ATmega328P +.equ RX_PORT = PORTC ; Receive port and pin +.equ RX = PC0 +.equ TX_PORT = PORTC ; Transmit port and pin +.equ TX = PC0 +#endif + +; supported devices +;.include "can128def.inc" ; AT90CAN128 +;.include "can32def.inc" ; AT90CAN32 +;.include "can64def.inc" ; AT90CAN64 +;.include "m1280def.inc" ; ATmega1280 +;.include "m1281def.inc" ; ATmega1281 +;.include "m1284Pdef.inc" ; ATmega1284P +;.include "m128Adef.inc" ; ATmega128A +;.include "m128def.inc" ; ATmega128 +;.include "m161def.inc" ; ATmega161 +;.include "m162def.inc" ; ATmega162 +;.include "m163def.inc" ; ATmega163 +;.include "m164PAdef.inc" ; ATmega164PA +;.include "m164Pdef.inc" ; ATmega164P +;.include "m165def.inc" ; ATmega165 +;.include "m165Pdef.inc" ; ATmega165P +;.include "m168def.inc" ; ATmega168 +;.include "m168PAdef.inc" ; ATmega168PA +;.include "m168Pdef.inc" ; ATmega168P +;.include "m169def.inc" ; ATmega169 +;.include "m169Pdef.inc" ; ATmega169P +;.include "m16Adef.inc" ; ATmega16A +;.include "m16def.inc" ; ATmega16 +;.include "m16HVAdef.inc" ; ATmega16HVA +;.include "m16M1def.inc" ; ATmega16M1 +;.include "m16U2def.inc" ; ATmega16U2 +;.include "m16U4def.inc" ; ATmega16U4 +;.include "m2560def.inc" ; ATmega2560 +;.include "m2561def.inc" ; ATmega2561 +;.include "m323def.inc" ; ATmega323 +;.include "m324PAdef.inc" ; ATmega324PA +;.include "m324Pdef.inc" ; ATmega324P +;.include "m3250def.inc" ; ATmega3250 +;.include "m3250Pdef.inc" ; ATmega3250P +;.include "m325def.inc" ; ATmega325 +;.include "m325Pdef.inc" ; ATmega325P +;.include "m328Pdef.inc" ; ATmega328P +;.include "m3290def.inc" ; ATmega3290 +;.include "m3290Pdef.inc" ; ATmega3290P +;.include "m329def.inc" ; ATmega329 +;.include "m329Pdef.inc" ; ATmega329P +;.include "m32Adef.inc" ; ATmega32A +;.include "m32C1def.inc" ; ATmega32C1 +;.include "m32def.inc" ; ATmega32 +;.include "m32HVBdef.inc" ; ATmega32HVB +;.include "m32M1def.inc" ; ATmega32M1 +;.include "m32U2def.inc" ; ATmega32U2 +;.include "m32U4def.inc" ; ATmega32U4 +;.include "m32U6def.inc" ; ATmega32U6 +;.include "m406def.inc" ; ATmega406 +;.include "m48def.inc" ; ATmega48 +;.include "m48PAdef.inc" ; ATmega48PA +;.include "m48Pdef.inc" ; ATmega48P +;.include "m640def.inc" ; ATmega640 +;.include "m644def.inc" ; ATmega644 +;.include "m644Pdef.inc" ; ATmega644P +;.include "m6450def.inc" ; ATmega6450 +;.include "m645def.inc" ; ATmega645 +;.include "m6490def.inc" ; ATmega6490 +;.include "m649def.inc" ; ATmega649 +;.include "m64Adef.inc" ; ATmega64A +;.include "m64C1def.inc" ; ATmega64C1 +;.include "m64def.inc" ; ATmega64 +;.include "m64M1def.inc" ; ATmega64M1 +;.include "m8515def.inc" ; ATmega8515 +;.include "m8535def.inc" ; ATmega8535 +;.include "m88def.inc" ; ATmega88 +;.include "m88PAdef.inc" ; ATmega88PA +;.include "m88Pdef.inc" ; ATmega88P +;.include "m8Adef.inc" ; ATmega8A +;.include "m8def.inc" ; ATmega8 +;.include "m8HVAdef.inc" ; ATmega8HVA +;.include "pwm216def.inc" ; AT90PWM216 +;.include "pwm2Bdef.inc" ; AT90PWM2B +;.include "pwm2def.inc" ; AT90PWM2 +;.include "pwm316def.inc" ; AT90PWM316 +;.include "pwm324def.inc" ; AT90PWM324 +;.include "pwm3Bdef.inc" ; AT90PWM3B +;.include "pwm3def.inc" ; AT90PWM3 +;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used +;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used +;.include "tn167def.inc" ; ATtiny167 +;.include "tn2313def.inc" ; ATtiny2313 +;.include "tn24Adef.inc" ; ATtiny24A +;.include "tn24def.inc" ; ATtiny24 +;.include "tn25def.inc" ; ATtiny25 +;.include "tn261def.inc" ; ATtiny261 +;.include "tn43Udef.inc" ; ATtiny43U +;.include "tn44Adef.inc" ; ATtiny44A +;.include "tn44def.inc" ; ATtiny44 +;.include "tn45def.inc" ; ATtiny45 +;.include "tn461def.inc" ; ATtiny461 +;.include "tn48def.inc" ; ATtiny48 +;.include "tn84def.inc" ; ATtiny84 +;.include "tn85def.inc" ; ATtiny85 +;.include "tn861def.inc" ; ATtiny861 +;.include "tn87def.inc" ; ATtiny87 +;.include "tn88def.inc" ; ATtiny88 +;.include "usb1286def.inc" ; AT90USB1286 +;.include "usb1287def.inc" ; AT90USB1287 +;.include "usb162def.inc" ; AT90USB162 +;.include "usb646def.inc" ; AT90USB646 +;.include "usb647def.inc" ; AT90USB647 +;.include "usb82def.inc" ; AT90USB82 + +; unsupported devices, no self programming or sram to small +;.include "1200def.inc" ; AT90S1200 +;.include "2313def.inc" ; AT90S2313 +;.include "2323def.inc" ; AT90S2323 +;.include "2343def.inc" ; AT90S2343 +;.include "4414def.inc" ; AT90S4414 +;.include "4433def.inc" ; AT90S4433 +;.include "4434def.inc" ; AT90S4434 +;.include "8515def.inc" ; AT90S8515 +;.include "8535def.inc" ; AT90S8535 +;.include "AT86RF401def.inc" ; AT86RF401 +;.include "ATxmega128A1def.inc" ; ATxmega128A1 +;.include "ATxmega128A3def.inc" ; ATxmega128A3 +;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B +;.include "ATxmega256A3def.inc" ; ATxmega256A3 +;.include "ATxmega16A4def.inc" ; ATxmega16A4 +;.include "ATxmega32A4def.inc" ; ATxmega32A4 +;.include "ATxmega64A1def.inc" ; ATxmega64A1 +;.include "ATxmega64A3def.inc" ; ATxmega64A3 +;.include "m103def.inc" ; ATmega103 +;.include "tn10def.inc" ; ATtiny10 +;.include "tn11def.inc" ; ATtiny11 +;.include "tn12def.inc" ; ATtiny12 +;.include "tn15def.inc" ; ATtiny15 +;.include "tn22def.inc" ; ATtiny22 +;.include "tn26def.inc" ; ATtiny26 +;.include "tn28def.inc" ; ATtiny28 + + +.ifndef PageSize +.error "Device don't support Bootloader !" +.else + +#message "compile for" __PART_NAME__ + + +; set follow equ to 0/1 to de/activate.... +.equ UseBootMode = 0 ; 0 = start bootloader always + ; 1 = start on power up reset or by call from application + ; 2 = start on external reset or by call from application + ; 3 = start on watchdog reset or by call from application + ; 4 = start on USB reset or by call from application (only USB Devices) + ; 5 = start only by call from application (not recommended) + ; with these bootmodes you can shorten startup time for application + +.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) +.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) + +.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) +.equ UseE2Read = 1 ; EEPROM read command + +.equ UseCrypt = 0 ; cryptography (crypt.inc) +.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH +.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM + +.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) +.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) +.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) + +.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code +.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH +.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS +.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH +.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg + ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs + +.equ UseAutobaud = 1 ; Baudrate detection +.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. + ; First after BootDelay milliseconds inactivity the application is called. + ; Otherwise the timeout BootDelay defines an overall timeout for connection. + +.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) +.equ UseRS485 = 0 ; activate RS-485 Data Enable pin +.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) + +;;.equ RX_PORT = PORTD ; Receive port and pin +;;.equ RX = PD7 +;;.equ TX_PORT = PORTD ; Transmit port and pin +;;.equ TX = PD7 + +.if UseRS485 +.equ DE_PORT = PORTB ; DE enable pin of RS-485 +.equ DE = PB2 ; must be only set if RS485 DE is used +.endif + +.set XTAL = 16000000 ; +.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) +.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important +.set BootVersion = 6 ; Version 6 (must be not changed) +.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again + ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) + +;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode + +; now scroll down at end of source to configure BootSign and BootMsg + +.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) +.message "WARNING: actual settings compromise security !" +.endif + + +.include "AVRootloader.inc" +;.listmac +.list + +.org BootStart +init: cli + xwdr + clr zerol + + ldi cmdl, byte1(RamEnd) + xout SPL, cmdl +.ifdef SPH + ldi cmdl, byte2(RamEnd) + xout SPH, cmdl +.endif ; .if SPH + +.if UseSaveMCUSR || UseBootMode + xin paral, MCUSR +.if UseSaveMCUSR + push paral ; save old MCUSR ontop of stack +.endif ; .if UseSaveMCUSR +.endif ; .if UseSaveMCUSR || UseBootMode + +.if UseWDR +; xin cmdl, WDTCR +; ori cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) + xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT + xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout + xout WDTCR, cmdh +.elif UseBootMode + xout MCUSR, zerol +.endif ; .if UseWDR + +.if UseBootMode + andi paral, ResetFlags + breq bm1 +.ifdef BootModeFlag + sbrs paral, BootModeFlag +.endif + jmpapp +bm1: +.endif ; .if UseBootMode + +; initialize ports + cbi RX_DDR, RX +.if UseUartInvert && Use1Wire + cbi RX_PORT, RX +.else + sbi RX_PORT, RX +.endif ; .if UseUartInvert && Use1Wire +.if !Use1Wire +.if UseUartInvert + sbi TX_PORT, TX +.else + cbi TX_PORT, TX +.endif ; .if UseUartInvert + sbi TX_DDR, TX +.endif ; .if !Use11Wire + +.if UseRS485 + sbi DE_DDR, DE + de_0 +.endif ; .if UseRS485 + +; initialize crc polynom and RAMPZ + clr zeroh + ldi polyl, byte1(POLYNOM) + ldi polyh, byte2(POLYNOM) +.if BigMega + ldi cmdl, byte3(BootSign *2) + xout RAMPZ, cmdl +.else + xout RAMPZ, zerol +.endif ; .if BigMega + + +; baudrate and identifier scanning +.if UseResetDelay +abd: +.endif + ldi cmdl, byte3(BootDelay / 6) + ldi xh, byte2(BootDelay / 6) + ldi xl, byte1(BootDelay / 6) +.if !UseResetDelay +abd: +.endif + movw crcl, zerol + ldi parah, (BootMsg - BootSign) * 2 + ldi zl, byte1(BootSign * 2) + ldi zh, byte2(BootSign * 2) + +.if UseAutobaud +; baudrate detection +; autobaud based on P.Dannegger with some optimization +; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 + movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low +ab1: add yl, yl + adc yh, yh + movw cntl, zerol +ab2: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne ab2 + breq id2 ; exit +ab3: sbiw yl, 1 + adiw cntl, 2 + brcs exit + rx_1 + rjmp ab3 + asr yl + sbiw yl, BaudTolerance + adiw yl, BaudTolerance * 2 + movw yl, cntl + brcc ab1 + sbiw cntl, UartLoop + brcs ab1 + movw baudl, cntl +.else +; fixed baudrate + ldi yl, byte1(Baudrate) + ldi yh, byte2(Baudrate) + movw baudl, yl +.endif ; .if UseAutobaud + +; identifier (BootSign) scanning with timeout and checksum + +id1: sbiw xl, 1 ; UART getc with timeouts + sbc cmdl, zerol + rx_1 + brne id1 +id2: breq exit +id3: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne id3 + breq exit + rcall getx + xlpm r0, z+ + cp r0, paral + brne abd + dec parah + brne id1 + rcall getw + brne abd + +; send info about chip/bootloader (BootMsg + BootInfo) +info: ldi parah, (BootInfo - BootMsg) * 2 +4 +in1: xlpm paral, z+ + rcall putc + dec parah + brne in1 + +.if UseVersioning +;send application software version (AppVersion) +vers: ldi parah, 4 + ldi zl, byte1(AppVerAddr) + ldi zh, byte2(AppVerAddr) +ve1: xlpm paral, z+ + rcall putc + dec parah + brne ve1 +.endif ; .if UseVersioning + + +; main commandloop +; 0=run/restart +; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM +; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive +main: ldi paral, SUCCESS +mai1: rcall putc + movw crcl, zerol + rcall getw + movw cmdl, paral + cpi cmdh, 0xFE + brlo mai2 + rcall getw + movw yl, paral + sbrc cmdh, 0 + movw zl, paral +.if BigMega + sbrc cmdh, 0 + mov zx, cmdl +.endif ; .if BigMega + +mai2: rcall getw +mai3: ldi paral, ERRORCRC + brne mai1 + cpi cmdh, 0xFE + breq setbuf + brsh main + cpse cmdh, zerol + rjmp mai4 +; run application/restart bootloader + cpse cmdl, zerol +exit: jmpapp + rjmp init + +; set buffer +setbuf: +.if UseCrypt + clr flag + cpi cmdl, 0xFE + brlo set3 + bst cmdl, 0 + ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 + ldi zl, byte1(SRAM_START) + ldi zh, byte2(SRAM_START) + movw xl, feedl + adiw xl, 8 ; last feedback + clr r0 +set1: brtc set2 + ld r0, x+ +set2: st z+, r0 + dec cnt + brne set1 +.endif ; .if UseCrypt + +set3: ldi xl, byte1(SRAM_START + 16) + ldi xh, byte2(SRAM_START + 16) + movw sraml, xl +.if UseSRAM + cpi cmdl, 1 + brne set4 + movw xl, zl +.endif ; .if UseSRAM + +set4: rcall getc + st x+, paral + sbiw yl, 1 + brne set4 +.if !UseCrypt + inc cmdh + rjmp mai2 +.else + rcall getw + brne mai3 + ori flag, 0x01 +set5: + cpi cmdl, 0xFE + brlo proB ; rjmp main + rjmp decrypt +.endif ; .if !UseCrypt + +mai4: cpi cmdh, 3 + brsh mai5 +; program/erase + bst cmdh, 0 +prog: ldi paral, ERRORPROG +.if UseCrypt + brtc pro1 +.if UseCryptFLASH + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptFLASH + brlo pro8 +.endif ; .if UseCrypt + +pro1: movw yl, sraml +pro2: cpi zl, byte1(BootStart *2) + ldi parah, byte2(BootStart *2) + cpc zh, parah +.if BigMega + xout RAMPZ, zx + ldi parah, byte3(BootStart *2) + cpc zx, parah +.endif ; .if BigMega + brsh pro8 + + ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + brtc pro5 + + ldi cntl, (1 << SPMEN) + ldi cnt, pagesize +pro4: ld r0, y+ + ld r1, y+ +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + adiw zl, 2 + dec cnt + brne pro4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) + subi yl, byte1(PageSize *2) + sbci yh, byte2(PageSize *2) + + ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + +pro5: +.if BLS +.ifdef RWWSRE + ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section + rcall dospm +.endif ; .if RWWSRE +.endif ; .if BLS + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + ldi cnt, byte1(pagesize * 2) + ldi paral, ERRORVERIFY + ldi parah, 0xFF +pro6: xlpm r0, z+ + brtc pro7 + ld parah, y+ +pro7: cpse parah, r0 +pro8: rjmp mai1 + dec cnt + brne pro6 + +.if BigMega + cp zl, zerol + cpc zh, zeroh + brne pro9 + inc zx +.endif ; .if BigMega + +pro9: brtc proA + cp yl, xl + cpc yh, xh + brlo pro2 + brne pro8 +proA: dec cmdl + brne prog +proB: rjmp main + +mai5: +.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) + breq mai8 +.elif UseVerify + brne mai6 +veri: ldi paral, ERRORVERIFY +ver1: movw yl, sraml +ver2: ld r0, y+ +.if BigMega + xout RAMPZ, zx + xlpm r1, z + adiw z, 1 + adc zx, zerol +.else + xlpm r1, z+ +.endif ; .if BigMega + cpse r0, r1 + rjmp mai1 + cp yl, xl + cpc yh, xh + brne ver2 + dec cmdl + brne ver1 + rjmp main +.endif ; .if UseVerify + +mai6: +.if UseE2Read && UseE2Write + cpi cmdh, 6 + brsh mai7 + bst cmdh, 0 +.if UseCrypt + brtc ee1 + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + brts ee3 + sbi EECR, EERE + in paral, EEDR + rcall putp + rjmp ee5 +ee3: ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee4: xwdr + sbic EECR, EEWE + rjmp ee4 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 +ee5: dec cmdl + brne ee1 + brts ee6 + rcall putw +ee6: rjmp main +.elif UseE2Read + cpi cmdh, 5 + breq maiY + brsh mai7 +ee1: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + sbi EECR, EERE + in paral, EEDR + rcall putp + dec cmdl + brne ee1 + rcall putw + rjmp main +.elif UseE2Write + cpi cmdh, 5 + brlo maiY + brne mai7 +.if UseCrypt + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee3: xwdr + sbic EECR, EEWE + rjmp ee3 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 + dec cmdl + brne ee1 + rjmp main +.endif ;.elif UseE2Write + +mai7: +.if UseSRAM +.if !UseE2Read || !UseE2Write + cpi cmdh, 6 +.endif ; .if !UseE2Read || !UseE2Write + + brne mai8 +sram: ld paral, z+ + rcall putp + dec cmdl + brne sram + rcall putw + rjmp main +.endif ; .if UseSRAM + +mai8: +; here new command #7 + +maiY: ldi paral, ERRORCOMMAND +maiZ: rjmp mai1 + + +; send char with crc +.if UseE2Read || UseSRAM +putw: movw paral, crcl + rcall putc + mov paral, parah +putp: eor crcl, paral + ldi cnt, 8 +put1: lsr crch + ror crcl + brcc put2 + eor crch, polyh + eor crcl, polyl +put2: dec cnt + brne put1 +.endif ; .if UseE2Read || UseSRAM + +; send char +putc: xwdr + de_1 + rcall waitf + rcall waitf + ldi cnt, 10 + com paral +put3: tx_out ; 1 + rcall waitf ; 15 + lsr paral ; 1 + brcs put4 ; 1 + tx_0 ; 1 +put4: rcall put5 ; 7 + dec cnt ; 1 + brne put3 ; 2 = 29 + baud +put5: ret + +; receive char/word +getw: rcall getc +getm: mov parah, paral +getc: xwdr + de_0 +get5: rx_1 + rjmp get5 +get1: rx_0 + rjmp get1 +getx: ldi cnt, 8 + movw cntl, baudl + lsr cnth + ror cntl + rcall waith +get2: rcall waitf ; 15 + baud + lsr paral ; 1 + rx_0 ; 1 + ori paral, 0x80 ; 1 + sbrc paral, 7 ; 1 + eor crcl, polyl ; 1 + lsr crch ; 1 + ror crcl ; 1 + brcc get3 ; 1 + eor crch, polyh ; 1 +get3: brcc get4 ; 1 + eor crcl, polyl ; 1 +get4: dec cnt ; 1 + brne get2 ; 2 = 29 + baud + eor crcl, crch + eor crcl, crch + ret + +; UART delays ; by P.Dannegger +waitf: movw cntl, baudl ; 1 +waith: sbiw cntl, 4 ; 2 + brcc waith ; 2/1 + cpi cntl, 0xFD ; 1 + brcs wait1 ; 2/1 (2) + breq wait1 ; 2/1 (3) + cpi cntl, 0xFF ; 1 + breq wait1 ; 2/1 (4/5) +wait1: tx_1 ; 1 + ret ; 4 + 3 (rcall) = 15 + +.if UseCrypt +.include "Crypt.inc" +.endif ; .if UseCrypt + + +BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini +BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars +BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed + +.if UseCrypt +; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature +BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC +.endif ; .if UseCrypt + + +.include "Special.inc" + +.endif ; .ifndef PageSize -> end of source + + diff --git a/AVRootloader/AVR/AVRootloader.asmproj b/AVRootloader/AVR/AVRootloader.asmproj new file mode 100644 index 0000000..6676d6b --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asmproj @@ -0,0 +1,40 @@ + + + + 2.0 + 6.0 + com.Atmel.AVRAssembler + 52202416-41a7-4c61-892b-f36132641d3c + none + ATmega168PA + AVRootloader + .obj + $(MSBuildProjectDirectory)\$(Configuration) + ASSEMBLY + Executable + Native + + true + false + + 0 + $(MSBuildProjectDirectory)\AVRootloader.asm + 3.5.0 + + + bin\default\ + + + True + Error + ($IncludeFile) + + + + + + + compile + + + \ No newline at end of file diff --git a/AVRootloader/AVR/AVRootloader.atsln b/AVRootloader/AVR/AVRootloader.atsln new file mode 100644 index 0000000..4b6a147 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.atsln @@ -0,0 +1,17 @@ + +Microsoft Visual Studio Solution File, Format Version 11.00 +# Atmel Studio Solution File, Format Version 11.00 +Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + default|AVR = default|AVR + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/AVRootloader/AVR/AVRootloader.inc b/AVRootloader/AVR/AVRootloader.inc new file mode 100644 index 0000000..70a8bee --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.inc @@ -0,0 +1,394 @@ +; copyright HR + +.equ RX_DDR = RX_PORT -1 +.equ RX_PIN = RX_PORT -2 +.equ TX_DDR = TX_PORT -1 +.equ TX_PIN = TX_PORT -2 + +.if UseRS485 +.equ DE_DDR = DE_PORT -1 +.endif + +.if RX_PORT == TX_PORT && RX == TX +.set Use1Wire = 1 +.else +.set Use1Wire = 0 +.endif ; .if RX_PORT == TX_PORT && RX == TX + +.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed +.equ BaudTolerance = 3 + +.if !UseAutobaud +.set Baudrate = XTAL / BootBaudrate - UartLoop +.endif ; .if !UseAutobaud + +.set SUCCESS = 0x30 +.set ERRORVERIFY = 0xC0 +.set ERRORCOMMAND = 0xC1 +.set ERRORCRC = 0xC2 +.set ERRORBOUNDS = 0xC3 +.set ERRORCRYPT = 0xC4 +.set ERRORPROG = 0xC5 +.set ERRORVERSION = 0xC6 + +.if UseCrypt +.set SUCCESS = SUCCESS | 0x01 +.if UseCryptFLASH +.set SUCCESS = SUCCESS | 0x02 +.endif ; .if UseCryptFLASH +.if UseCryptE2 +.set SUCCESS = SUCCESS | 0x04 +.endif ; .if UseCryptE2 +.endif ; .if UseCrypt +.if UseVersioning +.set SUCCESS = SUCCESS | 0x08 +.endif ; .if UseVersioning + +.equ POLYNOM = 0xA001 ; CRC Polynom + +.def feedl = r4 ; feedback pointer +.def feedh = r5 +.def zx = r7 ; RAMPZ +.def crcl = r8 ; CRC 16Bit +.def crch = r9 +.def zerol = r10 ; zero +.def zeroh = r11 +.def baudl = r12 ; baudrate +.def baudh = r13 +.def sraml = r14 ; SRAM buffer start +.def sramh = r15 +.def paral = r16 ; params for UART +.def parah = r17 +.def polyl = r18 ; Polynom CRC +.def polyh = r19 +.def cnt = r20 ; counter in UART loops +.def flag = r21 ; flag for crypto +.def cmdl = r22 ; commands +.def cmdh = r23 +.def cntl = r24 ; temp/baudrate +.def cnth = r25 + +.if FlashEnd > 0x7FFF +.set BigMega = 1 ; ATMega with big FLASH +.else +.set BigMega = 0 +.endif ; .if FlashEnd > 0x7FFF + +.ifdef FirstBootStart +.set BLS = 1 ; Bootloader Section supported +.else +.set BLS = 0 +.endif ; .ifdef FirstBootStart + +; calculate Bootloader start address +.ifdef FirstBootStart +.set FirstBoot = FirstBootStart +.else +.set FirstBoot = FlashEnd +1 +.endif ; .ifdef FirstBootStart + +.ifdef SecondBootStart +.set SecondBoot = SecondBootStart +.else +.set SecondBoot = FlashEnd +1 +.endif ; .ifdef SecondBootStart + +.ifdef ThirdBootStart +.set ThirdBoot = ThirdBootStart +.else +.set ThirdBoot = FlashEnd +1 +.endif ; .ifdef ThirdBootStart + +.ifdef FourthBootStart +.set FourthBoot = FourthBootStart +.else +.set FourthBoot = FlashEnd +1 +.endif ; .ifdef FourthBootStart + +.if BootCodeSize +.if BLS +.set FlashSize = FlashEnd +1 +.if FlashSize - FirstBoot >= BootCodeSize >> 1 +.equ BootStart = FirstBoot +.message "Please program Boot Fuse to First Boot Start !" +.elif FlashSize - SecondBoot >= BootCodeSize >> 1 +.equ BootStart = SecondBoot +.message "Please program Boot Fuse to Second Boot Start !" +.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 +.equ BootStart = ThirdBoot +.message "Please program Boot Fuse to Third Boot Start !" +.elif FlashSize - FourthBoot >= BootCodeSize >> 1 +.equ BootStart = FourthBoot +.message "Please program Boot Fuse to Fourth Boot Start !" +.else +.equ BootStart = 0 +.error "BootStart is undefinied !" +.endif ; .if FlashSize ... +.else +.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 +.equ BootStart = FlashSize - FlashSize % PageSize +.message "Compile Bootloader without Boot Section !" +.endif ; .if BLS +.else +.if (FLASHEND > 1023) +.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 +.else +.equ BootStart = 0 +.endif +.message "Please set used CSEG to BootSize !" +.endif ; .if BootCodeSize + +; fix bug with parsing HEX files in AVRStudio 4.16 +.if BootCodeSize +.org 0 +.db 0xFF, 0xFF +.endif + +.set BootPages = (FlashEnd +1 - BootStart) / PageSize + +.if UseVersioning +.if BLS +.set AppVerAddr = BootStart * 2 - 4 +.else +.set AppVerAddr = BootStart * 2 - 6 +.endif ; .if BLS +.endif ; .if UseVersioning + +; examine special handling for SPM +.if BLS && (SIGNATURE_000 == 0x1e) +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 +.set SPMspecial = 1 +.endif +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 +.set SPMspecial = 2 +.endif +.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 +.set SPMspecial = 3 +.endif +.endif + +; BootMode flags +.if UseBootMode == 1 +.set BootModeFlag = PORF +.elif UseBootMode == 2 +.set BootModeFlag = EXTRF +.elif UseBootMode == 3 +.set BootModeFlag = WDRF +.elif UseBootMode == 4 +.ifndef USBRF +.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" +.else +.set BootModeFlag = USBRF +.endif +.endif + +.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) +.ifdef BORF +.set ResetFlags = ResetFlags | (1 << BORF) +.endif +.ifdef JTRF +.set ResetFlags = ResetFlags | (1 << JTRF) +.endif +.ifdef BODRF +.set ResetFlags = ResetFlags | (1 << BODRF) +.endif +.ifdef OCDRF +.set ResetFlags = ResetFlags | (1 << OCDRF) +.endif +.ifdef USBRF +.set ResetFlags = ResetFlags | (1 << USBRF) +.endif + + +; some redefinition of register names or bits +.ifndef MCUSR +.ifndef MCUCSR +.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" +.else +.equ MCUSR = MCUCSR +.endif +.endif ; .ifndef MCUCSR + +.ifndef WDCE +.ifndef WDDE +.equ WDCE = WDTOE +.else +.equ WDCE = WDDE +.endif ; .ifndef WDDE +.endif ; .ifndef WDCE + +.ifndef WDTCR +.equ WDTCR = WDTCSR +.endif ; .ifndef WDTCR + +.ifndef SPMCSR +.equ SPMCSR = SPMCR +.endif ; .ifndef SPMCSR + +.ifndef RWWSRE +.ifdef ASRE +.equ RWWSRE = ASRE +.endif ; .ifdef ASRE +.endif ; .ifndef RWWSRE + +.ifndef SPMEN +.equ SPMEN = SELFPRGEN +.endif ; .ifndef SPMEN + + +.ifndef EEMWE +.equ EEMWE = EEMPE +.endif ; .ifndef EEMWE + +.ifndef EEWE +.equ EEWE = EEPE +.endif ; .ifndef EEWE + +.ifndef EEARL +.equ EEARL = EEAR +.endif ; .ifndef EEARL + +; macros +.macro xout +.ifdef @0 +.if @0 > 0x3F + sts @0, @1 +.else + out @0, @1 +.endif +.endif +.endmacro + +.macro xin +.ifdef @1 +.if @1 > 0x3F + lds @0, @1 +.else + in @0, @1 +.endif +.endif +.endmacro + +.macro xwdr +.if UseWDR + wdr +.endif ; .if UseWDR +.endmacro + +.macro xlpm +.if BigMega + elpm @0, @1 +.else + lpm @0, @1 +.endif +.endmacro + +.macro jmpapp +.if BLS +#if defined(AQUASTAR) || defined(DLUX) + rjmp FLASHEND +1 ; run application +#else + jmp FLASHEND +1 ; run application +#endif +.elif BootStart + rjmp BootStart -1 ; run application +.else + rjmp BootStart ; dummy +.endif ; .if BLS +.endmacro + +.macro bjmp +.if @1 + rjmp @0 +.else + ret +.endif +.endmacro + +.macro rx_0 +.if UseUartInvert + sbic RX_PIN, RX +.else + sbis RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + +.macro rx_1 +.if UseUartInvert + sbis RX_PIN, RX +.else + sbic RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + + +.macro tx_1 + +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx1 = (1 << RX) +.else +.set tx1 = (1 << TX) | (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx1 = 0 +.else +.set tx1 = (1 << TX) +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx1 = tx1 | (1 << DE) +.endif +.endif + ldi cnth, tx1 +.endmacro + +.macro tx_0 +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx0 = (1 << TX) | (1 << RX) +.else +.set tx0 = (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx0 = (1 << TX) +.else +.set tx0 = 0 +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx0 = tx0 | (1 << DE) +.endif +.endif + ldi cnth, tx0 +.endmacro + + +.macro tx_out +.if Use1Wire + xout TX_DDR, cnth +.else + xout TX_PORT, cnth +.endif ; .if Use1Wire +.endmacro + +.macro de_0 +.if UseRS485 +.if UseRS485Invert + sbi DE_PORT, DE +.else + cbi DE_PORT, DE +.endif +.endif +.endmacro + +.macro de_1 +.if UseRS485 +.if UseRS485Invert + cbi DE_PORT, DE +.else + sbi DE_PORT, DE +.endif +.endif +.endmacro + diff --git a/AVRootloader/AVR/AvrBuild.bat b/AVRootloader/AVR/AvrBuild.bat new file mode 100644 index 0000000..cdc98e0 --- /dev/null +++ b/AVRootloader/AVR/AvrBuild.bat @@ -0,0 +1,15 @@ +@ECHO OFF +set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler + +call :buildhex AQUASTAR +call :buildhex DLUX +call :buildhex TGY160A +call :buildhex RX3S_V1V2V3_AILR_OUT +call :buildhex MINI_MWC_A0 +goto :eof + +:buildhex +set OUT=default\AVRootloader_%~1 +echo %OUT% +"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" +goto :eof \ No newline at end of file diff --git a/AVRootloader/AVR/Crypt.inc b/AVRootloader/AVR/Crypt.inc new file mode 100644 index 0000000..74c73fd --- /dev/null +++ b/AVRootloader/AVR/Crypt.inc @@ -0,0 +1,259 @@ +; copyright HR +; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code +.nolist + +.undef feedl +.undef feedh +.undef crcl +.undef crch +.undef paral +.undef parah +.undef polyl +.undef polyh +.undef zx +.undef cmdl +.undef cmdh +.undef cntl +.undef cnth + +.def a0 = r0 +.def a1 = r1 +.def a2 = r2 +.def a3 = r3 +.def b0 = r4 ; feedl +.def b1 = r5 ; feedh +.def b2 = r6 +.def b3 = r7 ; zx +.def t0 = r8 ; crcl +.def t1 = r9 ; crch +;.def zerol = r10 ; zerol +;.def zeroh = r11 ; zeroh +;.def baudl = r12 ; baudl +;.def baudh = r13 ; baudl +;.def sraml = r14 ; SRAM buffer start +;.def sramh = r15 +.def s0 = r16 ; paral +.def s1 = r17 ; parah +.def s2 = r18 ; polyl, restored +.def s3 = r19 ; polyh, restored +;.def cnt = r20 ; cnt +;.def flag = r21 ; flag +.def round = r22 ; cmdl +.def t4 = r23 ; cmdh +.def t2 = r24 ; cntl +.def t3 = r25 ; cnth +;.def XL = r26 ; buffer_endl +;.def XH = r27 ; buffer_endh +;.def YL = r28 ; unused +;.def YH = r29 ; unused +;.def ZL = r30 ; overwritten Address +;.def ZH = r31 ; +.list + + +; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup +; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback +; X points after buffer +; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption +; cycles: +; 698 * 8 Bytes -1 = 5583 one data block +; + 98 for CMDL=0xFE=init +; + 76 for CMDL=0xFF=data +; thus average throughput by 8Mhz is 11kByte/sec + +decrypt: + movw yl, sraml + sbiw yl, 16 + movw sraml, yl + sbiw xl, 16 +.if BigMega + ldi cnt, byte3(BootKey * 2) + xout RAMPZ, cnt +.endif ; .if BigMega + +tea1: ldi cnt, 8 + movw zl, zerol ; zerol, z points to register file r0-r7 = a,b +tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock + ldd t1, y +16 ; in next round buffer is feedback + eor t0, t1 + std y +8, t0 + st z+, t1 ; setup a,b = cipherblock + adiw yl, 1 + dec cnt + brne tea2 + + ldi s0, 0x20 ; sum = 32 * delta + ldi s1, 0x37 + ldi s2, 0xef + ldi s3, 0xc6 + + rcall teadec ; first 16 rounds + +tea3: ld t0, z ; ciphertext = ciphertext xor feedback + ld t1, y+ + eor t0, t1 + st z+, t0 + dec cnt + brne tea3 + + rcall teadec ; second 16 rounds + +tea4: ld t0, z+ ; plaintext = ciphertext xor feedback + ld t1, y + eor t0, t1 + st y+, t0 + dec cnt + brne tea4 + + cp yl, xl ; sram buffer end reached ? + cpc yh, xh + brlo tea1 + ldi s0, ERRORCRYPT + brcs tea7 ; overflow, datasize not a multiple of 8 + + sbiw yl, 8 ; points to signature + dummy + address + +.if UseVersioning + brts tea80 + + ldi zl, byte1(AppVerAddr) ; check version number + ldi zh, byte2(AppVerAddr) + ldi cnt, 4 + sbiw yl, 4 + ldi s2, 0xFF + ldi s3, 0xFF + +tea8: ld r0, y+ + xlpm r1, z+ + and s3, r1 + cpse r0, s2 + cpc r0, r1 + dec cnt + brne tea8 + + ldi s0, ERRORVERSION + cpse s3, s2 + brcs tea7 + ldi s0, ERRORCRYPT +tea80: +.endif ;.if UseVersioning + + ori flag, 0x02 ; success crypt + + ldi zl, byte1(BootKey * 2) + ldi zh, byte2(BootKey * 2) + movw xl, yl + ldi cnt, 4 ; check signature + brts tea5 + sbiw zl, 4 + ldi cnt, 8 ; check BootInfo and signature +tea5: ld r0, y+ + xlpm r1, z+ + cpse r0, r1 + clr flag ; signature don't match + dec cnt + brne tea5 + + movw b0, xl ; feedback + + brtc tea6 + ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data + sub xl, s1 + sbc xh, zerol + ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF + ldd zh, y +2 + ldd zl, y +3 + +tea6: sbrc flag, 1 + ldi s0, SUCCESS +tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom + ldi s3, byte2(POLYNOM) + rjmp mai1 + + +; plain XTEA decryption +teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext + movw t0, a0 + movw t2, a2 + +dec1: clr t4 ; t = (a shr 4) xor (a shl 5) + ldi cnt, 3 +dec2: lsl t0 + rol t1 + rol t2 + rol t3 + rol t4 + dec cnt + brne dec2 + + lsl t0 + eor t0, t1 + rol t1 + eor t1, t2 + rol t2 + eor t2, t3 + rol t3 + eor t3, t4 + + add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a + adc t1, a1 + adc t2, a2 + adc t3, a3 + + ldi zl, low(BootKey *2) + ldi zh, high(BootKey *2) + + sbrc round, 0 + rjmp dec3 + + sbrc s1, 3 ; k = key[(sum shr 11) and 3] + adiw zl, 4 + sbrc s1, 4 + adiw zl, 8 + + rjmp dec4 + +dec3: subi s0, 0xB9 ; sum = sum - delta + sbci s1, 0x79 + sbci s2, 0x37 + sbci s3, 0x9E + + sbrc s0, 0 ; k = key[sum and 3] + adiw zl, 4 + sbrc s0, 1 + adiw zl, 8 + +dec4: xlpm t4, z+ ; t = t xor (sum + k) + add t4, s0 + eor t0, t4 + xlpm t4, z+ + adc t4, s1 + eor t1, t4 + xlpm t4, z+ + adc t4, s2 + eor t2, t4 + xlpm t4, z+ + adc t4, s3 + eor t3, t4 + + sub b0, t0 ; b = b - t + sbc b1, t1 + sbc b2, t2 + sbc b3, t3 + + movw t0, b0 ; b = a, a = b + movw t2, b2 + movw b0, a0 + movw b2, a2 + movw a0, t0 + movw a2, t2 + + dec round + brne dec1 + + ldi cnt, 8 + movw zl, zerol + sbiw yl, 8 + + ret + diff --git a/AVRootloader/AVR/Special.inc b/AVRootloader/AVR/Special.inc new file mode 100644 index 0000000..6ba25f5 --- /dev/null +++ b/AVRootloader/AVR/Special.inc @@ -0,0 +1,259 @@ +.nolist +; copyright HR +; special functions to provide for application code access to FLASH +; can be expanded with own functions and place a rjmp vector at end of this file + +; First calculate size of code to align code at end of FLASH, better solution possible ? + +; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. +; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm +; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and +; thus the last FLASH page should be always unchanged. With a own application and help of +; dospm function can the remaining bootloader section repogrammed. Please remember that +; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own +; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) +; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function +; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider +; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits +; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. +; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to +; use SPM in application code. + + +.set SpecialSize = 0 + +.if UseSpecialWrite +.set SpecialSize = SpecialSize +48 +.if UseSpecialWriteBoot +.set SpecialSize = SpecialSize +5 +.endif +.if BigMega +.set SpecialSize = SpecialSize +4 +.endif +.if BLS +.set SpecialSize = SpecialSize +5 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.ifdef RWWSRE +.set SpecialSize = SpecialSize +2 +.endif +.else +.set SpecialSize = SpecialSize +8 +.endif +.if UseWDR +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialRead +.set SpecialSize = SpecialSize +9 +.if BigMega +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.endif + +; rjmp vector table +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.elif UseSpecialBootVect +.set SpecialSize = SpecialSize +1 +.if BLS +.set SpecialSize = SpecialSize +1 +.endif +.endif + +; dospm +.if SpecialSize > 0 +.if BLS +.set SpecialSize = SpecialSize +6 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.endif + +; align follow code at flash end +.if BootCodeSize +.org (FLASHEND +1) - SpecialSize +.endif +.endif ; .if SpecialSize > 0 + +; end of size calculation +.list + + +.if UseSpecialMsg +getbootmsg: +; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas + ldi r22, byte1(BootMsg * 2) + ldi r23, byte2(BootMsg * 2) + ldi r24, byte3(BootMsg * 2) + ldi r25, (BootInfo - BootMsg) * 2 + ret +.endif ;.if UseSpecialMsg + + +.if UseSpecialRead +readflash: +; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 +.if BigMega + xout RAMPZ, r24 +.endif + movw zl, r22 + movw xl, r18 + movw r24, r20 +rf1: sbiw r24, 1 + brcs rf2 + xlpm r23, z+ + st x+, r23 + rjmp rf1 +rf2: ret +.endif ;.if UseSpecialRead + + +.if UseSpecialWrite +writeflash: +; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + movw zl, r22 ; address to r24:Z + movw xl, r18 ; SRAM buffer to X + movw r18, yl ; save Y to r18 + movw yl, r20 ; size to Y + movw r20, r16 ; save r17:r16 to r21:r20 + movw r16, r24 ; + xin r23, SREG ; save SREG to r23 + cli ; disable IRQs +.if UseSpecialWriteBoot + clt ; set T flag if MSB of address is a magic to deactivate + cpi r17, 0xAC ; write cheks to bootloader section + brne wf1 + set +.endif ; .if UseSpecialWriteBoot + +wf1: sbic EECR, EEWE ; wait for EEPROM + rjmp wf1 + + andi r22, PageSize *2 -1 ; align address + sub zl, r22 + +wf2: ldi r17, PageSize +.if UseSpecialWriteBoot + brts wf3 ; if T flag is set ignore sanity check +.endif + cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader + ldi r24, byte2(BootStart *2) + cpc zh, r24 +.if BigMega + ldi r24, byte3(BootStart * 2) + cpc r16, r24 +.endif + brsh wf8 + +wf3: ldi r24, (1 << SPMEN) +.if BigMega + xout RAMPZ, r16 +.endif +wf4: xlpm r0, z+ ; first load word from FLASH + xlpm r1, z + sbiw z, 1 + sbiw yl, 0 ; size = 0 ? + breq wf7 + cpi r22, 1 + brlo wf5 + breq wf6 + subi r22, 2 + rjmp wf7 +wf5: ld r0, x+ + sbiw yl, 1 + breq wf7 +wf6: ld r1, x+ + sbiw yl, 1 + clr r22 +wf7: xwdr +.if BLS + rcall dospm ; fill FLASH buffer +.else + xout SPMCSR, r24 + spm +.endif + adiw z, 2 + dec r17 ; PageSize + brne wf4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) +.if BLS + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + rcall dospm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + rcall dospm +.ifdef RWWSRE + ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page + rcall dospm +.endif +.else + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + xout SPMCSR, r24 + spm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + xout SPMCSR, r24 + spm +.endif + subi zl, byte1(-PageSize *2) + sbci zh, byte2(-PageSize *2) +.if BigMega + sbci r16, byte3(-PageSize *2) +.endif + sbiw yl, 0 ; size = 0 ? + brne wf2 + +wf8: clr r1 ; restore r1=zero + movw yl, r18 ; restore Y + movw r16, r20 ; restore r17:r16 + xout SREG, r23 ; restore SREG + ret +.endif ;.if UseSpecialWrite + + +; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page +; r25=cnth destroyed, r24=cntl unchanged +.if BLS +dospm: xout SPMCSR, r24 + spm +.ifdef SPMspecial +.dw $FFFF + nop +.endif +dspm1: xin r25, SPMCSR + sbrc r25, SPMEN + rjmp dspm1 + ret +.endif ; .if BLS + + +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +; rjmp vectors for support from application code +; can be expanded with own vectors to own code, look into AVRootloader.h how to call +; please don't reorder this jump table, but you can expand it to own code +; if you expand it remember to update above SpecialSize calculation + bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret + bjmp readflash, UseSpecialRead + bjmp writeflash, UseSpecialWrite + bjmp dospm, BLS + rjmp bootstart +.elif UseSpecialBootVect +.if BLS + rjmp dospm +.endif + rjmp bootstart +.endif diff --git a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/AVRootloader/AVR/default/AVRootloader_DLUX.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_DLUX.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex b/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex new file mode 100644 index 0000000..905bb71 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:107E0000F894A895AA246FEF6DBF68E06EBF68E193 +:107E10007FE0A4BE60936000709360003898409843 +:107E2000BB2421E030EA64E1B8E5A5E545011AE0AC +:107E3000E4EEFFE7E501CC0FDD1FC50111976A09EC +:107E40003099E1F789F021970296A8F1309BFBCF9A +:107E5000C59523972696EC0170F74D9760F36C015A +:107E600011976A09309BE1F731F111976A0930994E +:107E7000E1F709F197D005900016C1F61A9581F740 +:107E80008AD0A1F614E0059178D01A95E1F700E3C5 +:107E900074D0450180D0B8017E3F20F07CD0E8014D +:107EA00070FDF80178D002EC99F77E3F39F078F751 +:107EB0007A110DC06A110C940040A2CFA0E1B1E08C +:107EC0007D016BD00D932197E1F77395EBCF733064 +:107ED00060F570FB05ECE701E0301EE7F107D0F438 +:107EE00083E087D076F481E040E40990199081D056 +:107EF00032964A95D1F7E058F040C058D04085E01E +:107F000078D081E176D040E800EC1FEF05900EF4C8 +:107F100019911011BDCF4A95C9F726F4CA17DB078E +:107F2000D8F2C1F76A95B1F6B2CF61F400ECE7017F +:107F3000099015900110ACCFCA17DB07C9F76A95F5 +:107F4000B1F7A5CF753059F050F4E1BDF2BD3196CF +:107F5000F89A00B509D06A95C1F703D098CF01EC23 +:107F600097CF84010AD0012F802648E09694879409 +:107F700010F4932682264A95C9F7A89529D028D0CF +:107F80004AE0009597B924D0069508F090E002D019 +:107F90004A95C1F7089501D0102FA895309BFECFC8 +:107FA0003099FECF48E0C6019695879512D010D043 +:107FB00006953099006807FD82269694879408F408 +:107FC000932608F482264A9591F7892489240895F6 +:107FD000C6010497F0F78D3F18F011F08F3F01F0C4 +:107FE00091E00895424F4F544C4F41444552950FF4 +:0E7FF000060487BFE89597B790FDFDCF089572 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex b/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex new file mode 100644 index 0000000..f3fc8c1 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 +:103E10007FE0A4BE609360007093600057985F9845 +:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC +:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 +:103E40004F99E1F789F021970296A8F14F9BFBCF9C +:103E5000C59523972696EC0170F74D9760F36C019A +:103E600011976A094F9BE1F731F111976A094F9950 +:103E7000E1F709F197D005900016C1F61A9581F780 +:103E80008AD0A1F614E0059178D01A95E1F700E305 +:103E900074D0450180D0B8017E3F20F07CD0E8018D +:103EA00070FDF80178D002EC99F77E3F39F078F791 +:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC +:103EC0007D016BD00D932197E1F77395EBCF7330A4 +:103ED00060F570FB05ECE701E0301EE3F107D0F47C +:103EE00083E087D076F481E040E40990199081D096 +:103EF00032964A95D1F7E058F040C058D04085E05E +:103F000078D081E176D040E800EC1FEF05900EF408 +:103F100019911011BDCF4A95C9F726F4CA17DB07CE +:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF +:103F3000099015900110ACCFCA17DB07C9F76A9535 +:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F +:103F5000F89A00B509D06A95C1F703D098CF01EC63 +:103F600097CF84010AD0012F802648E09694879449 +:103F700010F4932682264A95C9F7A89529D028D00F +:103F80004AE000959AB924D0069508F090E002D056 +:103F90004A95C1F7089501D0102FA8954F9BFECFE9 +:103FA0004F99FECF48E0C6019695879512D010D064 +:103FB00006954F99006807FD82269694879408F429 +:103FC000932608F482264A9591F789248924089536 +:103FD000C6010497F0F78D3F18F011F08F3F01F004 +:103FE00090E80895424F4F544C4F41444552940B32 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_TGY160A.hex b/AVRootloader/AVR/default/AVRootloader_TGY160A.hex new file mode 100644 index 0000000..c827fd3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_TGY160A.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 +:103E10007FE0A4BE60936000709360005098589853 +:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC +:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 +:103E40004899E1F789F021970296A8F1489BFBCFAA +:103E5000C59523972696EC0170F74D9760F36C019A +:103E600011976A09489BE1F731F111976A0948995E +:103E7000E1F709F197D005900016C1F61A9581F780 +:103E80008AD0A1F614E0059178D01A95E1F700E305 +:103E900074D0450180D0B8017E3F20F07CD0E8018D +:103EA00070FDF80178D002EC99F77E3F39F078F791 +:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC +:103EC0007D016BD00D932197E1F77395EBCF7330A4 +:103ED00060F570FB05ECE701E0301EE3F107D0F47C +:103EE00083E087D076F481E040E40990199081D096 +:103EF00032964A95D1F7E058F040C058D04085E05E +:103F000078D081E176D040E800EC1FEF05900EF408 +:103F100019911011BDCF4A95C9F726F4CA17DB07CE +:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF +:103F3000099015900110ACCFCA17DB07C9F76A9535 +:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F +:103F5000F89A00B509D06A95C1F703D098CF01EC63 +:103F600097CF84010AD0012F802648E09694879449 +:103F700010F4932682264A95C9F7A89529D028D00F +:103F80004AE000959AB924D0069508F090E002D056 +:103F90004A95C1F7089501D0102FA895489BFECFF0 +:103FA0004899FECF48E0C6019695879512D010D06B +:103FB00006954899006807FD82269694879408F430 +:103FC000932608F482264A9591F789248924089536 +:103FD000C6010497F0F78D3F18F011F08F3F01F004 +:103FE00091E00895424F4F544C4F41444552940B39 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/AVRootloader/Windows/AVRootloader.dev b/AVRootloader/Windows/AVRootloader.dev new file mode 100644 index 0000000..90b3139 --- /dev/null +++ b/AVRootloader/Windows/AVRootloader.dev @@ -0,0 +1,108 @@ +ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 +9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 +9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 +9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 +930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 +9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 +9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 +9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 +9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 +9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 +9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 +9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 +9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 +9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 +9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 +9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 +9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 +9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/AVRootloader/Windows/AVRootloader.exe b/AVRootloader/Windows/AVRootloader.exe new file mode 100644 index 0000000000000000000000000000000000000000..125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8 GIT binary patch literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G zR?aG1R-CZ9Xw^eSiyujN#9gc=Jg_vO$h|Vby>iLYqJ%liR;Jw5B{p%?kCFX<>E?1O z$~1#T>ANuPj!3*GlwX#1HW>RV-&z!9m`PZ>teq6a4x=52+!1DE9I`Q1`1GZ5ai&qpcHP0$?FRgGW!(d}Hrxz|R67G-`N~HsK220K(i&v~z 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Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR. +; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen +; bis es wieder von vorne losgeht. + +[GUI] +Left=394 +Top=190 +Width=563 +Height=523 + +[Baudrates] +0=2400 +1=4800 +2=9600 +3=14400 +4=19200 +5=28800 +6=38400 +7=56000 +8=57600 +9=115200 +10=128000 +11=230400 +12=256000 +13=921600 + +[Signs] +0=BOOTLOADER +1=BOOT + +[FLASH] +0=C:\test\main.hex +1= + +[EEPROM] +0=C:\test\main.eep +1= diff --git a/AVRootloader/readme.txt b/AVRootloader/readme.txt new file mode 100644 index 0000000..643dd32 --- /dev/null +++ b/AVRootloader/readme.txt @@ -0,0 +1,38 @@ +changes for building avrootloader firmware for rx3s vs aquastar + +1. AVRootloader.asmproj +project/avrootloader properties/device/atmega168pa +vs +project/avrootloader properties/device/atmega8 + +--- + +2. AVR\AVRootloader.asm + +; RX3S +;.include "m168PAdef.inc" ; ATmega168PA +vs +; Aquastar +.include "m8Adef.inc" ; ATmega8A + +; RX3S +;.equ RX_PORT = PORTD ; Receive port and pin +;.equ RX = PD7 +;.equ TX_PORT = PORTD ; Transmit port and pin +;.equ TX = PD7 +vs +; Aquastar +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 + +--- + +3. AVR\AVRootloader.inc + +; RX3S +; jmp FLASHEND +1 ; run application +vs +; Aquastar + rjmp FLASHEND +1 ; run application \ No newline at end of file diff --git a/Builds/20140901_AQUASTAR.hex b/Builds/20140901_AQUASTAR.hex deleted file mode 100644 index c27b56b..0000000 --- a/Builds/20140901_AQUASTAR.hex +++ /dev/null @@ -1,400 +0,0 @@ -:10000000CDC1F1C1F0C1EFC1EEC1EDC1ECC1EBC199 -:10001000EAC10FCAE8C1E7C1E6C1E5C1E4C1E3C175 -:10002000E2C1E1C1E0C120556E646566696E656438 -:100030000020525833532056310020525833532059 -:1000400056322F563300204E616E6F57696900207B -:100050004561676C6520413350726F002052583300 -:10006000534D00204D696E69204D57430020464C8A -:10007000495020312E3500260031003A0046004F0D -:10008000005C0063006D00535441545553004944D3 -:100090003D005645523D0031452F32452F523D001F -:1000A000454550524F4D0055702F446E2074686581 -:1000B0006E207E0055706461746520436F6E6669C2 -:1000C00067207E00457261736520436F6E666967C5 -:1000D000207E004572617365205374617473207EC5 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-:101E8C000008000300140007000200030003000414 -:101E9C0000020002007F00E803E80304002A0100AE -:101EAC00020202040205020D020F021102130215B6 -:101EBC0002170219021E0124012B0100000001016E -:101ECC00010202020001020001020001025245540B -:101EDC0041316132660002030504000000004C0829 -:101EEC00AD0B000040001400540000000000080B73 -:0A1EFC00AD0B9E0ACF0AAF0AF80AE8 -:00000001FF diff --git a/CMakeLists.txt b/CMakeLists.txt index 0141f67..0065d66 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -84,17 +84,25 @@ add_arduino_firmware(${TODAY}_NANOWII FlightStab leonardo "NANOWII") add_arduino_firmware(${TODAY}_NANOWII_CPPM FlightStab leonardo "NANOWII;SERIALRX_CPPM") add_arduino_firmware(${TODAY}_NANOWII_SPEKTRUM FlightStab leonardo "NANOWII;SERIALRX_SPEKTRUM") add_arduino_firmware(${TODAY}_NANOWII_SBUS FlightStab leonardo "NANOWII;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_NANOWII_SRXLH FlightStab leonardo "NANOWII;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_NANOWII_SRXLM FlightStab leonardo "NANOWII;SERIALRX_SRXL;SERIALRX_DEFMPX") # MINI MWC add_arduino_firmware(${TODAY}_MINI_MWC_CPPM FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM") add_arduino_firmware(${TODAY}_MINI_MWC_CPPM_EXTERNAL_RX FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM;MINI_MWC_EXTERNAL_RX") add_arduino_firmware(${TODAY}_MINI_MWC_SPEKTRUM FlightStab pro5v328 "MINI_MWC;SERIALRX_SPEKTRUM") add_arduino_firmware(${TODAY}_MINI_MWC_SBUS FlightStab pro5v328 "MINI_MWC;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_MINI_MWC_SRXLH FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_MINI_MWC_SRXLM FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL;SERIALRX_DEFMPX") + # FLIP 1.5 add_arduino_firmware(${TODAY}_FLIP_1_5 FlightStab pro5v328 "FLIP_1_5") add_arduino_firmware(${TODAY}_FLIP_1_5_CPPM FlightStab pro5v328 "FLIP_1_5;SERIALRX_CPPM") add_arduino_firmware(${TODAY}_FLIP_1_5_SPEKTRUM FlightStab pro5v328 "FLIP_1_5;SERIALRX_SPEKTRUM") add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLH FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLM FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL;SERIALRX_DEFMPX") +add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS_MAX_TRAVEL FlightStab pro5v "FLIP_1_5;SERIALRX_SBUS;MAX_TRAVEL") # RX3S V1/V2V3/RX3SM 16MHz add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1") @@ -106,6 +114,8 @@ add_arduino_firmware(${TODAY}_RX3S_V2_AILR_IN_ON_RUD_IN FlightStab pro5v "RX3S_V add_arduino_firmware(${TODAY}_RX3S_V2_CPPM FlightStab pro5v "RX3S_V2;SERIALRX_CPPM") add_arduino_firmware(${TODAY}_RX3S_V2_SPEKTRUM FlightStab pro5v "RX3S_V2;SERIALRX_SPEKTRUM") add_arduino_firmware(${TODAY}_RX3S_V2_SBUS FlightStab pro5v "RX3S_V2;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_RX3S_V2_SRXLH FlightStab pro5v "RX3S_V2;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_RX3S_V2_SRXLM FlightStab pro5v "RX3S_V2;SERIALRX_SRXL;SERIALRX_DEFMPX") add_arduino_firmware(${TODAY}_RX3SM FlightStab pro5v "RX3SM") # EagleA3Pro @@ -121,4 +131,4 @@ add_arduino_firmware(TEST_RX3S_V2_LED_TIMING FlightStab pro5v "RX3S_V2;LED_TIMIN add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEVLIB") add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE") add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG") - +add_arduino_firmware(TEST_FLIP_1_5_SBUS_DEBUG FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS;FLIP_SERIALRX_DEBUG") diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 8b0bf73..393b4c7 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -34,6 +34,10 @@ bool ow_loop(); // OneWireSerial.ino //#define SERIALRX_CPPM // over a digital-in pin (preferably ICP) //#define SERIALRX_SPEKTRUM // over the serial port //#define SERIALRX_SBUS // over the serial port +//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT +//#define SERIALRX_DEFMPX // default MPX channel mapping + +//#define MAX_TRAVEL // Use travel of 900us-2100us in place of 1000us-2000us //#define NO_ONEWIRE // remove one-wire serial config code //#define NO_STICKCONFIG // remove stick config code @@ -411,7 +415,7 @@ bool ow_loop(); // OneWireSerial.ino #define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} // must use one of the SERIALRX modes -#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) +#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL) #error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS" #endif @@ -444,7 +448,7 @@ bool ow_loop(); // OneWireSerial.ino PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD) PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM) - PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN + PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM) PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM) PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN @@ -548,7 +552,7 @@ bool ow_loop(); // OneWireSerial.ino #error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS) #endif -#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL) #define SERIALRX_ENABLED #endif @@ -718,6 +722,10 @@ const int8_t serialrx_order_TAER1a2f[rx_chan_size] = { SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; const int8_t serialrx_order_AETR1a2f[rx_chan_size] = { SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_AERTa1f2[rx_chan_size] = { + SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; +const int8_t serialrx_order_TAERa1f2[rx_chan_size] = { + SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; @@ -985,7 +993,7 @@ uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) i2c_write(reg); i2c_start((addr << 1) | 1); // read data //jrb return i2c_read(true); - return i2c_read(false); + return i2c_read(false); } void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) @@ -1939,7 +1947,7 @@ void dump_sensors() while (true) { t = micros1(); -#if defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) +#if defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL) if (serialrx_update()) rx_frame_sync = true; #endif @@ -1988,8 +1996,13 @@ void dump_sensors() Serial.print(gyro[2]); Serial.print('\t'); servo_out += servo_dir; +#if defined (MAX_TRAVEL) || defined(SERIALRX_DEFMPX) + if (servo_out < RX_WIDTH_MIN || servo_out > RX_WIDTH_MAX) { + servo_out = constrain(servo_out, RX_WIDTH_MIN, RX_WIDTH_MAX); +#else if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); +#endif servo_dir = -servo_dir; } ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; @@ -2184,7 +2197,7 @@ void stick_config(struct _stick_zone *psz) last_servo_update_time = t; } -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) if (serialrx_update()) { rx_frame_sync = true; } @@ -2255,11 +2268,11 @@ void setup() set_led_msg(2, 20, LED_VERY_SHORT); #if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS) -#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM)) +#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) serialrx_init(); #else Serial.begin(115200L); -#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM)) +#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) #endif #if defined(SERIAL_DEBUG) && 0 @@ -2273,7 +2286,6 @@ void setup() wdt_disable(); #endif // __AVR_ATmega168__ || __AVR_ATmega328P__ -//jrb #if defined(NANO_WII) || defined(MINI_MWC) #if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5) // set up default parameters for No DIPSW and No POT cfg.wing_mode = WING_RUDELE_2AIL; @@ -2289,7 +2301,7 @@ void setup() #endif cfg.mixer_epa_mode = MIXER_EPA_FULL; -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL)) cfg.servo_frame_rate = 20; // safe rate for analog servos #else cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate @@ -2306,6 +2318,12 @@ void setup() pserialrx_order = serialrx_order_TAER1a2f; #elif defined(SERIALRX_SBUS) pserialrx_order = serialrx_order_AETR1a2f; +#elif defined(SERIALRX_SRXL) + #ifdef SERIALRX_DEFMPX + pserialrx_order = serialrx_order_AERTa1f2; + #else + pserialrx_order = serialrx_order_TAERa1f2; + #endif #else pserialrx_order = serialrx_order_RETA1a2f; #endif @@ -2425,15 +2443,20 @@ void setup() // TIMSK0 &= ~(1 << TOIE0); // disable overflow interrupt #if !defined(SERIAL_DEBUG) && !defined(DUMP_SENSORS) -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) serialrx_init(); #endif #endif // set mixer limits based on configuration switch (cfg.mixer_epa_mode) { +#if defined (MAX_TRAVEL) || defined(SERIALRX_DEFMPX) + case MIXER_EPA_FULL: // 900-2100 + set_mixer_limits(RX_WIDTH_MIN, RX_WIDTH_MAX); +#else case MIXER_EPA_FULL: // 1000-2000 set_mixer_limits(RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); +#endif break; case MIXER_EPA_NORM: // 1100-1900 set_mixer_limits(RX_WIDTH_LOW_NORM, RX_WIDTH_HIGH_NORM); @@ -2516,7 +2539,7 @@ void setup() #endif // RX3SM #if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions -#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) if (cfg.wing_mode == WING_USE_DIPSW) wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)]; #endif @@ -2588,7 +2611,7 @@ again: t = micros1(); update_led(t); -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) if (serialrx_update()) { rx_frame_sync = true; } diff --git a/FlightStab/SerialRX.ino b/FlightStab/SerialRX.ino index 2034cad..0a588f1 100644 --- a/FlightStab/SerialRX.ino +++ b/FlightStab/SerialRX.ino @@ -18,7 +18,7 @@ int8_t rshift; // The following value is added to the received pulse count // to make the center pulse width = 1500 when the TX output is 1500 // TODO(noobee): i guess we would need to make this configurable.. -#define SBUS_OFFSET 1009 // 1009 for Futaba X8R, 1003 for Taranis FRSKY X8R, 984 for Orange R800x +#define SBUS_OFFSET 1008 // 1009 for Futaba R6208SB, 1008 for Taranis FRSKY X8R, 984 for Orange R800x //jrb - added 20140829 Use defines for SBUS Constants instead of hard coded numbers // SBUS unique defines @@ -28,7 +28,20 @@ int8_t rshift; #define SERIAL_WAIT_TIME 5000 #endif -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +#if defined(SERIALRX_SRXL) +#include +#define SERIAL_FRAME_SIZE 37 // changed to 37 for 16ch HoTT SUMD +#define MPX_OFFSET 988 +#define SERIAL_WAIT_TIME 5000 +#define MPX_SRL_12_CHAN_ID 0xA1 +#define MPX_SRL_12_CHAN_SIZE 27 +#define MPX_SRL_16_CHAN_ID 0xA2 +#define MPX_SRL_16_CHAN_SIZE 35 +#define HOTT_SUMD_ID1 0xA8 +#define HOTT_SUMD_ID2 0x01 +#endif + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) #if defined(NANOWII) HardwareSerial *pSerial = &Serial1; // TODO: hardcoded for NanoWii for now #else @@ -60,6 +73,9 @@ int8_t rshift; digitalWrite(5,HIGH); // D6 provides negative pulse when serialrx_update function is active #endif #endif + #if defined(SERIALRX_SRXL) + pSerial->begin(115200L); + #endif } bool serialrx_update() @@ -69,11 +85,14 @@ int8_t rshift; bool sbus_return = false; #endif // SERIALRX_SBUS - //jrb 20140831 use for both Spektrum & SBUS #if defined (SERIALRX_SPEKTRUM) // Used only for Spektrum + //jrb 20140831 use for all Serial Protocols static uint32_t last_rx_time; uint32_t t; static uint8_t buf[SERIAL_FRAME_SIZE]; - //jrb 20140831 use for both Spektrum & SBUS #endif + + #if defined(SERIALRX_SRXL) + bool sbus_return = false; + #endif //jrb add for debug #if defined(SERIALRX_DEBUG) && 0 @@ -89,7 +108,7 @@ int8_t rshift; while (pSerial->available() && indexread(); -//jrb - 20140832 make frame time test common to both Spektrum and SBUS +//jrb - 20140832 make frame time test common to all Serial Protocols t = micros1(); // we assume loop() calls to serialrx_update() in << SERIAL_WAIT_TIME intervals if ((int32_t)(t - last_rx_time) > SERIAL_WAIT_TIME) { @@ -169,6 +188,80 @@ jrb*/ } #endif // SERIALRX_SPEKTRUM + #if defined(SERIALRX_SRXL) // ---------------------------------------------- + #warning SERIALRX_SRXL defined // emit device name + + if (index < SERIAL_FRAME_SIZE) //JRB Should this be just < so we don't overflow buffer????? YES!!! + buf[index++] = ch; + // MPX SRXL 12/16 channels + if ( ((buf[0] == MPX_SRL_12_CHAN_ID) && (index >= MPX_SRL_12_CHAN_SIZE)) + || ((buf[0] == MPX_SRL_16_CHAN_ID) && (index >= MPX_SRL_16_CHAN_SIZE)) ) + { + uint16_t crc = 0; + for (uint8_t i=0; i>1)-1] = ((((w << 1) + w) - (w >> 2)) >> 3) + 796; + } + sbus_return = true; + } + index = 0; + + #if defined(SERIAL_DEBUG) && 2 + //Serial.println("Serial SRXL"); + #endif + } + // HoTT SUMD + else if ( ((buf[0] == HOTT_SUMD_ID1) && ((buf[1] & 0x7f) == HOTT_SUMD_ID2) ) ) + { + uint8_t n_channels = buf[2]; + if (index >= ((n_channels << 1) +5)) + { + uint16_t crc = 0; + for (uint8_t i=0; i<(index-2); i++){ + uint8_t data; + data = buf[i]; + crc = _crc_xmodem_update(crc, data); + } + if (crc == ((buf[index-2] << 8) + buf[index-1])){ + volatile int16_t **p = rx_chan; + // Only process first 8 channels + for (int8_t i=2; i<18; i+=2) + { + uint16_t w = (((uint16_t)buf[i+1] << 8) | (uint16_t)buf[i+2] ); + *p[(i>>1)-1] = (w >> 3); + } + sbus_return = true; + } + index = 0; + #if defined(SERIAL_DEBUG) && 2 + //Serial.println("Serial SUMD"); + #endif + } + } + //his add for debug + #if defined(SERIAL_DEBUG) && 2 + if (RXcount > 10){ + for (index = 0; index < 8; index++){ + Serial.print(*rx_chan[index]); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + if (sbus_return) + RXcount++; + #endif + } + return (sbus_return); + #endif // SERIALRX_SRXL ------------------------------------------------------- #if defined (SERIALRX_SBUS) From b32c8e84a7ded396fb11323b754ce4fc19cf13dd Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 16 Dec 2014 18:04:59 -0500 Subject: [PATCH 06/29] Add support for Multiplex and HoTT SRXL Protocol --- Docs/2014-09-01 Change Log.txt | 24 ------------------------ 1 file changed, 24 deletions(-) delete mode 100644 Docs/2014-09-01 Change Log.txt diff --git a/Docs/2014-09-01 Change Log.txt b/Docs/2014-09-01 Change Log.txt deleted file mode 100644 index afe3f87..0000000 --- a/Docs/2014-09-01 Change Log.txt +++ /dev/null @@ -1,24 +0,0 @@ -2014-09-01 FlightStab Change Log - -20140505 -FlightStab.ino -Fix logic bug in uint8_t i2c_read_reg() function - - -20140505 -FlightStab.ino -Add missing defined(FLIP_1_5) in Setup function - - -20140829 -SerialRX.ino -Use #defines for SBUS & Spektrum constants instead of hard coded numbers. -Use defines for receive buffer size. -Limit while loop to not exceed receive buffer size. -Check for 0x00 value in byte 25 of sbus frame to validate frame. - - -20140831 -SerialRX.ino -Use timer to determine if received serial data is crossing 2 frames -for both SBUS & Spektrum From 9dbec0b4b05b1b3daafa722d986b9ca088ee8001 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 16 Dec 2014 18:07:19 -0500 Subject: [PATCH 07/29] Add Support for Multiplex and HoTT SRXL Protocol --- Builds/20141216_AQUASTAR.hex | 400 ++++++ Builds/20141216_DLUX.hex | 400 ++++++ Builds/20141216_EAGLE_A3PRO.hex | 805 ++++++++++++ .../20141216_EAGLE_A3PRO_NO_STICKCONFIG.hex | 731 +++++++++++ Builds/20141216_FLIP_1_5.hex | 801 ++++++++++++ Builds/20141216_FLIP_1_5_CPPM.hex | 779 ++++++++++++ Builds/20141216_FLIP_1_5_SBUS.hex | 886 +++++++++++++ Builds/20141216_FLIP_1_5_SBUS_MAX_TRAVEL.hex | 886 +++++++++++++ Builds/20141216_FLIP_1_5_SPEKTRUM.hex | 862 +++++++++++++ Builds/20141216_FLIP_1_5_SRXLH.hex | 882 +++++++++++++ Builds/20141216_FLIP_1_5_SRXLM.hex | 882 +++++++++++++ Builds/20141216_MINI_MWC_CPPM.hex | 779 ++++++++++++ Builds/20141216_MINI_MWC_CPPM_EXTERNAL_RX.hex | 775 ++++++++++++ Builds/20141216_MINI_MWC_SBUS.hex | 886 +++++++++++++ Builds/20141216_MINI_MWC_SPEKTRUM.hex | 862 +++++++++++++ Builds/20141216_MINI_MWC_SRXLH.hex | 882 +++++++++++++ Builds/20141216_MINI_MWC_SRXLM.hex | 882 +++++++++++++ Builds/20141216_NANOWII.hex | 1012 +++++++++++++++ Builds/20141216_NANOWII_CPPM.hex | 1003 +++++++++++++++ Builds/20141216_NANOWII_SBUS.hex | 1103 +++++++++++++++++ Builds/20141216_NANOWII_SPEKTRUM.hex | 1079 ++++++++++++++++ Builds/20141216_NANOWII_SRXLH.hex | 1099 ++++++++++++++++ Builds/20141216_NANOWII_SRXLM.hex | 1099 ++++++++++++++++ Builds/20141216_RX3SM.hex | 807 ++++++++++++ Builds/20141216_RX3S_V1.hex | 808 ++++++++++++ Builds/20141216_RX3S_V1_CPPM.hex | 779 ++++++++++++ Builds/20141216_RX3S_V1_SBUS.hex | 890 +++++++++++++ Builds/20141216_RX3S_V1_SPEKTRUM.hex | 866 +++++++++++++ Builds/20141216_RX3S_V2.hex | 810 ++++++++++++ Builds/20141216_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 810 ++++++++++++ Builds/20141216_RX3S_V2_CPPM.hex | 782 ++++++++++++ Builds/20141216_RX3S_V2_SBUS.hex | 893 +++++++++++++ Builds/20141216_RX3S_V2_SPEKTRUM.hex | 869 +++++++++++++ Builds/20141216_RX3S_V2_SRXLH.hex | 889 +++++++++++++ Builds/20141216_RX3S_V2_SRXLM.hex | 889 +++++++++++++ Builds/20141216_TGY160A.hex | 498 ++++++++ Docs/2014-12-16 Change Log.txt | 40 + 37 files changed, 30405 insertions(+) create mode 100644 Builds/20141216_AQUASTAR.hex create mode 100644 Builds/20141216_DLUX.hex create mode 100644 Builds/20141216_EAGLE_A3PRO.hex create mode 100644 Builds/20141216_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20141216_FLIP_1_5.hex create mode 100644 Builds/20141216_FLIP_1_5_CPPM.hex create mode 100644 Builds/20141216_FLIP_1_5_SBUS.hex create mode 100644 Builds/20141216_FLIP_1_5_SBUS_MAX_TRAVEL.hex create mode 100644 Builds/20141216_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20141216_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20141216_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20141216_MINI_MWC_CPPM.hex create mode 100644 Builds/20141216_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20141216_MINI_MWC_SBUS.hex create mode 100644 Builds/20141216_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20141216_MINI_MWC_SRXLH.hex create mode 100644 Builds/20141216_MINI_MWC_SRXLM.hex create mode 100644 Builds/20141216_NANOWII.hex create mode 100644 Builds/20141216_NANOWII_CPPM.hex create mode 100644 Builds/20141216_NANOWII_SBUS.hex create mode 100644 Builds/20141216_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20141216_NANOWII_SRXLH.hex create mode 100644 Builds/20141216_NANOWII_SRXLM.hex create mode 100644 Builds/20141216_RX3SM.hex create mode 100644 Builds/20141216_RX3S_V1.hex create mode 100644 Builds/20141216_RX3S_V1_CPPM.hex create mode 100644 Builds/20141216_RX3S_V1_SBUS.hex create mode 100644 Builds/20141216_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20141216_RX3S_V2.hex create mode 100644 Builds/20141216_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20141216_RX3S_V2_CPPM.hex create mode 100644 Builds/20141216_RX3S_V2_SBUS.hex create mode 100644 Builds/20141216_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20141216_RX3S_V2_SRXLH.hex create mode 100644 Builds/20141216_RX3S_V2_SRXLM.hex create mode 100644 Builds/20141216_TGY160A.hex create mode 100644 Docs/2014-12-16 Change Log.txt diff --git a/Builds/20141216_AQUASTAR.hex b/Builds/20141216_AQUASTAR.hex new file mode 100644 index 0000000..c27b56b --- /dev/null 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+:101E0000F894DEBF0FBECDBFED010895EE0FFF1FAA +:0C1E10000590F491E02D0994F894FFCFA8 +:101E1C00D502DD02EF02F702F902FB02010309030E +:101E2C0011031B03210327032903310339031C026C +:101E3C00220228022F0235023B02010100000100A0 +:101E4C00010002000300010001000100010001007B +:101E5C000100040005000500060000000007020850 +:101E6C000001000100010000000000010001000160 +:101E7C000001000100010080FF00000000010003D0 +:101E8C000008000300140007000200030003000414 +:101E9C0000020002007F00E803E80304002A0100AE +:101EAC00020202040205020D020F021102130215B6 +:101EBC0002170219021E0124012B0100000001016E +:101ECC00010202020001020001020001025245540B +:101EDC0041316132660002030504000000004C0829 +:101EEC00AD0B000040001400540000000000080B73 +:0A1EFC00AD0B9E0ACF0AAF0AF80AE8 +:00000001FF diff --git a/Docs/2014-12-16 Change Log.txt b/Docs/2014-12-16 Change Log.txt new file mode 100644 index 0000000..f59f2f1 --- /dev/null +++ b/Docs/2014-12-16 Change Log.txt @@ -0,0 +1,40 @@ +2014-12-16 FlightStab Change Log + + +20141209 +FlightStab.ino and SerialRX.ino +Add support for Multiplex and HoTT SRXL Protocol + +FlightStab.ino +Add Flip 1.5 Build that allows 900us to 2100us travel + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + + + + + + + From 0c00b6779ea2562e50c702b42a08247f71d7867a Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 16 Dec 2014 18:17:44 -0500 Subject: [PATCH 08/29] Add Support for Multiplex and HoTT Protocol --- Docs/2014-12-16 Change Log.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/2014-12-16 Change Log.txt b/Docs/2014-12-16 Change Log.txt index f59f2f1..54176ab 100644 --- a/Docs/2014-12-16 Change Log.txt +++ b/Docs/2014-12-16 Change Log.txt @@ -1,7 +1,7 @@ 2014-12-16 FlightStab Change Log -20141209 +20141216 FlightStab.ino and SerialRX.ino Add support for Multiplex and HoTT SRXL Protocol From 50e08b29b23599776895bfcc01c6634d3050dcd4 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Fri, 30 Jan 2015 14:59:42 -0500 Subject: [PATCH 09/29] Add Support for mixer epa 900-2100 and Dual Elevators --- Aquastar/Aquastar.ino | 10 +- Aquastar/FlightStab.h | 6 +- Builds/20141216_AQUASTAR.hex | 400 ------ Builds/20141216_DLUX.hex | 400 ------ Builds/20141216_EAGLE_A3PRO.hex | 805 ------------ .../20141216_EAGLE_A3PRO_NO_STICKCONFIG.hex | 731 ----------- Builds/20141216_FLIP_1_5.hex | 801 ------------ Builds/20141216_FLIP_1_5_CPPM.hex | 779 ------------ Builds/20141216_FLIP_1_5_SBUS.hex | 886 ------------- Builds/20141216_FLIP_1_5_SBUS_MAX_TRAVEL.hex | 886 ------------- Builds/20141216_FLIP_1_5_SPEKTRUM.hex | 862 ------------- Builds/20141216_FLIP_1_5_SRXLH.hex | 882 ------------- Builds/20141216_FLIP_1_5_SRXLM.hex | 882 ------------- Builds/20141216_MINI_MWC_CPPM.hex | 779 ------------ Builds/20141216_MINI_MWC_CPPM_EXTERNAL_RX.hex | 775 ------------ Builds/20141216_MINI_MWC_SBUS.hex | 886 ------------- Builds/20141216_MINI_MWC_SPEKTRUM.hex | 862 ------------- Builds/20141216_MINI_MWC_SRXLH.hex | 882 ------------- Builds/20141216_MINI_MWC_SRXLM.hex | 882 ------------- Builds/20141216_NANOWII.hex | 1012 --------------- Builds/20141216_NANOWII_CPPM.hex | 1003 --------------- Builds/20141216_NANOWII_SBUS.hex | 1103 ---------------- Builds/20141216_NANOWII_SPEKTRUM.hex | 1079 ---------------- Builds/20141216_NANOWII_SRXLH.hex | 1099 ---------------- Builds/20141216_NANOWII_SRXLM.hex | 1099 ---------------- Builds/20141216_RX3SM.hex | 807 ------------ Builds/20141216_RX3S_V1.hex | 808 ------------ Builds/20141216_RX3S_V1_CPPM.hex | 779 ------------ Builds/20141216_RX3S_V1_SBUS.hex | 890 ------------- Builds/20141216_RX3S_V1_SPEKTRUM.hex | 866 ------------- Builds/20141216_RX3S_V2.hex | 810 ------------ Builds/20141216_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 810 ------------ Builds/20141216_RX3S_V2_CPPM.hex | 782 ------------ Builds/20141216_RX3S_V2_SBUS.hex | 893 ------------- Builds/20141216_RX3S_V2_SPEKTRUM.hex | 869 ------------- Builds/20141216_RX3S_V2_SRXLH.hex | 889 ------------- Builds/20141216_RX3S_V2_SRXLM.hex | 889 ------------- Builds/20141216_TGY160A.hex | 498 -------- Builds/20150130_AQUASTAR.hex | 402 ++++++ Builds/20150130_DLUX.hex | 402 ++++++ Builds/20150130_EAGLE_A3PRO.hex | 817 ++++++++++++ .../20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex | 743 +++++++++++ Builds/20150130_FLIP_1_5.hex | 813 ++++++++++++ Builds/20150130_FLIP_1_5_CPPM.hex | 792 ++++++++++++ Builds/20150130_FLIP_1_5_SBUS.hex | 898 +++++++++++++ Builds/20150130_FLIP_1_5_SPEKTRUM.hex | 874 +++++++++++++ Builds/20150130_FLIP_1_5_SRXLH.hex | 893 +++++++++++++ Builds/20150130_FLIP_1_5_SRXLM.hex | 893 +++++++++++++ Builds/20150130_MINI_MWC_CPPM.hex | 792 ++++++++++++ Builds/20150130_MINI_MWC_CPPM_EXTERNAL_RX.hex | 787 ++++++++++++ Builds/20150130_MINI_MWC_SBUS.hex | 898 +++++++++++++ Builds/20150130_MINI_MWC_SPEKTRUM.hex | 874 +++++++++++++ Builds/20150130_MINI_MWC_SRXLH.hex | 893 +++++++++++++ Builds/20150130_MINI_MWC_SRXLM.hex | 893 +++++++++++++ Builds/20150130_NANOWII.hex | 1024 +++++++++++++++ Builds/20150130_NANOWII_CPPM.hex | 1014 +++++++++++++++ Builds/20150130_NANOWII_SBUS.hex | 1115 +++++++++++++++++ Builds/20150130_NANOWII_SPEKTRUM.hex | 1091 ++++++++++++++++ Builds/20150130_NANOWII_SRXLH.hex | 1110 ++++++++++++++++ Builds/20150130_NANOWII_SRXLM.hex | 1110 ++++++++++++++++ Builds/20150130_RX3SM.hex | 819 ++++++++++++ Builds/20150130_RX3S_V1.hex | 820 ++++++++++++ Builds/20150130_RX3S_V1_CPPM.hex | 791 ++++++++++++ Builds/20150130_RX3S_V1_SBUS.hex | 902 +++++++++++++ Builds/20150130_RX3S_V1_SPEKTRUM.hex | 878 +++++++++++++ Builds/20150130_RX3S_V2.hex | 822 ++++++++++++ Builds/20150130_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 822 ++++++++++++ Builds/20150130_RX3S_V2_CPPM.hex | 794 ++++++++++++ Builds/20150130_RX3S_V2_SBUS.hex | 906 ++++++++++++++ Builds/20150130_RX3S_V2_SPEKTRUM.hex | 882 +++++++++++++ Builds/20150130_RX3S_V2_SRXLH.hex | 901 +++++++++++++ Builds/20150130_RX3S_V2_SRXLM.hex | 901 +++++++++++++ Builds/20150130_TGY160A.hex | 500 ++++++++ CMakeLists.txt | 2 +- Docs/2015-01-30 Change Log.txt | 61 + FlightStab/FlightStab.h | 6 +- FlightStab/FlightStab.ino | 52 +- FlightStab/SerialRX.ino | 8 +- 78 files changed, 29974 insertions(+), 30402 deletions(-) delete mode 100644 Builds/20141216_AQUASTAR.hex delete mode 100644 Builds/20141216_DLUX.hex delete mode 100644 Builds/20141216_EAGLE_A3PRO.hex delete mode 100644 Builds/20141216_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20141216_FLIP_1_5.hex delete mode 100644 Builds/20141216_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20141216_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20141216_FLIP_1_5_SBUS_MAX_TRAVEL.hex delete mode 100644 Builds/20141216_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20141216_FLIP_1_5_SRXLH.hex delete mode 100644 Builds/20141216_FLIP_1_5_SRXLM.hex delete mode 100644 Builds/20141216_MINI_MWC_CPPM.hex delete mode 100644 Builds/20141216_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20141216_MINI_MWC_SBUS.hex delete mode 100644 Builds/20141216_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20141216_MINI_MWC_SRXLH.hex delete mode 100644 Builds/20141216_MINI_MWC_SRXLM.hex delete mode 100644 Builds/20141216_NANOWII.hex delete mode 100644 Builds/20141216_NANOWII_CPPM.hex delete mode 100644 Builds/20141216_NANOWII_SBUS.hex delete mode 100644 Builds/20141216_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20141216_NANOWII_SRXLH.hex delete mode 100644 Builds/20141216_NANOWII_SRXLM.hex delete mode 100644 Builds/20141216_RX3SM.hex delete mode 100644 Builds/20141216_RX3S_V1.hex delete mode 100644 Builds/20141216_RX3S_V1_CPPM.hex delete mode 100644 Builds/20141216_RX3S_V1_SBUS.hex delete mode 100644 Builds/20141216_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20141216_RX3S_V2.hex delete mode 100644 Builds/20141216_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20141216_RX3S_V2_CPPM.hex delete mode 100644 Builds/20141216_RX3S_V2_SBUS.hex delete mode 100644 Builds/20141216_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20141216_RX3S_V2_SRXLH.hex delete mode 100644 Builds/20141216_RX3S_V2_SRXLM.hex delete mode 100644 Builds/20141216_TGY160A.hex create mode 100644 Builds/20150130_AQUASTAR.hex create mode 100644 Builds/20150130_DLUX.hex create mode 100644 Builds/20150130_EAGLE_A3PRO.hex create mode 100644 Builds/20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20150130_FLIP_1_5.hex create mode 100644 Builds/20150130_FLIP_1_5_CPPM.hex create mode 100644 Builds/20150130_FLIP_1_5_SBUS.hex create mode 100644 Builds/20150130_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20150130_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20150130_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20150130_MINI_MWC_CPPM.hex create mode 100644 Builds/20150130_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20150130_MINI_MWC_SBUS.hex create mode 100644 Builds/20150130_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20150130_MINI_MWC_SRXLH.hex create mode 100644 Builds/20150130_MINI_MWC_SRXLM.hex create mode 100644 Builds/20150130_NANOWII.hex create mode 100644 Builds/20150130_NANOWII_CPPM.hex create mode 100644 Builds/20150130_NANOWII_SBUS.hex create mode 100644 Builds/20150130_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20150130_NANOWII_SRXLH.hex create mode 100644 Builds/20150130_NANOWII_SRXLM.hex create mode 100644 Builds/20150130_RX3SM.hex create mode 100644 Builds/20150130_RX3S_V1.hex create mode 100644 Builds/20150130_RX3S_V1_CPPM.hex create mode 100644 Builds/20150130_RX3S_V1_SBUS.hex create mode 100644 Builds/20150130_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20150130_RX3S_V2.hex create mode 100644 Builds/20150130_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20150130_RX3S_V2_CPPM.hex create mode 100644 Builds/20150130_RX3S_V2_SBUS.hex create mode 100644 Builds/20150130_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20150130_RX3S_V2_SRXLH.hex create mode 100644 Builds/20150130_RX3S_V2_SRXLM.hex create mode 100644 Builds/20150130_TGY160A.hex create mode 100644 Docs/2015-01-30 Change Log.txt diff --git a/Aquastar/Aquastar.ino b/Aquastar/Aquastar.ino index 18bc6a0..c3880fc 100644 --- a/Aquastar/Aquastar.ino +++ b/Aquastar/Aquastar.ino @@ -108,11 +108,13 @@ prog_char wing_rudele_2ail[] PROGMEM = "RudEle 2-Ail"; prog_char wing_delta_2ail[] PROGMEM = "Delta 2-Ail"; prog_char wing_vtail_2ail[] PROGMEM = "VTail 2-Ail"; prog_char wing_duckeron[] PROGMEM = "Duckeron"; +prog_char wing_rud_2ele_2ail[] PROGMEM = "Rud 2-Ele 2-AIL"; prog_char mixer_epa_mode[] PROGMEM = "EPA MODE"; prog_char mixer_epa_full[] PROGMEM = "Full 1000-2000"; prog_char mixer_epa_norm[] PROGMEM = "Norm 1100-1900"; prog_char mixer_epa_track[] PROGMEM = "Tracking"; +prog_char mixer_epa_max[] PROGMEM = "Max 900-2100"; prog_char servo_frame_rate[] PROGMEM = "SERVO FRAME RATE"; @@ -157,10 +159,10 @@ prog_char *param_text0[] PROGMEM = status_device_id, status_device_ver, status_device_eeprom}; prog_char *param_text1[] PROGMEM = {wing_mode, - wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron}; + wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron, wing_rud_2ele_2ail}; prog_char *param_text2[] PROGMEM = {mixer_epa_mode, - mixer_epa_full, mixer_epa_norm, mixer_epa_track}; + mixer_epa_full, mixer_epa_norm, mixer_epa_track, mixer_epa_max}; prog_char *param_text3[] PROGMEM = {servo_frame_rate, }; @@ -301,8 +303,8 @@ const int16_t param_min[] = { const int16_t param_max[] = { 3, // status - WING_DUCKERON, - MIXER_EPA_TRACK, + WING_RUD_2ELE_2AIL, + MIXER_EPA_MAX, 20, // servo_frame_rate serialrx_num_chan-1, // serialrx_order max chan SERIALRX_SPEKTRUM_LEVELS_2048, diff --git a/Aquastar/FlightStab.h b/Aquastar/FlightStab.h index 2c34d7e..21c2bfb 100644 --- a/Aquastar/FlightStab.h +++ b/Aquastar/FlightStab.h @@ -8,15 +8,15 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 8; +const int8_t eeprom_cfg_ver = 10; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; enum WING_MODE {WING_USE_DIPSW=1, WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL, WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL, - WING_DUCKERON}; -enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK}; + WING_DUCKERON,WING_RUD_2ELE_2AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important diff --git a/Builds/20141216_AQUASTAR.hex b/Builds/20141216_AQUASTAR.hex deleted file mode 100644 index c27b56b..0000000 --- a/Builds/20141216_AQUASTAR.hex +++ /dev/null @@ -1,400 +0,0 @@ -:10000000CDC1F1C1F0C1EFC1EEC1EDC1ECC1EBC199 -:10001000EAC10FCAE8C1E7C1E6C1E5C1E4C1E3C175 -:10002000E2C1E1C1E0C120556E646566696E656438 -:100030000020525833532056310020525833532059 -:1000400056322F563300204E616E6F57696900207B -:100050004561676C6520413350726F002052583300 -:10006000534D00204D696E69204D57430020464C8A -:10007000495020312E3500260031003A0046004F0D 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+:101E6C00010002000300010001000100010001005B +:101E7C000100040005000500060000000007020830 +:101E8C000001000100010000000000010001000140 +:101E9C000001000100010080FF00000000010003B0 +:101EAC0000090004001400070002000300030004F2 +:101EBC0000020002007F00E803E80304002A01008E +:101ECC00020202040205020D020F02110213021596 +:101EDC0002170219021E0124012B0100000001014E +:101EEC0001020202000102000102000102524554EB +:101EFC0041316132660002030504000000005C08F9 +:101F0C00BD0B000040001400540000000000180B32 +:0A1F1C00BD0BAE0ADF0ABF0A080B76 +:00000001FF diff --git a/CMakeLists.txt b/CMakeLists.txt index 0065d66..1300fd1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -102,7 +102,6 @@ add_arduino_firmware(${TODAY}_FLIP_1_5_SPEKTRUM FlightStab pro5v328 "FLIP_1_5;SE add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS") add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLH FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL") add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLM FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL;SERIALRX_DEFMPX") -add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS_MAX_TRAVEL FlightStab pro5v "FLIP_1_5;SERIALRX_SBUS;MAX_TRAVEL") # RX3S V1/V2V3/RX3SM 16MHz add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1") @@ -132,3 +131,4 @@ add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEV add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE") add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG") add_arduino_firmware(TEST_FLIP_1_5_SBUS_DEBUG FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS;FLIP_SERIALRX_DEBUG") + diff --git a/Docs/2015-01-30 Change Log.txt b/Docs/2015-01-30 Change Log.txt new file mode 100644 index 0000000..2672abd --- /dev/null +++ b/Docs/2015-01-30 Change Log.txt @@ -0,0 +1,61 @@ +2015-01-30 FlightStab Change Log + + +2015-01-30 +SerialRX.ino +Use #define for mid channel value instead of hard coded 1520 + +Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us +and new wing mode RUD 2-ELE 2-AIL + +Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing +mode. + +New wing mode required increasing the size of arrays mix_out_low_limit, +mix_out_high_limit and zero_correction. + +Size of pout2[] in apply_mixer() also increased to allow tracking of flap +channel limits as flp_out2 is used for second elevator. Size of loop applying +limits is now dyanmic to allow flap channel to act as unconstrained pass through +when not being used for second elevator. + +Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need. + + +20141216 +FlightStab.ino and SerialRX.ino +Add support for Multiplex and HoTT SRXL Protocol + +FlightStab.ino +Add Flip 1.5 Build that allows 900us to 2100us travel + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + + + + + + + diff --git a/FlightStab/FlightStab.h b/FlightStab/FlightStab.h index 2c34d7e..21c2bfb 100644 --- a/FlightStab/FlightStab.h +++ b/FlightStab/FlightStab.h @@ -8,15 +8,15 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 8; +const int8_t eeprom_cfg_ver = 10; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; enum WING_MODE {WING_USE_DIPSW=1, WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL, WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL, - WING_DUCKERON}; -enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK}; + WING_DUCKERON,WING_RUD_2ELE_2AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 393b4c7..197dfa5 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -37,8 +37,6 @@ bool ow_loop(); // OneWireSerial.ino //#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT //#define SERIALRX_DEFMPX // default MPX channel mapping -//#define MAX_TRAVEL // Use travel of 900us-2100us in place of 1000us-2000us - //#define NO_ONEWIRE // remove one-wire serial config code //#define NO_STICKCONFIG // remove stick config code @@ -702,8 +700,8 @@ int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) // stabilizer output int16_t correction[3] = {0, 0, 0}; -int16_t mixer_out2_low_limit[4]; -int16_t mixer_out2_high_limit[4]; +int16_t mixer_out2_low_limit[5]; +int16_t mixer_out2_high_limit[5]; // configuration struct _eeprom_cfg cfg; @@ -1865,17 +1863,27 @@ void apply_mixer_change(int16_t *change) ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1 rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2 break; + + case WING_RUD_2ELE_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; // ELE-L + flp_out2 = flp_in2 - change[1]; // ELE-R + rud_out2 = rud_in2 + change[2]; + break; } + // throttle, flap and aux2 pass through - thr_out2 = thr_in2; - flp_out2 = flp_in2; + thr_out2 = thr_in2; + if(wing_mode != WING_RUD_2ELE_2AIL) // aux2_out has been used for second elevator + flp_out2 = flp_in2; aux2_out2 = aux2_in2; } void set_mixer_limits(int16_t low, int16_t high) { - for (int8_t i=0; i<4; i++) { + for (int8_t i=0; i<5; i++) { mixer_out2_low_limit[i] = low; mixer_out2_high_limit[i] = high; } @@ -1885,14 +1893,15 @@ void apply_mixer() { // *_in2 => [correction] => *_out2 - static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2}; + static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2}; int8_t i; + int8_t cnt; // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through) if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) { - const int16_t zero_correction[4] = {0, 0, 0, 0}; + const int16_t zero_correction[5] = {0, 0, 0, 0, 0}; apply_mixer_change((int16_t *)zero_correction); - for (i=0; i<4; i++) { + for (i=0; i<5; i++) { mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]); mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]); } @@ -1900,7 +1909,13 @@ void apply_mixer() // apply mixer with actual correction and clamp servo output to limits apply_mixer_change(correction); - for (i=0; i<4; i++) { + // Do not constrain Flap channel unless it is being used for left elevator + if (cfg.mixer_epa_mode == MIXER_EPA_MAX) + cnt = 5; + else + cnt = 4; + + for (i=0; i RX_WIDTH_MAX) { - servo_out = constrain(servo_out, RX_WIDTH_MIN, RX_WIDTH_MAX); -#else if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); -#endif servo_dir = -servo_dir; } ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; @@ -2450,20 +2460,18 @@ void setup() // set mixer limits based on configuration switch (cfg.mixer_epa_mode) { -#if defined (MAX_TRAVEL) || defined(SERIALRX_DEFMPX) - case MIXER_EPA_FULL: // 900-2100 - set_mixer_limits(RX_WIDTH_MIN, RX_WIDTH_MAX); -#else case MIXER_EPA_FULL: // 1000-2000 set_mixer_limits(RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); -#endif break; case MIXER_EPA_NORM: // 1100-1900 set_mixer_limits(RX_WIDTH_LOW_NORM, RX_WIDTH_HIGH_NORM); break; case MIXER_EPA_TRACK: // 1250-1750 initially and track set_mixer_limits(RX_WIDTH_LOW_TRACK, RX_WIDTH_HIGH_TRACK); - break; + break; + case MIXER_EPA_MAX: // 900-2100 + set_mixer_limits(RX_WIDTH_MIN, RX_WIDTH_MAX); + break; } minimum_servo_frame_time = cfg.servo_frame_rate * 1000; // ms to us diff --git a/FlightStab/SerialRX.ino b/FlightStab/SerialRX.ino index 0a588f1..5415244 100644 --- a/FlightStab/SerialRX.ino +++ b/FlightStab/SerialRX.ino @@ -18,7 +18,7 @@ int8_t rshift; // The following value is added to the received pulse count // to make the center pulse width = 1500 when the TX output is 1500 // TODO(noobee): i guess we would need to make this configurable.. -#define SBUS_OFFSET 1008 // 1009 for Futaba R6208SB, 1008 for Taranis FRSKY X8R, 984 for Orange R800x +#define SBUS_OFFSET 1005 // 1009 for Futaba R6208SB, 1005 for Taranis FRSKY X8R, 984 for Orange R800x //jrb - added 20140829 Use defines for SBUS Constants instead of hard coded numbers // SBUS unique defines @@ -307,10 +307,10 @@ jrb*/ // Adjust the actual value by +/-25%. Sign determined by pulse width above or below center of 1520us for(adj_index=0; adj_index> 2; + if (*p[adj_index] < RX_WIDTH_MID) + *p[adj_index] -= (RX_WIDTH_MID - *p[adj_index]) >> 2; else - *p[adj_index] += (*p[adj_index] - 1520) >> 2; + *p[adj_index] += (*p[adj_index] - RX_WIDTH_MID) >> 2; } index = 0; sbus_return = true; From 78ff4b522dd81641335280c3138e03cc0b2ab1b6 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 2 Feb 2015 11:13:53 -0500 Subject: [PATCH 10/29] Move Gain Hysteresis into HOLD Mode range --- ...130_AQUASTAR.hex => 20150202_AQUASTAR.hex} | 0 .../{20150130_DLUX.hex => 20150202_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20150202_EAGLE_A3PRO.hex} | 12 ++-- ...> 20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 12 ++-- ...130_FLIP_1_5.hex => 20150202_FLIP_1_5.hex} | 14 ++--- ..._5_CPPM.hex => 20150202_FLIP_1_5_CPPM.hex} | 12 ++-- ..._5_SBUS.hex => 20150202_FLIP_1_5_SBUS.hex} | 12 ++-- ...RUM.hex => 20150202_FLIP_1_5_SPEKTRUM.hex} | 14 ++--- ..._SRXLH.hex => 20150202_FLIP_1_5_SRXLH.hex} | 14 ++--- ..._SRXLM.hex => 20150202_FLIP_1_5_SRXLM.hex} | 14 ++--- ...WC_CPPM.hex => 20150202_MINI_MWC_CPPM.hex} | 12 ++-- ...=> 20150202_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 12 ++-- ...WC_SBUS.hex => 20150202_MINI_MWC_SBUS.hex} | 12 ++-- ...RUM.hex => 20150202_MINI_MWC_SPEKTRUM.hex} | 14 ++--- ..._SRXLH.hex => 20150202_MINI_MWC_SRXLH.hex} | 14 ++--- ..._SRXLM.hex => 20150202_MINI_MWC_SRXLM.hex} | 14 ++--- ...50130_NANOWII.hex => 20150202_NANOWII.hex} | 12 ++-- ...WII_CPPM.hex => 20150202_NANOWII_CPPM.hex} | 14 ++--- ...WII_SBUS.hex => 20150202_NANOWII_SBUS.hex} | 12 ++-- ...TRUM.hex => 20150202_NANOWII_SPEKTRUM.hex} | 14 ++--- ...I_SRXLH.hex => 20150202_NANOWII_SRXLH.hex} | 14 ++--- ...I_SRXLM.hex => 20150202_NANOWII_SRXLM.hex} | 14 ++--- ...{20150130_RX3SM.hex => 20150202_RX3SM.hex} | 12 ++-- ...50130_RX3S_V1.hex => 20150202_RX3S_V1.hex} | 12 ++-- ..._V1_CPPM.hex => 20150202_RX3S_V1_CPPM.hex} | 14 ++--- ..._V1_SBUS.hex => 20150202_RX3S_V1_SBUS.hex} | 12 ++-- ...TRUM.hex => 20150202_RX3S_V1_SPEKTRUM.hex} | 14 ++--- ...50130_RX3S_V2.hex => 20150202_RX3S_V2.hex} | 12 ++-- ...=> 20150202_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 12 ++-- ..._V2_CPPM.hex => 20150202_RX3S_V2_CPPM.hex} | 14 ++--- ..._V2_SBUS.hex => 20150202_RX3S_V2_SBUS.hex} | 12 ++-- ...TRUM.hex => 20150202_RX3S_V2_SPEKTRUM.hex} | 14 ++--- ...2_SRXLH.hex => 20150202_RX3S_V2_SRXLH.hex} | 12 ++-- ...2_SRXLM.hex => 20150202_RX3S_V2_SRXLM.hex} | 12 ++-- ...50130_TGY160A.hex => 20150202_TGY160A.hex} | 0 Docs/2014-12-16 Change Log.txt | 40 ------------ Docs/2015-01-30 Change Log.txt | 61 ------------------- FlightStab/FlightStab.ino | 7 ++- 38 files changed, 211 insertions(+), 311 deletions(-) rename Builds/{20150130_AQUASTAR.hex => 20150202_AQUASTAR.hex} (100%) rename Builds/{20150130_DLUX.hex => 20150202_DLUX.hex} (100%) rename Builds/{20150130_EAGLE_A3PRO.hex => 20150202_EAGLE_A3PRO.hex} (99%) rename Builds/{20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex} (99%) rename Builds/{20150130_FLIP_1_5.hex => 20150202_FLIP_1_5.hex} (99%) rename Builds/{20150130_FLIP_1_5_CPPM.hex => 20150202_FLIP_1_5_CPPM.hex} (99%) rename Builds/{20150130_FLIP_1_5_SBUS.hex => 20150202_FLIP_1_5_SBUS.hex} (99%) rename Builds/{20150130_FLIP_1_5_SPEKTRUM.hex => 20150202_FLIP_1_5_SPEKTRUM.hex} (99%) rename Builds/{20150130_FLIP_1_5_SRXLH.hex => 20150202_FLIP_1_5_SRXLH.hex} (99%) rename Builds/{20150130_FLIP_1_5_SRXLM.hex => 20150202_FLIP_1_5_SRXLM.hex} (99%) rename Builds/{20150130_MINI_MWC_CPPM.hex => 20150202_MINI_MWC_CPPM.hex} (99%) rename Builds/{20150130_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20150202_MINI_MWC_CPPM_EXTERNAL_RX.hex} (99%) rename Builds/{20150130_MINI_MWC_SBUS.hex => 20150202_MINI_MWC_SBUS.hex} (99%) rename Builds/{20150130_MINI_MWC_SPEKTRUM.hex => 20150202_MINI_MWC_SPEKTRUM.hex} (99%) rename Builds/{20150130_MINI_MWC_SRXLH.hex => 20150202_MINI_MWC_SRXLH.hex} (99%) rename Builds/{20150130_MINI_MWC_SRXLM.hex => 20150202_MINI_MWC_SRXLM.hex} (99%) rename Builds/{20150130_NANOWII.hex => 20150202_NANOWII.hex} (99%) rename Builds/{20150130_NANOWII_CPPM.hex => 20150202_NANOWII_CPPM.hex} (99%) rename Builds/{20150130_NANOWII_SBUS.hex => 20150202_NANOWII_SBUS.hex} (99%) rename Builds/{20150130_NANOWII_SPEKTRUM.hex => 20150202_NANOWII_SPEKTRUM.hex} (99%) rename Builds/{20150130_NANOWII_SRXLH.hex => 20150202_NANOWII_SRXLH.hex} (99%) rename Builds/{20150130_NANOWII_SRXLM.hex => 20150202_NANOWII_SRXLM.hex} (99%) rename Builds/{20150130_RX3SM.hex => 20150202_RX3SM.hex} (99%) rename Builds/{20150130_RX3S_V1.hex => 20150202_RX3S_V1.hex} (99%) rename Builds/{20150130_RX3S_V1_CPPM.hex => 20150202_RX3S_V1_CPPM.hex} (99%) rename Builds/{20150130_RX3S_V1_SBUS.hex => 20150202_RX3S_V1_SBUS.hex} (99%) rename Builds/{20150130_RX3S_V1_SPEKTRUM.hex => 20150202_RX3S_V1_SPEKTRUM.hex} (99%) rename Builds/{20150130_RX3S_V2.hex => 20150202_RX3S_V2.hex} (99%) rename Builds/{20150130_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20150202_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (99%) rename Builds/{20150130_RX3S_V2_CPPM.hex => 20150202_RX3S_V2_CPPM.hex} (99%) rename Builds/{20150130_RX3S_V2_SBUS.hex => 20150202_RX3S_V2_SBUS.hex} (99%) rename Builds/{20150130_RX3S_V2_SPEKTRUM.hex => 20150202_RX3S_V2_SPEKTRUM.hex} (99%) rename Builds/{20150130_RX3S_V2_SRXLH.hex => 20150202_RX3S_V2_SRXLH.hex} (99%) rename Builds/{20150130_RX3S_V2_SRXLM.hex => 20150202_RX3S_V2_SRXLM.hex} (99%) rename Builds/{20150130_TGY160A.hex => 20150202_TGY160A.hex} (100%) delete mode 100644 Docs/2014-12-16 Change Log.txt delete mode 100644 Docs/2015-01-30 Change Log.txt diff --git a/Builds/20150130_AQUASTAR.hex b/Builds/20150202_AQUASTAR.hex similarity index 100% rename from Builds/20150130_AQUASTAR.hex rename to Builds/20150202_AQUASTAR.hex diff --git a/Builds/20150130_DLUX.hex b/Builds/20150202_DLUX.hex similarity index 100% rename from Builds/20150130_DLUX.hex rename to Builds/20150202_DLUX.hex diff --git a/Builds/20150130_EAGLE_A3PRO.hex b/Builds/20150202_EAGLE_A3PRO.hex similarity index 99% rename from Builds/20150130_EAGLE_A3PRO.hex rename to Builds/20150202_EAGLE_A3PRO.hex index 45894b6..1540b98 100644 --- a/Builds/20150130_EAGLE_A3PRO.hex +++ b/Builds/20150202_EAGLE_A3PRO.hex @@ -503,9 +503,9 @@ :101F6000821B930B9093BD018093BC0193CED6014D :101F7000C50186199709A809B90981519742A0405E :101F8000B0400CF424C38091490290914A02813000 -:101F9000910559F48091B0019091B101845C954014 +:101F9000910559F48091B0019091B101865F95400F :101FA0000CF09BC080E090E00DC0892B09F095C03B -:101FB0008091B0019091B101855F95400CF48DC086 +:101FB0008091B0019091B101875296400CF48DC090 :101FC00081E090E090934A0280934902892B11F0BE :101FD00084E001C080E08093530268EC70E070936D :101FE0005902609358021092A6021092A702109212 @@ -541,11 +541,11 @@ :1021C00004C0882799278A1B9B0BBC0102C0660F9D :1021D000771F2A95E2F781E06139780714F060E90A :1021E00071E010E9612E11E0712E661A770A7C8683 -:1021F0006B862091B0013091B10195E02D3D3907FA -:102200002CF067E02D3636075CF007C08CED95E0CA +:1021F0006B862091B0013091B10196E02F30390704 +:102200002CF067E02F3936075CF007C08EE096E0CF :10221000821B930B815991401CF000E911E011C021 -:1022200085E02D3D380724F089010C5D154004C080 -:102230000CED15E0021B130B0931110514F400E03D +:1022200086E02F30380724F089010E50164004C094 +:102230000EE016E0021B130B0931110514F400E047 :1022400010E08090490290904A0291E08916910432 :1022500059F08114910409F050C0809119029091B5 :102260001A02029709F049C0809117029A01082EBC diff --git a/Builds/20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex similarity index 99% rename from Builds/20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex rename to Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex index 87c7636..7d8ca9b 100644 --- a/Builds/20150130_EAGLE_A3PRO_NO_STICKCONFIG.hex +++ b/Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex @@ -394,9 +394,9 @@ :101890001801821B930B90939D0180939C01FECEB7 :1018A000D601C50186199709A809B909815197423E :1018B000A040B0400CF419C38091290290912A02F3 -:1018C0008130910559F48091900190919101845C4F 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b/Builds/20150202_FLIP_1_5.hex similarity index 99% rename from Builds/20150130_FLIP_1_5.hex rename to Builds/20150202_FLIP_1_5.hex index 731b7a8..8ac0b27 100644 --- a/Builds/20150130_FLIP_1_5.hex +++ b/Builds/20150202_FLIP_1_5.hex @@ -505,9 +505,9 @@ :101F8000B00193CED601C50186199709A809B909F0 :101F900081519742A040B0400CF424C380913B0291 :101FA00090913C028130910559F48091A401909167 -:101FB000A501845C95400CF09BC080E090E00DC0D2 -:101FC000892B09F095C08091A4019091A501855FAE -:101FD00095400CF48DC081E090E090933C0280939A +:101FB000A501865F95400CF09BC080E090E00DC0CD +:101FC000892B09F095C08091A4019091A5018752B9 +:101FD00096400CF48DC081E090E090933C02809399 :101FE0003B02892B11F084E001C080E08093450220 :101FF00068EC70E070934B0260934A021092940276 :102000001092950210929602109297021092A002DE @@ -543,10 +543,10 @@ :1021E000BC0102C0660F771F2A95E2F781E06139D2 :1021F000780714F060E971E010E9612E11E0712EAA :10220000661A770A7C866B862091A4013091A5011D -:1022100095E02D3D39072CF067E02D3636075CF050 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coded numbers. -Use defines for receive buffer size. -Limit while loop to not exceed receive buffer size. -Check for 0x00 value in byte 25 of sbus frame to validate frame. - - -20140505 -FlightStab.ino -Add missing defined(FLIP_1_5) in Setup function - - -FlightStab.ino -Fix logic bug in uint8_t i2c_read_reg() function - - - - - - - - diff --git a/Docs/2015-01-30 Change Log.txt b/Docs/2015-01-30 Change Log.txt deleted file mode 100644 index 2672abd..0000000 --- a/Docs/2015-01-30 Change Log.txt +++ /dev/null @@ -1,61 +0,0 @@ -2015-01-30 FlightStab Change Log - - -2015-01-30 -SerialRX.ino -Use #define for mid channel value instead of hard coded 1520 - -Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us -and new wing mode RUD 2-ELE 2-AIL - -Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing -mode. - -New wing mode required increasing the size of arrays mix_out_low_limit, -mix_out_high_limit and zero_correction. - -Size of pout2[] in apply_mixer() also increased to allow tracking of flap -channel limits as flp_out2 is used for second elevator. Size of loop applying -limits is now dyanmic to allow flap channel to act as unconstrained pass through -when not being used for second elevator. - -Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need. - - -20141216 -FlightStab.ino and SerialRX.ino -Add support for Multiplex and HoTT SRXL Protocol - -FlightStab.ino -Add Flip 1.5 Build that allows 900us to 2100us travel - - -20140831 -SerialRX.ino -Use timer to determine if received serial data is crossing 2 frames -for both SBUS & Spektrum - - -20140829 -SerialRX.ino -Use #defines for SBUS & Spektrum constants instead of hard coded numbers. -Use defines for receive buffer size. -Limit while loop to not exceed receive buffer size. -Check for 0x00 value in byte 25 of sbus frame to validate frame. - - -20140505 -FlightStab.ino -Add missing defined(FLIP_1_5) in Setup function - - -FlightStab.ino -Fix logic bug in uint8_t i2c_read_reg() function - - - - - - - - diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 197dfa5..1fcf9e2 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -652,6 +652,7 @@ volatile uint8_t rud_vr = 255; #define RX_WIDTH_LOW_NORM 1100 #define RX_WIDTH_LOW_TRACK 1250 #define RX_WIDTH_MID 1500 +#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode #define RX_WIDTH_HIGH_TRACK 1750 #define RX_WIDTH_HIGH_NORM 1900 #define RX_WIDTH_HIGH_FULL 2000 @@ -2684,8 +2685,8 @@ again: // stabilization mode enum STAB_MODE stab_mode2 = - (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MID - 25) ? STAB_RATE : - (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis + (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - 25) ? STAB_RATE : + (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region if (stab_mode2 != stab_mode) { stab_mode = stab_mode2; @@ -2729,7 +2730,7 @@ again: stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max); // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX] - master_gain = constrain(abs(aux_in2 - RX_WIDTH_MID), 0, master_gain_max); + master_gain = constrain(abs(aux_in2 - RX_WIDTH_MODE_MID), 0, master_gain_max); if (master_gain < 25) master_gain = 0; // deadband // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) From 2cd64d3721a9a8a4d82beebf0631d82d4bf242d1 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 2 Feb 2015 11:21:24 -0500 Subject: [PATCH 11/29] Move gain hysteresis into Hold Mode range --- Docs/2015-02-01 Change Log.txt | 67 ++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 Docs/2015-02-01 Change Log.txt diff --git a/Docs/2015-02-01 Change Log.txt b/Docs/2015-02-01 Change Log.txt new file mode 100644 index 0000000..8208338 --- /dev/null +++ b/Docs/2015-02-01 Change Log.txt @@ -0,0 +1,67 @@ +2015-02-01 FlightStab Change Log + + +2015-02-01 FlightStab.ino +Add #define RX_WIDTH_MODE_MID 1550 +This new value will be used to move gain input hysteresis to reside entirelly in +the Hold Mode Range. This forces Rate Mode for any value below 1525 which +insures resetting any Hold Mode corrections when gain is set to 0. + +2015-01-30 +SerialRX.ino +Use #define for mid channel value instead of hard coded 1520 + +Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us +and new wing mode RUD 2-ELE 2-AIL + +Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing +mode. + +New wing mode required increasing the size of arrays mix_out_low_limit, +mix_out_high_limit and zero_correction. + +Size of pout2[] in apply_mixer() also increased to allow tracking of flap +channel limits as flp_out2 is used for second elevator. Size of loop applying +limits is now dyanmic to allow flap channel to act as unconstrained pass through +when not being used for second elevator. + +Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need. + + +20141216 +FlightStab.ino and SerialRX.ino +Add support for Multiplex and HoTT SRXL Protocol + +FlightStab.ino +Add Flip 1.5 Build that allows 900us to 2100us travel + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + + + + + + + From 635495444fafb0b895fcade7735e2594857d8222 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 3 Feb 2015 11:21:37 -0500 Subject: [PATCH 12/29] Correct Mixer EPA application in RUD 2-ELE 2-AIL mode --- .../20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex | 743 ------------------ ...202_AQUASTAR.hex => 20150203_AQUASTAR.hex} | 0 .../{20150202_DLUX.hex => 20150203_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20150203_EAGLE_A3PRO.hex} | 12 +- .../20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex | 743 ++++++++++++++++++ ...202_FLIP_1_5.hex => 20150203_FLIP_1_5.hex} | 2 +- ..._5_CPPM.hex => 20150203_FLIP_1_5_CPPM.hex} | 2 +- ..._5_SBUS.hex => 20150203_FLIP_1_5_SBUS.hex} | 4 +- ...RUM.hex => 20150203_FLIP_1_5_SPEKTRUM.hex} | 4 +- ..._SRXLH.hex => 20150203_FLIP_1_5_SRXLH.hex} | 4 +- ..._SRXLM.hex => 20150203_FLIP_1_5_SRXLM.hex} | 4 +- ...WC_CPPM.hex => 20150203_MINI_MWC_CPPM.hex} | 2 +- ...=> 20150203_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 8 +- ...WC_SBUS.hex => 20150203_MINI_MWC_SBUS.hex} | 4 +- ...RUM.hex => 20150203_MINI_MWC_SPEKTRUM.hex} | 4 +- ..._SRXLH.hex => 20150203_MINI_MWC_SRXLH.hex} | 4 +- ..._SRXLM.hex => 20150203_MINI_MWC_SRXLM.hex} | 4 +- ...50202_NANOWII.hex => 20150203_NANOWII.hex} | 10 +- ...WII_CPPM.hex => 20150203_NANOWII_CPPM.hex} | 2 +- ...WII_SBUS.hex => 20150203_NANOWII_SBUS.hex} | 4 +- ...TRUM.hex => 20150203_NANOWII_SPEKTRUM.hex} | 4 +- ...I_SRXLH.hex => 20150203_NANOWII_SRXLH.hex} | 4 +- ...I_SRXLM.hex => 20150203_NANOWII_SRXLM.hex} | 4 +- ...{20150202_RX3SM.hex => 20150203_RX3SM.hex} | 16 +- ...50202_RX3S_V1.hex => 20150203_RX3S_V1.hex} | 16 +- ..._V1_CPPM.hex => 20150203_RX3S_V1_CPPM.hex} | 8 +- ..._V1_SBUS.hex => 20150203_RX3S_V1_SBUS.hex} | 4 +- ...TRUM.hex => 20150203_RX3S_V1_SPEKTRUM.hex} | 4 +- ...50202_RX3S_V2.hex => 20150203_RX3S_V2.hex} | 12 +- ...=> 20150203_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 12 +- ..._V2_CPPM.hex => 20150203_RX3S_V2_CPPM.hex} | 14 +- ..._V2_SBUS.hex => 20150203_RX3S_V2_SBUS.hex} | 4 +- ...TRUM.hex => 20150203_RX3S_V2_SPEKTRUM.hex} | 4 +- ...2_SRXLH.hex => 20150203_RX3S_V2_SRXLH.hex} | 4 +- ...2_SRXLM.hex => 20150203_RX3S_V2_SRXLM.hex} | 4 +- ...50202_TGY160A.hex => 20150203_TGY160A.hex} | 0 ...ange Log.txt => 2015-02-03 Change Log.txt} | 7 +- 37 files changed, 842 insertions(+), 839 deletions(-) delete mode 100644 Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex rename Builds/{20150202_AQUASTAR.hex => 20150203_AQUASTAR.hex} (100%) rename Builds/{20150202_DLUX.hex => 20150203_DLUX.hex} (100%) rename Builds/{20150202_EAGLE_A3PRO.hex => 20150203_EAGLE_A3PRO.hex} (99%) create mode 100644 Builds/20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex rename Builds/{20150202_FLIP_1_5.hex => 20150203_FLIP_1_5.hex} (99%) rename Builds/{20150202_FLIP_1_5_CPPM.hex => 20150203_FLIP_1_5_CPPM.hex} (99%) rename Builds/{20150202_FLIP_1_5_SBUS.hex => 20150203_FLIP_1_5_SBUS.hex} (99%) rename Builds/{20150202_FLIP_1_5_SPEKTRUM.hex => 20150203_FLIP_1_5_SPEKTRUM.hex} (99%) rename Builds/{20150202_FLIP_1_5_SRXLH.hex => 20150203_FLIP_1_5_SRXLH.hex} (99%) rename Builds/{20150202_FLIP_1_5_SRXLM.hex => 20150203_FLIP_1_5_SRXLM.hex} (99%) rename Builds/{20150202_MINI_MWC_CPPM.hex => 20150203_MINI_MWC_CPPM.hex} (99%) rename Builds/{20150202_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20150203_MINI_MWC_CPPM_EXTERNAL_RX.hex} (99%) rename Builds/{20150202_MINI_MWC_SBUS.hex => 20150203_MINI_MWC_SBUS.hex} (99%) rename Builds/{20150202_MINI_MWC_SPEKTRUM.hex => 20150203_MINI_MWC_SPEKTRUM.hex} (99%) rename Builds/{20150202_MINI_MWC_SRXLH.hex => 20150203_MINI_MWC_SRXLH.hex} (99%) rename Builds/{20150202_MINI_MWC_SRXLM.hex => 20150203_MINI_MWC_SRXLM.hex} (99%) rename Builds/{20150202_NANOWII.hex => 20150203_NANOWII.hex} (99%) rename Builds/{20150202_NANOWII_CPPM.hex => 20150203_NANOWII_CPPM.hex} (99%) rename Builds/{20150202_NANOWII_SBUS.hex => 20150203_NANOWII_SBUS.hex} (99%) rename Builds/{20150202_NANOWII_SPEKTRUM.hex => 20150203_NANOWII_SPEKTRUM.hex} (99%) rename Builds/{20150202_NANOWII_SRXLH.hex => 20150203_NANOWII_SRXLH.hex} (99%) rename Builds/{20150202_NANOWII_SRXLM.hex => 20150203_NANOWII_SRXLM.hex} (99%) rename Builds/{20150202_RX3SM.hex => 20150203_RX3SM.hex} (99%) rename Builds/{20150202_RX3S_V1.hex => 20150203_RX3S_V1.hex} (99%) rename Builds/{20150202_RX3S_V1_CPPM.hex => 20150203_RX3S_V1_CPPM.hex} (99%) rename Builds/{20150202_RX3S_V1_SBUS.hex => 20150203_RX3S_V1_SBUS.hex} (99%) rename Builds/{20150202_RX3S_V1_SPEKTRUM.hex => 20150203_RX3S_V1_SPEKTRUM.hex} (99%) rename Builds/{20150202_RX3S_V2.hex => 20150203_RX3S_V2.hex} (99%) rename Builds/{20150202_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20150203_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (99%) rename Builds/{20150202_RX3S_V2_CPPM.hex => 20150203_RX3S_V2_CPPM.hex} (99%) rename Builds/{20150202_RX3S_V2_SBUS.hex => 20150203_RX3S_V2_SBUS.hex} (99%) rename Builds/{20150202_RX3S_V2_SPEKTRUM.hex => 20150203_RX3S_V2_SPEKTRUM.hex} (99%) rename Builds/{20150202_RX3S_V2_SRXLH.hex => 20150203_RX3S_V2_SRXLH.hex} (99%) rename Builds/{20150202_RX3S_V2_SRXLM.hex => 20150203_RX3S_V2_SRXLM.hex} (99%) rename Builds/{20150202_TGY160A.hex => 20150203_TGY160A.hex} (100%) rename Docs/{2015-02-01 Change Log.txt => 2015-02-03 Change Log.txt} (88%) diff --git a/Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex deleted file mode 100644 index 7d8ca9b..0000000 --- a/Builds/20150202_EAGLE_A3PRO_NO_STICKCONFIG.hex +++ /dev/null @@ -1,743 +0,0 @@ -:100000000C9469000C9486000C9486000C94980360 -:100010000C9486000C9422040C9486000C948600A8 -:100020000C9486000C9486000C9486000C948B1122 -:100030000C9486000C9488000C9486000C94860026 -:100040000C94B5140C9486000C9486000C948600D5 -:100050000C9486000C94B7020C9486000C948600D5 -:100060000C9486000C9486002D084F0810092D086A -:100070004F0810095909C809000000002400270092 -:100080002A0000000000250028002B0000000000CE -:1000900023002600290004040404040404040202CA -:1000A00002020202030303030303010204081020F7 -:1000B0004080010204081020010204081020000002 -:1000C0000007000201000003040600000000000019 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a/Builds/20150202_RX3S_V2_SPEKTRUM.hex b/Builds/20150203_RX3S_V2_SPEKTRUM.hex similarity index 99% rename from Builds/20150202_RX3S_V2_SPEKTRUM.hex rename to Builds/20150203_RX3S_V2_SPEKTRUM.hex index 1c986d4..43b2dc2 100644 --- a/Builds/20150202_RX3S_V2_SPEKTRUM.hex +++ b/Builds/20150203_RX3S_V2_SPEKTRUM.hex @@ -289,8 +289,8 @@ :10120000C901F80191838083FA0120813181FB01BA :1012100080819181821793070CF4C901FA018193AF :101220009193AF0112960E5F1F4FF1E0A23DBF07F1 -:10123000D9F686E292E00E94C30680914302909123 -:101240004402049711F074E001C075E060E080E0B2 +:10123000D9F686E292E00E94C306809184029091E2 +:101240008502099711F074E001C075E060E080E06C :1012500090E0FC01E853FE4FA081B1814D915C917B :101260001197FC01E45DFD4F0190F081E02D4E17D8 :101270005F0754F0FC01EA5CFD4F20813181FA01E7 diff --git a/Builds/20150202_RX3S_V2_SRXLH.hex b/Builds/20150203_RX3S_V2_SRXLH.hex similarity index 99% rename from Builds/20150202_RX3S_V2_SRXLH.hex rename to Builds/20150203_RX3S_V2_SRXLH.hex index db51083..ba8059f 100644 --- a/Builds/20150202_RX3S_V2_SRXLH.hex +++ b/Builds/20150203_RX3S_V2_SRXLH.hex @@ -289,8 +289,8 @@ :10120000C901F80191838083FA0120813181FB01BA :1012100080819181821793070CF4C901FA018193AF :101220009193AF0112960E5F1F4FF1E0A23DBF07F1 -:10123000D9F686E292E00E94C30680914302909123 -:101240004402049711F074E001C075E060E080E0B2 +:10123000D9F686E292E00E94C306809184029091E2 +:101240008502099711F074E001C075E060E080E06C :1012500090E0FC01E853FE4FA081B1814D915C917B :101260001197FC01E45DFD4F0190F081E02D4E17D8 :101270005F0754F0FC01EA5CFD4F20813181FA01E7 diff --git a/Builds/20150202_RX3S_V2_SRXLM.hex b/Builds/20150203_RX3S_V2_SRXLM.hex similarity index 99% rename from Builds/20150202_RX3S_V2_SRXLM.hex rename to Builds/20150203_RX3S_V2_SRXLM.hex index 680ef30..589a49c 100644 --- a/Builds/20150202_RX3S_V2_SRXLM.hex +++ b/Builds/20150203_RX3S_V2_SRXLM.hex @@ -289,8 +289,8 @@ :10120000C901F80191838083FA0120813181FB01BA :1012100080819181821793070CF4C901FA018193AF :101220009193AF0112960E5F1F4FF1E0A23DBF07F1 -:10123000D9F686E292E00E94C30680914302909123 -:101240004402049711F074E001C075E060E080E0B2 +:10123000D9F686E292E00E94C306809184029091E2 +:101240008502099711F074E001C075E060E080E06C :1012500090E0FC01E853FE4FA081B1814D915C917B :101260001197FC01E45DFD4F0190F081E02D4E17D8 :101270005F0754F0FC01EA5CFD4F20813181FA01E7 diff --git a/Builds/20150202_TGY160A.hex b/Builds/20150203_TGY160A.hex similarity index 100% rename from Builds/20150202_TGY160A.hex rename to Builds/20150203_TGY160A.hex diff --git a/Docs/2015-02-01 Change Log.txt b/Docs/2015-02-03 Change Log.txt similarity index 88% rename from Docs/2015-02-01 Change Log.txt rename to Docs/2015-02-03 Change Log.txt index 8208338..83841cf 100644 --- a/Docs/2015-02-01 Change Log.txt +++ b/Docs/2015-02-03 Change Log.txt @@ -1,7 +1,10 @@ -2015-02-01 FlightStab Change Log +2015-02-03 FlightStab Change Log -2015-02-01 FlightStab.ino +2015-02-03 FlightStab.ino MIXER_EPA settings were not being properly applied to +ELE-R (normally Flap) channel. Corrected firmware bug after Mixer was applied for +RUD 2-ELE 2-AIL mode. + Add #define RX_WIDTH_MODE_MID 1550 This new value will be used to move gain input hysteresis to reside entirelly in the Hold Mode Range. This forces Rate Mode for any value below 1525 which From 03961362a19cfc3b28cde4534972eb52e64847c7 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 3 Feb 2015 11:28:45 -0500 Subject: [PATCH 13/29] Correct Mixer EPA application in RUD 2-ELE 2-AIL mode --- Docs/2015-02-03 Change Log.txt | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/Docs/2015-02-03 Change Log.txt b/Docs/2015-02-03 Change Log.txt index 83841cf..8fa5438 100644 --- a/Docs/2015-02-03 Change Log.txt +++ b/Docs/2015-02-03 Change Log.txt @@ -1,10 +1,12 @@ 2015-02-03 FlightStab Change Log -2015-02-03 FlightStab.ino MIXER_EPA settings were not being properly applied to -ELE-R (normally Flap) channel. Corrected firmware bug after Mixer was applied for -RUD 2-ELE 2-AIL mode. +2015-02-03 FlightStab.ino +MIXER_EPA settings were not being properly applied to ELE-R (normally Flap) +channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL +mode. +2015-02-03 FlightStab.ino Add #define RX_WIDTH_MODE_MID 1550 This new value will be used to move gain input hysteresis to reside entirelly in the Hold Mode Range. This forces Rate Mode for any value below 1525 which From 3a788f0e4f945060426aa936c51684a93d3796a1 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 3 Feb 2015 18:32:18 -0500 Subject: [PATCH 14/29] Correct Mixer EPA application in RUD 2-ELE 2-AIL mode --- FlightStab/FlightStab.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 1fcf9e2..370c459 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -1911,7 +1911,7 @@ void apply_mixer() // apply mixer with actual correction and clamp servo output to limits apply_mixer_change(correction); // Do not constrain Flap channel unless it is being used for left elevator - if (cfg.mixer_epa_mode == MIXER_EPA_MAX) + if (wing_mode == WING_RUD_2ELE_2AIL) cnt = 5; else cnt = 4; From fc8b215e1c28b392fc4ec27b2006d6b5e0be231d Mon Sep 17 00:00:00 2001 From: John Beidl Date: Sat, 7 Feb 2015 17:04:42 -0500 Subject: [PATCH 15/29] Restore zero gain to 1475us - 1525us range --- ...203_AQUASTAR.hex => 20150207_AQUASTAR.hex} | 0 .../{20150203_DLUX.hex => 20150207_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20150207_EAGLE_A3PRO.hex} | 8 +- ...> 20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 10 +- ...203_FLIP_1_5.hex => 20150207_FLIP_1_5.hex} | 8 +- ..._5_CPPM.hex => 20150207_FLIP_1_5_CPPM.hex} | 8 +- ..._5_SBUS.hex => 20150207_FLIP_1_5_SBUS.hex} | 8 +- ...RUM.hex => 20150207_FLIP_1_5_SPEKTRUM.hex} | 10 +- ..._SRXLH.hex => 20150207_FLIP_1_5_SRXLH.hex} | 10 +- ..._SRXLM.hex => 20150207_FLIP_1_5_SRXLM.hex} | 10 +- ...WC_CPPM.hex => 20150207_MINI_MWC_CPPM.hex} | 8 +- ...=> 20150207_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 8 +- ...WC_SBUS.hex => 20150207_MINI_MWC_SBUS.hex} | 8 +- ...RUM.hex => 20150207_MINI_MWC_SPEKTRUM.hex} | 10 +- ..._SRXLH.hex => 20150207_MINI_MWC_SRXLH.hex} | 10 +- ..._SRXLM.hex => 20150207_MINI_MWC_SRXLM.hex} | 10 +- ...50203_NANOWII.hex => 20150207_NANOWII.hex} | 8 +- ...WII_CPPM.hex => 20150207_NANOWII_CPPM.hex} | 10 +- ...WII_SBUS.hex => 20150207_NANOWII_SBUS.hex} | 8 +- ...TRUM.hex => 20150207_NANOWII_SPEKTRUM.hex} | 10 +- ...I_SRXLH.hex => 20150207_NANOWII_SRXLH.hex} | 10 +- ...I_SRXLM.hex => 20150207_NANOWII_SRXLM.hex} | 10 +- ...{20150203_RX3SM.hex => 20150207_RX3SM.hex} | 8 +- ...50203_RX3S_V1.hex => 20150207_RX3S_V1.hex} | 8 +- ..._V1_CPPM.hex => 20150207_RX3S_V1_CPPM.hex} | 10 +- ..._V1_SBUS.hex => 20150207_RX3S_V1_SBUS.hex} | 8 +- ...TRUM.hex => 20150207_RX3S_V1_SPEKTRUM.hex} | 10 +- ...50203_RX3S_V2.hex => 20150207_RX3S_V2.hex} | 8 +- ...=> 20150207_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 8 +- ..._V2_CPPM.hex => 20150207_RX3S_V2_CPPM.hex} | 10 +- ..._V2_SBUS.hex => 20150207_RX3S_V2_SBUS.hex} | 8 +- ...TRUM.hex => 20150207_RX3S_V2_SPEKTRUM.hex} | 10 +- ...2_SRXLH.hex => 20150207_RX3S_V2_SRXLH.hex} | 8 +- ...2_SRXLM.hex => 20150207_RX3S_V2_SRXLM.hex} | 8 +- ...50203_TGY160A.hex => 20150207_TGY160A.hex} | 0 ...ange Log.txt => 2015-02-07 Change Log.txt} | 6 +- FlightStab/FlightStab.ino | 2814 ----------------- 37 files changed, 148 insertions(+), 2958 deletions(-) rename Builds/{20150203_AQUASTAR.hex => 20150207_AQUASTAR.hex} (100%) rename Builds/{20150203_DLUX.hex => 20150207_DLUX.hex} (100%) rename Builds/{20150203_EAGLE_A3PRO.hex => 20150207_EAGLE_A3PRO.hex} (99%) rename Builds/{20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex} (99%) rename Builds/{20150203_FLIP_1_5.hex => 20150207_FLIP_1_5.hex} (99%) rename Builds/{20150203_FLIP_1_5_CPPM.hex => 20150207_FLIP_1_5_CPPM.hex} (99%) rename Builds/{20150203_FLIP_1_5_SBUS.hex => 20150207_FLIP_1_5_SBUS.hex} (99%) rename Builds/{20150203_FLIP_1_5_SPEKTRUM.hex => 20150207_FLIP_1_5_SPEKTRUM.hex} (99%) rename Builds/{20150203_FLIP_1_5_SRXLH.hex => 20150207_FLIP_1_5_SRXLH.hex} (99%) rename Builds/{20150203_FLIP_1_5_SRXLM.hex => 20150207_FLIP_1_5_SRXLM.hex} (99%) rename Builds/{20150203_MINI_MWC_CPPM.hex => 20150207_MINI_MWC_CPPM.hex} (99%) rename Builds/{20150203_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20150207_MINI_MWC_CPPM_EXTERNAL_RX.hex} (99%) rename Builds/{20150203_MINI_MWC_SBUS.hex => 20150207_MINI_MWC_SBUS.hex} (99%) rename Builds/{20150203_MINI_MWC_SPEKTRUM.hex => 20150207_MINI_MWC_SPEKTRUM.hex} (99%) rename Builds/{20150203_MINI_MWC_SRXLH.hex => 20150207_MINI_MWC_SRXLH.hex} (99%) rename Builds/{20150203_MINI_MWC_SRXLM.hex => 20150207_MINI_MWC_SRXLM.hex} (99%) rename Builds/{20150203_NANOWII.hex => 20150207_NANOWII.hex} (99%) rename Builds/{20150203_NANOWII_CPPM.hex => 20150207_NANOWII_CPPM.hex} (99%) rename Builds/{20150203_NANOWII_SBUS.hex => 20150207_NANOWII_SBUS.hex} (99%) rename Builds/{20150203_NANOWII_SPEKTRUM.hex => 20150207_NANOWII_SPEKTRUM.hex} (99%) rename Builds/{20150203_NANOWII_SRXLH.hex => 20150207_NANOWII_SRXLH.hex} (99%) rename Builds/{20150203_NANOWII_SRXLM.hex => 20150207_NANOWII_SRXLM.hex} (99%) rename Builds/{20150203_RX3SM.hex => 20150207_RX3SM.hex} (99%) rename Builds/{20150203_RX3S_V1.hex => 20150207_RX3S_V1.hex} (99%) rename Builds/{20150203_RX3S_V1_CPPM.hex => 20150207_RX3S_V1_CPPM.hex} (99%) rename Builds/{20150203_RX3S_V1_SBUS.hex => 20150207_RX3S_V1_SBUS.hex} (99%) rename Builds/{20150203_RX3S_V1_SPEKTRUM.hex => 20150207_RX3S_V1_SPEKTRUM.hex} (99%) rename Builds/{20150203_RX3S_V2.hex => 20150207_RX3S_V2.hex} (99%) rename Builds/{20150203_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20150207_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (99%) rename Builds/{20150203_RX3S_V2_CPPM.hex => 20150207_RX3S_V2_CPPM.hex} (99%) rename Builds/{20150203_RX3S_V2_SBUS.hex => 20150207_RX3S_V2_SBUS.hex} (99%) rename Builds/{20150203_RX3S_V2_SPEKTRUM.hex => 20150207_RX3S_V2_SPEKTRUM.hex} (99%) rename Builds/{20150203_RX3S_V2_SRXLH.hex => 20150207_RX3S_V2_SRXLH.hex} (99%) rename Builds/{20150203_RX3S_V2_SRXLM.hex => 20150207_RX3S_V2_SRXLM.hex} (99%) rename Builds/{20150203_TGY160A.hex => 20150207_TGY160A.hex} (100%) rename Docs/{2015-02-03 Change Log.txt => 2015-02-07 Change Log.txt} (91%) delete mode 100644 FlightStab/FlightStab.ino diff --git a/Builds/20150203_AQUASTAR.hex b/Builds/20150207_AQUASTAR.hex similarity index 100% rename from Builds/20150203_AQUASTAR.hex rename to Builds/20150207_AQUASTAR.hex diff --git a/Builds/20150203_DLUX.hex b/Builds/20150207_DLUX.hex similarity index 100% rename from Builds/20150203_DLUX.hex rename to Builds/20150207_DLUX.hex diff --git a/Builds/20150203_EAGLE_A3PRO.hex b/Builds/20150207_EAGLE_A3PRO.hex similarity index 99% rename from Builds/20150203_EAGLE_A3PRO.hex rename to Builds/20150207_EAGLE_A3PRO.hex index 82fa36d..eb70f19 100644 --- a/Builds/20150203_EAGLE_A3PRO.hex +++ b/Builds/20150207_EAGLE_A3PRO.hex @@ -541,11 +541,11 @@ :1021C00004C0882799278A1B9B0BBC0102C0660F9D :1021D000771F2A95E2F781E06139780714F060E90A :1021E00071E010E9612E11E0712E661A770A7C8683 -:1021F0006B862091B0013091B10196E02F30390704 -:102200002CF067E02F3936075CF007C08EE096E0CF +:1021F0006B862091B0013091B10195E02D3D3907FA +:102200002CF067E02D3636075CF007C08CED95E0CA :10221000821B930B815991401CF000E911E011C021 -:1022200086E02F30380724F089010E50164004C094 -:102230000EE016E0021B130B0931110514F400E047 +:1022200085E02D3D380724F089010C5D154004C080 +:102230000CED15E0021B130B0931110514F400E03D :1022400010E08090490290904A0291E08916910432 :1022500059F08114910409F050C0809119029091B5 :102260001A02029709F049C0809117029A01082EBC diff --git a/Builds/20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex similarity index 99% rename from Builds/20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex rename to Builds/20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex index 7e3e3c0..c7cae87 100644 --- a/Builds/20150203_EAGLE_A3PRO_NO_STICKCONFIG.hex +++ b/Builds/20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex @@ -431,11 +431,11 @@ :101AE000882799278A1B9B0BBC0102C0660F771FB2 :101AF0002A95E2F781E06139780714F060E971E036 :101B000010E9812E11E0912E861A970A9C868B8609 -:101B1000209190013091910196E02F3039072CF0FF -:101B200067E02F3936075CF007C08EE096E0821B35 -:101B3000930B815991401CF000E911E011C086E03F -:101B40002F30380724F089010E50164004C00EE0F3 -:101B500016E0021B130B0931110514F400E010E02C +:101B1000209190013091910195E02D3D39072CF0F5 +:101B200067E02D3636075CF007C08CED95E0821B30 +:101B3000930B815991401CF000E911E011C085E040 +:101B40002D3D380724F089010C5D154004C00CEDD3 +:101B500015E0021B130B0931110514F400E010E02D :101B6000E0902902F0902A0291E0E916F10459F080 :101B7000E114F10409F050C08091F9019091FA014B :101B8000029709F049C08091F7019A01082E02C01E diff --git a/Builds/20150203_FLIP_1_5.hex b/Builds/20150207_FLIP_1_5.hex similarity index 99% rename from Builds/20150203_FLIP_1_5.hex rename to Builds/20150207_FLIP_1_5.hex index 8360093..a2ab0ec 100644 --- a/Builds/20150203_FLIP_1_5.hex +++ b/Builds/20150207_FLIP_1_5.hex @@ -543,10 +543,10 @@ :1021E000BC0102C0660F771F2A95E2F781E06139D2 :1021F000780714F060E971E010E9612E11E0712EAA :10220000661A770A7C866B862091A4013091A5011D -:1022100096E02F3039072CF067E02F3936075CF055 -:1022200007C08EE096E0821B930B815991401CF011 -:1022300000E911E011C086E02F30380724F0890151 -:102240000E50164004C00EE016E0021B130B0931BD +:1022100095E02D3D39072CF067E02D3636075CF050 +:1022200007C08CED95E0821B930B815991401CF007 +:1022300000E911E011C085E02D3D380724F0890147 +:102240000C5D154004C00CED15E0021B130B0931A9 :10225000110514F400E010E080903B0290903C02E5 :1022600091E08916910459F08114910409F050C04D :1022700080910B0290910C02029709F049C0809165 diff --git a/Builds/20150203_FLIP_1_5_CPPM.hex b/Builds/20150207_FLIP_1_5_CPPM.hex similarity index 99% rename from Builds/20150203_FLIP_1_5_CPPM.hex rename to Builds/20150207_FLIP_1_5_CPPM.hex index 18b8a03..bc4a403 100644 --- a/Builds/20150203_FLIP_1_5_CPPM.hex +++ b/Builds/20150207_FLIP_1_5_CPPM.hex @@ -516,11 +516,11 @@ :1020300004C0882799278A1B9B0BBC0102C0660F2E :10204000771F2A95E2F781E06139780714F060E99B :1020500071E010E9612E11E0712E661A770A7C8614 -:102060006B8620919C0130919D0196E02F303907BD -:102070002CF067E02F3936075CF007C08EE096E061 +:102060006B8620919C0130919D0195E02D3D3907B3 +:102070002CF067E02D3636075CF007C08CED95E05C :10208000821B930B815991401CF000E911E011C0B3 -:1020900086E02F30380724F089010E50164004C026 -:1020A0000EE016E0021B130B0931110514F400E0D9 +:1020900085E02D3D380724F089010C5D154004C012 +:1020A0000CED15E0021B130B0931110514F400E0CF :1020B00010E0809043029090440291E089169104D0 :1020C00059F08114910409F050C08091030290915D :1020D0000402029709F049C0809101029A01082E7A diff --git a/Builds/20150203_FLIP_1_5_SBUS.hex b/Builds/20150207_FLIP_1_5_SBUS.hex similarity index 99% rename from Builds/20150203_FLIP_1_5_SBUS.hex rename to Builds/20150207_FLIP_1_5_SBUS.hex index 3c8cb10..618a51e 100644 --- a/Builds/20150203_FLIP_1_5_SBUS.hex +++ b/Builds/20150207_FLIP_1_5_SBUS.hex @@ -551,11 +551,11 @@ :1022600004C0882799278A1B9B0BBC0102C0660FFC :10227000771F2A95E2F781E06139780714F060E969 :1022800071E010E9612E11E0712E661A770A7C86E2 -:102290006B862091AE013091AF0196E02F30390767 -:1022A0002CF067E02F3936075CF007C08EE096E02F +:102290006B862091AE013091AF0195E02D3D39075D 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--git a/Builds/20150203_RX3S_V2_SRXLM.hex b/Builds/20150207_RX3S_V2_SRXLM.hex similarity index 99% rename from Builds/20150203_RX3S_V2_SRXLM.hex rename to Builds/20150207_RX3S_V2_SRXLM.hex index 589a49c..c413da3 100644 --- a/Builds/20150203_RX3S_V2_SRXLM.hex +++ b/Builds/20150207_RX3S_V2_SRXLM.hex @@ -545,10 +545,10 @@ :102200009B0BBC0102C0660F771F2A95E2F781E0A5 :102210006139780714F060E971E010E9612E11E08E :10222000712E661A770A7C866B862091EA013091BE -:10223000EB0196E02F3039072CF067E02F39360795 -:102240005CF007C08EE096E0821B930B81599140B1 -:102250001CF000E911E011C086E02F30380724F0AF -:1022600089010E50164004C00EE016E0021B130B4D +:10223000EB0195E02D3D39072CF067E02D36360790 +:102240005CF007C08CED95E0821B930B81599140A7 +:102250001CF000E911E011C085E02D3D380724F0A5 +:1022600089010C5D154004C00CED15E0021B130B39 :102270000931110514F400E010E08090960290906E :10228000970291E08916910459F08114910409F0A4 :1022900050C08091560290915702029709F049C0B0 diff --git a/Builds/20150203_TGY160A.hex b/Builds/20150207_TGY160A.hex similarity index 100% rename from Builds/20150203_TGY160A.hex rename to Builds/20150207_TGY160A.hex diff --git a/Docs/2015-02-03 Change Log.txt b/Docs/2015-02-07 Change Log.txt similarity index 91% rename from Docs/2015-02-03 Change Log.txt rename to Docs/2015-02-07 Change Log.txt index 8fa5438..ae4ade9 100644 --- a/Docs/2015-02-03 Change Log.txt +++ b/Docs/2015-02-07 Change Log.txt @@ -1,12 +1,16 @@ 2015-02-03 FlightStab Change Log +2015-02-07 FlightStab.ino +Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain. +Restore to 1474us to 1525us for zero gain. + 2015-02-03 FlightStab.ino MIXER_EPA settings were not being properly applied to ELE-R (normally Flap) channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL mode. -2015-02-03 FlightStab.ino +2015-02-02 FlightStab.ino Add #define RX_WIDTH_MODE_MID 1550 This new value will be used to move gain input hysteresis to reside entirelly in the Hold Mode Range. This forces Rate Mode for any value below 1525 which diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino deleted file mode 100644 index 370c459..0000000 --- a/FlightStab/FlightStab.ino +++ /dev/null @@ -1,2814 +0,0 @@ -/* FlightStab **************************************************************************************************/ - -#include -#include -#include -#include - -#include "FlightStab.h" - -//#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) -//#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) -//#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) -//#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) -//#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) ) - -bool ow_loop(); // OneWireSerial.ino - -// GYRO_ORIENTATION: roll right => -ve, pitch up => -ve, yaw right => -ve - -/*************************************************************************************************************** - * device definitions (TODO: move to separate files) - ***************************************************************************************************************/ - -//#define RX3S_V1 -//#define RX3S_V2 -//#define RX3SM -//#define NANOWII -//#define EAGLE_A3PRO -//#define MINI_MWC -//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC -//#define FLIP_1_5 -//#define NANO_MPU6050 - -//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP) -//#define SERIALRX_SPEKTRUM // over the serial port -//#define SERIALRX_SBUS // over the serial port -//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT -//#define SERIALRX_DEFMPX // default MPX channel mapping - -//#define NO_ONEWIRE // remove one-wire serial config code -//#define NO_STICKCONFIG // remove stick config code - -//#define SERIAL_DEBUG // enable debug messages through serial port -//#define DUMP_SENSORS // dump sensors through the serial port -//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings - -//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries -//#define USE_I2CLIGHT // poll-based i2c access routines -#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT)) -#define USE_I2CLIGHT // default -#endif - -#define CPPM_PROFILE_PB0 0 -#define CPPM_PROFILE_PD2 1 -#define CPPM_PROFILE_PE6 2 -#define LED_PROFILE_PB5 0 -#define LED_PROFILE_PD3 1 -#define LED_PROFILE_PD5 2 -#define OW_PROFILE_PC0 0 -#define OW_PROFILE_PC7 1 -#define OW_PROFILE_PD7 2 - -/* RX3S_V1 *****************************************************************************************************/ -#if defined(RX3S_V1) -#warning RX3S_V1 defined // emit device name -/* - OrangeRx Stabilizer RX3S V1 - PB0 8 AIL_IN PC0 14/A0 AIL_GAIN PD0 0 (RXD) - PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 AIL_SW (TXD) - PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 ELE_SW - PB3 11 AUX_IN (MOSI) (PWM) PC3 17/A3 PAD PD3 3 RUD_SW (PWM) - PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT - PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) - PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) - PB7 15 (XTAL2) PD7 7 AILR_OUT - - WING_RUDELE_1AIL - WING_DELTA_1AIL - WING_VTAIL_1AIL - PB3 11 NONE instead of AUX_IN - PB4 12 NONE instead of AILR_IN - PD7 7 AUX_IN instead of AILR_OUT - - SERIALRX - PB0 8 CPPM_IN - PB1 9 FLP_OUT - PB2 10 THR_OUT -*/ - -#define DEVICE_ID DEVICE_RX3S_V1 - -// -#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} - -// (must in PORT B/D due to ISR) -#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {NULL, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, -1, 9} // RETA1a2F - -// -#define USE_ITG3200 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} - -// CPPM -#define CPPM_PROFILE CPPM_PROFILE_PB0 - -// LED -#define LED_PROFILE LED_PROFILE_PB5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PD7 - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 4 -#define EEPROM_RESET_IN_PIN 5 - -#endif -/* RX3S_V1 *****************************************************************************************************/ - -/* RX3S_V2 *****************************************************************************************************/ -#if defined(RX3S_V2) -#warning RX3S_V2 defined // emit device name -/* - OrangeRx Stabilizer RX3S V2 - PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 AUX_SW (RXD) - PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) - PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW - PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) - PB4 12 VTAIL_SW (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT - PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) - PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) - PB7 15 (XTAL2) PD7 7 AILR_OUT - - WING_RUDELE_2AIL - WING_DELTA_2AIL - WING_VTAIL_2AIL - WING_DUCKERON - PD1 1 AILR_IN instead of AIL_SW - - SERIALRX - PB0 8 CPPM_IN - PB1 9 FLP_OUT - PB2 10 THR_OUT - PB3 11 AUX2_OUT -*/ - -#define DEVICE_ID DEVICE_RX3S_V2V3 - -// -#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} - -// (must in PORT B/D due to ISR) -#if defined(AILR_IN_ON_RUD_IN) // Use RUD_IN input for AILR_IN - no rudder control -#define RX_PORTB {&ail_in, &ele_in, &ailr_in, &aux_in, NULL, NULL, NULL, NULL} -#else -#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} -#endif -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, &vtail_sw, NULL, NULL, NULL} -#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {&aux_sw, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, 11, 9} // RETA1a2F - -// -#define USE_ITG3200 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} - -// CPPM -#define CPPM_PROFILE CPPM_PROFILE_PB0 - -// LED -#define LED_PROFILE LED_PROFILE_PB5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PD7 - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 4 -#define EEPROM_RESET_IN_PIN 5 - -#endif -/* RX3S_V2 *****************************************************************************************************/ - -/* RX3SM *****************************************************************************************************/ -#if defined(RX3SM) -#warning RX3SM defined // emit device name -/* - OrangeRx Stabilizer RX3SM - PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 VTAIL_SW (RXD) V2=AUX_SW - PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) - PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW - PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) - PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW V2=AILL_OUT - PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT - PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT - PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT -*/ - -#define DEVICE_ID DEVICE_RX3SM - -// -#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} - -// (must in PORT B/D due to ISR) -#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {7, 6, -1, 5, -1, -1, -1, -1} // RETA1a2F - -// -#define USE_ITG3200 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} - -// CPPM -#define CPPM_PROFILE // no cppm - -// LED -#define LED_PROFILE LED_PROFILE_PB5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD5 for AILR_OUT? - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 5 -#define EEPROM_RESET_IN_PIN 6 - -#endif -/* RX3SM *****************************************************************************************************/ - - -/* NANOWII ****************************************************************************************************/ -#if defined(NANOWII) -#warning NANOWII defined // emit device name -/* - NanoWii - PB0 17 (PCINT0) | | PD0 3 SCL (SCL) | | PF0 23/A5 (ADC0) - PB1 15 RUD_IN (SCK/PCINT1) | | PD1 2 SDA (SDA) | | PF1 22/A4 (ADC1) - PB2 16 AIL_IN (MOSI/PCINT2) | | PD2 0 RXD (RXD) | PE2 (HWB_) | - PB3 14 ELE_IN (MISO/PCINT3) | | PD3 1 TXD (TXD) | | - PB4 8 AUX_IN (PCINT4) | | PD4 4 SV (ADC8/ICP1) | | PF4 21/A3 SV (ADC4) - PB5 9 AIL_OUT (PCINT5/OC1A/OC4B_) | | PD5 (TXLED) | | PF5 20/A2 SV (ADC5) - PB6 10 ELE_OUT (PCINT6/OC1B/OC4B) | PC6 5 THR_OUT (OC3A/OC4A_) | PD6 12 (OC4D_) | PE6 7 AILR_IN (INT6) | PF6 19/A1 SV (ADC6) - PB7 11 RUD_OUT (PCINT7/OC0A/OC1C) | PC7 13 AILR_OUT (OC4A/ICP3) | PD7 6 FLP_OUT (OC4D) | | PF7 18/A0 SV (ADC7) - - SERIALRX - PE6 7 CPPM_IN -*/ - -#define DEVICE_ID DEVICE_NANOWII - -// MUST BE ALL NULL -#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} - -// PORTD MUST BE ALL NULL -#define RX_PORTB {NULL, &rud_in, &ail_in, &ele_in, &aux_in, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// MUST BE ALL NULL -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {11, 10, -1, 9, -1, 13, -1, -1} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX {11, 10, 5, 9, -1, 13, -1, 6} // RETA1a2F - -// -#define USE_MPU6050 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} - -// CPPM -#define CPPM_PROFILE CPPM_PROFILE_PE6 - -// LED -#define LED_PROFILE LED_PROFILE_PD5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PC7 - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 6 -#define EEPROM_RESET_IN_PIN 5 - -#endif -/* NANOWII ****************************************************************************************************/ - -/* EAGLE_A3PRO *************************************************************************************************/ -#if defined(EAGLE_A3PRO) -#warning EAGLE_A3PRO defined // emit device name - - /* - Eagle A3 Pro Stabilizer EAGLE_A3PRO - PB0 8 AIL_IN (OWTXRX) PC0 14/A0 AIL_GAIN PD0 0 AIL_SW (RXD) - PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 ELE_SW (TXD) - PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 RUD_SW - PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 PD3 3 LED - PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILR_OUT - PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT - PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) - PB7 15 (XTAL2) PD7 7 RUD_OUT (PWM) - - AIL_SINGLE mode (DEFAULT SETTING) - no change - - AIL_DUAL mode - PB3 11 AUX_IN instead of MOSI - PB4 12 AILR_IN instead of MISO - - CPPM enabled - PB0 8 CPPM_IN instead of AIL_IN - PB1 9 FLP_OUT instead of ELE_IN - PB2 10 THR_OUT instead of RUD_IN - PB3 11 AUX2_OUT instead of AUX_IN -*/ - -#define DEVICE_ID DEVICE_EAGLE_A3PRO - -// -#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} - -// (must in PORT B/D due to ISR) -#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {&ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX {7, 6, 10, 4, -1, 4, 11, 9} // RETA1a2F - -// -#define USE_ITG3200 -#define ITG3205_ADDR 0x69 // override default addr -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} - -// CPPM -#define CPPM_PROFILE CPPM_PROFILE_PB0 - -// LED -#define LED_PROFILE LED_PROFILE_PD3 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD4 for AILR_OUT? - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 5 -#define EEPROM_RESET_IN_PIN 6 - -#endif -/* EAGLE_A3PRO *************************************************************************************************/ - -/* MINI_MWC ****************************************************************************************************/ -#if defined(MINI_MWC) -#warning MINI_MWC defined // emit device name -/* - HK MINI MWC with DSM2 RX - PB0 8/D8 CPPM_EXT/pad PC0 14/A0 One-Wire PD0 0/D0 (RXD) - PB1 9/D9 FLP_OUT (PWM) PC1 15/A1 rsvd/CPPM_EXT PD1 1/D1 (TXD) - PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 AUX2_OUT PD2 2/D2 CPPM_INT - PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 THR_OUT (PWM) - PB4 12/D12 no connection PC4 18/A4 (SDA) PD4 4/D4 spare/conn - PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 ELE_OUT (PWM) - PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 RUD_OUT (PWM) - PB7 15/D15 (XTAL2) PD7 7/D7 spare/pad - - SERIALRX - PD2 D2 CPPM_IN internal RX - PB0 D8 CPPM_IN external RX. PC1 A1 is external facing, short this with PB0 D8. -*/ - -#define DEVICE_ID DEVICE_MINI_MWC - -// -#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} - -// (must in PORT B/D due to ISR) -#define RX_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {6, 5, 3, 10, -1, 11, 16, 9} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list - -// -#define USE_MPU6050 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} - -// must use one of the SERIALRX modes -#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL) -#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS" -#endif - -// CPPM from external/internal RX -#if defined(MINI_MWC_EXTERNAL_RX) -#define CPPM_PROFILE CPPM_PROFILE_PB0 // external RX -#else -#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX -#endif - -// LED -#define LED_PROFILE LED_PROFILE_PB5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PC0 - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 6 -#define EEPROM_RESET_IN_PIN 5 - -#endif // defined(MINI_MWC) -/* MINI_MWC ****************************************************************************************************/ - -/* FLIP_1_5 ****************************************************************************************************/ -#if defined(FLIP_1_5) -#warning FLIP_1_5 defined // emit device name -/* - FLIP 1.5 - PB0 8/D8 no connection PC0 14/A0 One-Wire PD0 0/D0 (RXD) - PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD) - PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN - PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM) - PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN - PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM) - PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM) - PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN - - SERIALRX - PD2 D2 CPPM_IN -*/ - -#define DEVICE_ID DEVICE_FLIP_1_5 - -// -#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} - -// (must in PORT B/D due to ISR) -#define RX_PORTB {NULL, NULL, NULL, NULL, &aux_in, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, &ail_in, &rud_in, &ele_in, &ailr_in} - -// -#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} - -// -#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, -1, 16} // RETA1a2F -#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list - -// -#define USE_MPU6050 -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} - -#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX - - -// LED -#define LED_PROFILE LED_PROFILE_PB5 - -// one-wire port -#define OW_PROFILE OW_PROFILE_PC0 - -// eeprom clear pins. shorted on init means to clear eeprom -#define EEPROM_RESET_OUT_PIN 6 -#define EEPROM_RESET_IN_PIN 5 - -#endif // defined(FLIP_1_5) -/* FLIP_1_5 ****************************************************************************************************/ - -/* NANO_MPU6050 ************************************************************************************************/ -#if defined(NANO_MPU6050) -#warning NANO_MPU6050 defined // emit device name -#undef USE_ITG3200 -#define USE_MPU6050 -#undef GYRO_ORIENTATION -#define GYRO_ORIENTATION(x, y, z) {gyro[0] = -(x); gyro[1] = (y); gyro[2] = (z);} -#define F_I2C F_100KHZ // i2c bus speed -#endif -/* NANO_MPU6050 ************************************************************************************************/ - -// standard frequency definitions -#define F_8MHZ 8000000UL -#define F_16MHZ 16000000UL -#define F_100KHZ 100000UL -#define F_400KHZ 400000UL - -#if !defined(F_XTAL) -#define F_XTAL F_16MHZ // default external crystal oscillator frequency -#endif - -#if !defined(F_I2C) -#define F_I2C F_400KHZ // default i2c bus speed -#endif - -// emit cpu frequency if not 16MHz -#if F_CPU == F_8MHZ -#warning F_CPU == F_8MHZ -#endif -#if !((F_XTAL == F_16MHZ && F_CPU == F_16MHZ) || \ - (F_XTAL == F_16MHZ && F_CPU == F_8MHZ) || \ - (F_XTAL == F_8MHZ && F_CPU == F_8MHZ)) -#error (F_XTAL,F_CPU) must be (16MHz,16MHz), (16MHz,8MHz) or (8MHz,8MHz) -#endif - -// emit serial debug enabled -#if defined(SERIAL_DEBUG) -#warning SERIAL_DEBUG defined -#endif - -// verify single i2c lib defined -#if defined(USE_I2CDEVLIB) && defined(USE_I2CLIGHT) -#error Cannot define both USE_I2CDEVLIB and USE_I2CLIGHT -#endif - -// verify single imu defined -#if defined(USE_MPU6050) && defined(USE_ITG3200) -#error Cannot define both USE_MPU6050 and USE_ITG3200 -#endif - -// verify not more than one serialrx_* mode defined -#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \ - (defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \ - (defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM))) -#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS) -#endif - -#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL) -#define SERIALRX_ENABLED -#endif - -// i2cdevlib includes -#if defined(USE_I2CDEVLIB) -#warning USE_I2CDEVLIB defined - #include "Wire.h" - #include "I2Cdev.h" -#if defined(USE_MPU6050) - #include "MPU6050.h" - MPU6050 accelgyro; -#elif defined(USE_ITG3200) - #include "ITG3200.h" - ITG3200 itg3205_gyro; -#endif -#endif - -// device id and version -#if !defined(DEVICE_ID) -#define DEVICE_ID DEVICE_UNDEF -#endif -#if !defined(DEVICE_VER) -#define DEVICE_VER 12345678L -#endif - -#if defined(SERIALRX_CPPM) -#if CPPM_PROFILE == CPPM_PROFILE_PB0 // PB0 -#define CPPM_PINREG PINB -#define CPPM_PINBIT 0 -#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // PD2 -#define CPPM_PINREG PIND -#define CPPM_PINBIT 2 -#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // PE6 -#define CPPM_PINREG PINE -#define CPPM_PINBIT 6 -#endif -#endif - -#if OW_PROFILE == OW_PROFILE_PC0 // PC0 -#define OW_BIT 0 -#define OW_DDR DDRC -#define OW_PORT PORTC -#define OW_PINREG PINC -#elif OW_PROFILE == OW_PROFILE_PC7 // PC7 -#define OW_BIT 7 -#define OW_DDR DDRC -#define OW_PORT PORTC -#define OW_PINREG PINC -#elif OW_PROFILE == OW_PROFILE_PD7 // PD7 -#define OW_BIT 7 -#define OW_DDR DDRD -#define OW_PORT PORTD -#define OW_PINREG PIND -#endif - -#if LED_PROFILE == LED_PROFILE_PB5 // PB5 active high -#define LED_DDR DDRB -#define LED_PORT PORTB -#define LED_BIT 5 -#define LED_XOR 0 // active high -#elif LED_PROFILE == LED_PROFILE_PD3 // PD3 active high -#define LED_DDR DDRD -#define LED_PORT PORTD -#define LED_BIT 3 -#define LED_XOR 0 // active high -#elif LED_PROFILE == LED_PROFILE_PD5 // PD5 active LOW -#define LED_DDR DDRD -#define LED_PORT PORTD -#define LED_BIT 5 -#define LED_XOR 1 // active low -#endif - -// LED set -#define LED_OFF 0 -#define LED_ON 1 -#define LED_INVERT 2 - -// LED message pulse duration -#define LED_LONG 600 -#define LED_SHORT 200 -#define LED_VERY_SHORT 30 - -#if defined(LED_TIMING) -#define LED_TIMING_START do {LED_PORT |= (1 << LED_BIT);} while (false) -#define LED_TIMING_STOP do {LED_PORT &= ~(1 << LED_BIT);} while (false) -#else -#define LED_TIMING_START do {} while (false) // no-op -#define LED_TIMING_STOP do {} while (false) // no-op -#endif - -// adc -volatile uint8_t ail_vr = 255; -volatile uint8_t ele_vr = 255; -volatile uint8_t rud_vr = 255; - -// rx -#define RX_WIDTH_MIN 900 -#define RX_WIDTH_LOW_FULL 1000 -#define RX_WIDTH_LOW_NORM 1100 -#define RX_WIDTH_LOW_TRACK 1250 -#define RX_WIDTH_MID 1500 -#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode -#define RX_WIDTH_HIGH_TRACK 1750 -#define RX_WIDTH_HIGH_NORM 1900 -#define RX_WIDTH_HIGH_FULL 2000 -#define RX_WIDTH_MAX 2100 - -volatile int16_t ail_in = RX_WIDTH_MID; -volatile int16_t ele_in = RX_WIDTH_MID; -volatile int16_t rud_in = RX_WIDTH_MID; -volatile int16_t ailr_in = RX_WIDTH_MID; -volatile int16_t aux_in = RX_WIDTH_LOW_FULL; // assume max RATE MODE gain if no aux_in -volatile int16_t aux2_in = RX_WIDTH_MID; -volatile int16_t thr_in = RX_WIDTH_LOW_FULL; -volatile int16_t flp_in = RX_WIDTH_MID; -int16_t ail_in2, ailr_in2, ele_in2, rud_in2, aux_in2, aux2_in2, thr_in2, flp_in2; - -int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position offsets -int16_t ele_in2_mid = RX_WIDTH_MID; // -int16_t rud_in2_mid = RX_WIDTH_MID; // -int16_t ailr_in2_mid = RX_WIDTH_MID; // - -int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset; // difference from *_in2_mid (stick position) - -// switch -int8_t ail_sw = false; -int8_t ele_sw = false; -int8_t rud_sw = false; -int8_t vtail_sw = false; -int8_t delta_sw = false; -int8_t aux_sw = false; -int8_t dummy_sw = false; // used to set pins to input mode - -// servo -volatile int16_t ail_out; -volatile int16_t ele_out; -volatile int16_t rud_out; -volatile int16_t ailr_out; -volatile int16_t thr_out; -volatile int16_t flp_out; -volatile int16_t aux2_out; -int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2; - -// imu -int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets -int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec -int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) - -// stabilizer output -int16_t correction[3] = {0, 0, 0}; -int16_t mixer_out2_low_limit[5]; -int16_t mixer_out2_high_limit[5]; - -// configuration -struct _eeprom_cfg cfg; - -// local copy of config -enum WING_MODE wing_mode; - -// serialrx_* order -const int8_t rx_chan_size = 8; -const volatile int16_t *rx_chan_map[rx_chan_size] = - {&rud_in, &ele_in, &thr_in, &ail_in, &aux_in, &ailr_in, &aux2_in, &flp_in}; // see enum SERIALRX_CHAN - -const int8_t serialrx_order_RETA1a2f[rx_chan_size] = { - SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; -const int8_t serialrx_order_TAER1a2f[rx_chan_size] = { - SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; -const int8_t serialrx_order_AETR1a2f[rx_chan_size] = { - SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; -const int8_t serialrx_order_AERTa1f2[rx_chan_size] = { - SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; -const int8_t serialrx_order_TAERa1f2[rx_chan_size] = { - SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; - -volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; - -// pwm chan order -const int8_t pwm_chan_size = 8; -const volatile int16_t *pwm_chan_map[pwm_chan_size] = - {&rud_out, &ele_out, &thr_out, &ail_out, NULL, &ailr_out, &aux2_out, &flp_out}; // see enum SERIALRX_CHAN - -// stabilization mode -enum STAB_MODE {STAB_RATE, STAB_HOLD}; -enum STAB_MODE stab_mode = STAB_RATE; - -// DELTA DUAL_AIL mode -enum LINKED_MODE {LINKED_FLAPONLY, LINKED_FLAPPERON, LINKED_FLAPPERONEVATOR}; -enum LINKED_MODE linked_mode = LINKED_FLAPPERON; - -const int16_t stick_gain_max = 400; // [1100-1500] or [1900-1500] => [0-STICK_GAIN_MAX] -const int16_t master_gain_max = 400; // [1500-1100] or [1500-1900] => [0-MASTER_GAIN_MAX] - -int32_t minimum_servo_frame_time; // min time between servo updates in us. derived from cfg.servo_frame_rate -const int32_t maximum_rx_frame_time = 30000; // max time to wait for rx_frame_sync in us - -/*************************************************************************************************************** - * TIMER1 AND MISC - ***************************************************************************************************************/ - -volatile uint16_t timer1_high = 0; -volatile uint8_t timer1_ovf = 0; - -ISR(TIMER1_OVF_vect) -{ - if (!++timer1_high) - timer1_ovf++; -} - -uint32_t micros1() -{ - uint16_t th, tl; - uint8_t to; -#if 0 - // interrupt-disable version - ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - th = timer1_high; - to = timer1_ovf; - } -#else - // lock-free version. read twice, ensure low order counter did not overflow and - // high order bits remain unchanged - while (true) { - tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - th = timer1_high; - to = timer1_ovf; - if (!((tl ^ TCNT1) & 0x8000) && th == timer1_high && to == timer1_ovf) - break; - } -#endif -#if F_CPU == F_16MHZ - return ((uint32_t)to << 31) | ((uint32_t)th << 15) | (tl >> 1); -#else - return ((uint32_t)th << 16) | tl; -#endif -} - -void delay1(uint32_t ms) -{ - uint32_t us = ms * 1000; - uint32_t t = micros1(); - while ((int32_t)(micros1() - t) < us); -} - -void init_clock() -{ - // set clock prescaler to /2 when (F_XTAL, F_CPU) = (16M, 8M) -#if F_XTAL == F_16MHZ && F_CPU == F_8MHZ - uint8_t saveSREG = SREG; - cli(); - CLKPR = (1 << CLKPCE); - CLKPR = (1 << CLKPS0); - SREG = saveSREG; -#endif -} - -int get_free_sram() -{ - extern int __heap_start, *__brkval; - int v; - return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval); -} - -bool boot_check(int8_t in_pin, int8_t out_pin) -{ - pinMode(out_pin, OUTPUT); - pinMode(in_pin, INPUT); - digitalWrite(in_pin, HIGH); // enable pullup - delay1(10); - - bool result = true; - for (int8_t i=0; i<8; i++) { - int8_t level = i & 1 ? HIGH : LOW; - digitalWrite(out_pin, level); - // alternative to digitalRead() - if (((*portInputRegister(digitalPinToPort(in_pin)) & digitalPinToBitMask(in_pin)) ? HIGH : LOW) != level) { - result = false; - break; - } - } - pinMode(out_pin, INPUT); - return result; -} - - -/*************************************************************************************************************** - * LED - ***************************************************************************************************************/ -/* - 4 LED message slots - slot 0 for operation mode - slot 1 for operation mode - slot 2 for error condition - slot 3 for error condition - - slot 0 - 1 LONG = MIX_NORMAL - 2 LONG = MIX_DELTA - 3 LONG = MIX_VTAIL - - slot 1 - 1 SHORT = rx calibrating - 2 SHORT = imu calibrating - 3 SHORT = both calibrating - 4 SHORT = STAB_HOLD mode (else STAB_RATE) - - slot 2 - 5 SHORT = gyro init error - 20 VERY SHORT = low sram - - slot 3 - 50 VERY SHORT = eeprom reset - -*/ - -int8_t led_pulse_count[4]; -int16_t led_pulse_msec[4]; - -void init_led() -{ - LED_DDR |= (1 << LED_BIT); -} - -void set_led(int8_t i) -{ -#if !defined(LED_TIMING) - switch (i ^ LED_XOR) { - case LED_ON: LED_PORT |= (1 << LED_BIT); break; - case LED_OFF: LED_PORT &= ~(1 << LED_BIT); break; - default: LED_PORT ^= (1 << LED_BIT); break; - } -#endif -} - -void set_led_msg(int8_t slot, int8_t pulse_count, int16_t pulse_msec) { - led_pulse_count[slot] = pulse_count; - led_pulse_msec[slot] = pulse_msec; -} - -void update_led(uint32_t now) -{ - static int8_t slot; - static int8_t step; - static uint32_t next_time; - - if ((int32_t)(next_time - now) > 0) - return; - - if (step == 0) { - slot = (slot + 1) & 0x3; - step = led_pulse_count[slot] << 1; - next_time = now + 1000000; - return; - } - - step--; - set_led(step & 0x1 ? LED_ON : LED_OFF); - next_time = now + ((uint32_t)led_pulse_msec[slot] << 10); -} - -/*************************************************************************************************************** - * I2CLIGHT / MPU6050 / ITG3205 - ***************************************************************************************************************/ - -uint16_t i2c_errors = 0; - -void i2c_init(int8_t pullup, uint32_t freq) -{ - if (pullup) { -#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) - PORTC |= 1 << 5; // scl PC5 - PORTC |= 1 << 4; // sda PC4 -#elif defined(__AVR_ATmega32U4__) // nanowii only - PORTD |= 1 << 0; // scl PD0 - PORTD |= 1 << 1; // sda PD1 -#else -#error Unknown CPU type for I2C -#endif - } - TWSR = 0; // prescaler = 1 - TWBR = ((F_CPU / freq) - 16) >> 1; // baud rate -} - -void i2c_wait() -{ - int16_t timeout = 255; - while (!(TWCR & (1 << TWINT))) { - if (!timeout--) { - TWCR = 0; // disable twi - i2c_errors++; - break; - } - } -} - -void i2c_start(uint8_t addr) -{ - TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // repeated start - i2c_wait(); - TWDR = addr; - TWCR = (1 << TWINT) | (1 << TWEN); - i2c_wait(); -} - -void i2c_stop() -{ - TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN); -} - -void i2c_write(uint8_t data) -{ - TWDR = data; - TWCR = (1 << TWINT) | (1 << TWEN); - i2c_wait(); -} - -uint8_t i2c_read(int8_t ack) -{ - uint8_t data; - TWCR = (1 << TWINT) | (1 << TWEN) | (ack ? (1 << TWEA) : 0); - i2c_wait(); - data = TWDR; - if (!ack) i2c_stop(); - return data; -} - -void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) -{ - i2c_start(addr << 1); // write reg - i2c_write(reg); - i2c_write(data); // write data - i2c_stop(); -} - -uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) -{ - i2c_start(addr << 1); // write reg - i2c_write(reg); - i2c_start((addr << 1) | 1); // read data - //jrb return i2c_read(true); - return i2c_read(false); -} - -void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) -{ - i2c_start((addr << 1) | 1); // read data - while (size--) { - *buf++ = i2c_read(size > 0); - } -} - -void i2c_read_buf_reg(uint8_t addr, uint8_t reg, uint8_t *buf, int8_t size) -{ - i2c_start(addr << 1); // write reg - i2c_write(reg); - i2c_read_buf(addr, buf, size); -} - -#define MPU6050_ADDR 0x68 - -int8_t mpu6050_init() -{ - i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset - delay1(50); - i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref - i2c_write_reg(MPU6050_ADDR, 0x1A, 0x0); // accel_bw/delay=260hz/0ms gyro_bw/delay/sample=256hz/0.98ms/8khz - //i2c_write_reg(MPU6050_ADDR, 0x1A, 0x6); // accel_bw/delay=5hz/19ms gyro_bw/delay/sample=5hz/18.6ms/1khz - i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s - - return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id -} - -void mpu6050_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) -{ - uint8_t buf[6]; - i2c_read_buf_reg(MPU6050_ADDR, 0x43, buf, sizeof(buf)); - *gx = (buf[0] << 8) | (buf[1]); - *gy = (buf[2] << 8) | (buf[3]); - *gz = (buf[4] << 8) | (buf[5]); -} - -void mpu6050_read_accel(int16_t *ax, int16_t *ay, int16_t *az) -{ - uint8_t buf[6]; - i2c_read_buf_reg(MPU6050_ADDR, 0x3B, buf, sizeof(buf)); - *ax = (buf[0] << 8) | (buf[1]); - *ay = (buf[2] << 8) | (buf[3]); - *az = (buf[4] << 8) | (buf[5]); -} - -#if !defined(ITG3205_ADDR) -#define ITG3205_ADDR 0x68 -#endif - -int8_t itg3205_init() -{ - i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset - delay1(50); - i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref - i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | 0x6); // fs=2000deg/s | lpf=5hz sample=1khz - - return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id -} - -void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) -{ - uint8_t buf[6]; - i2c_read_buf_reg(ITG3205_ADDR, 0x1D, buf, sizeof(buf)); - *gx = (buf[0] << 8) | (buf[1]); - *gy = (buf[2] << 8) | (buf[3]); - *gz = (buf[4] << 8) | (buf[5]); -} - -/*************************************************************************************************************** - * ANALOG IN (VR) - ***************************************************************************************************************/ - -const int8_t adc_portc_size = 6; -volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC; - -void start_adc(uint8_t ch) -{ - ADMUX = (ADMUX & ~0x07) | ch; // set adc channel - ADCSRA |= (1 << ADSC); // adc start conversion -} - -void start_next_adc(uint8_t ch) -{ - while (ch < adc_portc_size) { // start next adc channel that has a valid mapping - if (adc_portc[ch]) { - start_adc(ch); - break; - } - ch++; - } -} - -ISR(ADC_vect) -{ - uint8_t ch = ADMUX & 0x07; // extract the channel of the ADC result - *adc_portc[ch] = ADCH; // save only the 8 msbs - start_next_adc(ch+1); -} - -void init_analog_in() -{ - int8_t i; - for (i=0; i> (F_CPU == F_16MHZ ? 1 : 0); - fall_time = now; - if (width > 3000) { - ch_count = ch; // track total channels found before sync gap - ch = 0; - } else { - if (ch < rx_chan_size) { - if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; - if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; - *rx_chan[ch] = width; - } - ch++; - if (ch == ch_count) - rx_frame_sync = true; // mark as synced on last channel before sync gap - } -} -#endif // CPPM_PROFILE_PB0 - -// interrupt handler for CPPM stream on non-ICP pin (eg. CPPM_PROFILE_PD2 and CPPM_PROFILE_PE6) -// CPPM_PINREG and CPPM_PINBIT must be defined -// port/pin must be set up for interrupt on edge change and input mode in init_digital_in_rx() -inline void non_icp_cppm_vect() -{ - static int8_t ch_count; - static int8_t ch; - static uint16_t fall_time; - static uint8_t last_pin; - uint16_t now; - uint8_t last_pin2; - - now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - last_pin2 = last_pin; - last_pin = CPPM_PINREG; - if (((last_pin2 & ~last_pin) & (1 << CPPM_PINBIT)) == 0) - return; // return if NOT falling edge on CPPM_PINREG/CPPM_PINBIT - sei(); - - uint16_t width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0); - fall_time = now; - if (width > 3000) { - ch_count = ch; // track total channels found before sync gap - ch = 0; - } else { - if (ch < rx_chan_size) { - if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; - if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; - *rx_chan[ch] = width; - } - ch++; - if (ch == ch_count) - rx_frame_sync = true; // mark as synced on last channel before sync gap - } -} - -#if CPPM_PROFILE == CPPM_PROFILE_PD2 -ISR(PCINT2_vect) -{ - non_icp_cppm_vect(); -} -#endif // CPPM_PROFILE_PD2 - -#if CPPM_PROFILE == CPPM_PROFILE_PE6 -ISR(INT6_vect) -{ - non_icp_cppm_vect(); -} -#endif // CPPM_PROFILE_PE6 -#endif // SERIALRX_CPPM - -#if !defined(SERIALRX_ENABLED) -// regular NON-CPPM RX handling -const int8_t rx_port_size = 8; -volatile int16_t *rx_portb[rx_port_size] = RX_PORTB; -volatile int16_t *rx_portd[rx_port_size] = RX_PORTD; -int8_t rx_frame_sync_ref; // PB bit for non-CPPM - -// PORTB PCINT0-PCINT7 -ISR(PCINT0_vect) -{ - static uint16_t rise_time[rx_port_size]; - static uint8_t last_pin; - uint16_t now; - uint8_t pin, last_pin2, diff, rise; - - now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - last_pin2 = last_pin; - pin = PINB; - last_pin = pin; - sei(); - - diff = pin ^ last_pin2; - rise = pin & ~last_pin2; - - for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); - if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { - *rx_portb[i] = width; - if (i == rx_frame_sync_ref) - rx_frame_sync = true; - } - } - } - } -} - -#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) -// PORTD PCINT16-PCINT23 -ISR(PCINT2_vect) -{ - static uint16_t rise_time[rx_port_size]; - static uint8_t last_pin; - uint16_t now; - uint8_t pin, last_pin2, diff, rise; - - now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - last_pin2 = last_pin; - pin = PIND; - last_pin = pin; - sei(); - - diff = pin ^ last_pin2; - rise = pin & ~last_pin2; - - for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); - if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { - *rx_portd[i] = width; - } - } - } - } -} -#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ - -#if defined(__AVR_ATmega32U4__) // nanowii only -// PE6 MUST BE ailr_in -ISR(INT6_vect) -{ - static uint16_t rise_time; - static uint8_t last_pin; - uint16_t now; - uint8_t pin, last_pin2, rise; - - now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M - last_pin2 = last_pin; - pin = PINE; - last_pin = pin; - sei(); - - rise = pin & ~last_pin2; - if (rise & (1 << 6)) { - rise_time = now; - } else { - uint16_t width = (now - rise_time) >> (F_CPU == F_16MHZ ? 1 : 0); - if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { - ailr_in = width; - } - } -} -#endif // __AVR_ATmega32U4__ -#endif // !SERIALRX_ENABLED - -void init_digital_in_rx() -{ -#if defined(SERIALRX_CPPM) -#if CPPM_PROFILE == CPPM_PROFILE_PB0 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINB, 0) - // eg. atmega168/328 ICP - TIMSK1 |= (1 << ICIE1); // enable interrupt on ICP - TCCR1B |= (1 << ICNC1); // enable noise canceler and interrupt on falling edge -#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PIND, 2) - // eg. MINI_MWC CPPM is on D2 (INTERNAL RX) - PCICR |= (1 << PCIE2); // interrupt on pin change - PCMSK2 |= (1 << CPPM_PINBIT); - DDRD &= ~(1 << CPPM_PINBIT); // set input mode - PORTD |= (1 << CPPM_PINBIT); // enable internal pullup -#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINE, 6) - // eg. NANOWII CPPM - EICRB |= (1 << ISC60); // interrupt on pin change - EIMSK |= (1 << INT6); - DDRE &= ~(1 << CPPM_PINBIT); // set input mode - PORTE |= (1 << CPPM_PINBIT); // enable internal pullup -#else -#error Unknown CPPM_PROFILE -#endif - return; -#endif // SERIALRX_CPPM - -#if !defined(SERIALRX_ENABLED) - // standard non-CPPM RX input - // rx_portb for all, rx_portd for atmega168/328, PE6 for atmega32u4 - - // PORTB RX - PCICR |= (1 << PCIE0); // interrupt on pin change - for (int8_t i=0; i= 0) // pwm_ch = -1 by start_servo_frame() - digitalWrite(pwm_chan_pin[pwm_ch], LOW); - while (pwm_ch < pwm_chan_size - 1) { - pwm_ch++; - if (pwm_chan_pin[pwm_ch] >= 0) { - uint16_t wait; - uint16_t tcnt1 = TCNT1; - digitalWrite(pwm_chan_pin[pwm_ch], HIGH); - wait = (*pwm_chan_map[pwm_ch] - 2) << (F_CPU == F_16MHZ ? 1 : 0); - OCR1A = tcnt1 + wait; - return; - } - } - // completed cycle - servo_busy = false; - TIMSK1 &= ~(1 << OCIE1A); // disable further interrupt on TCNT1 == OCR1A -} - -void init_digital_out() -{ - for (int8_t i=0; i= 0) - pinMode(pwm_chan_pin[i], OUTPUT); - } -} - -/*************************************************************************************************************** - * PID - ***************************************************************************************************************/ - -#define PID_PERIOD 10000 -// relative exponential weights kp:ki:kd -#define PID_KP_SHIFT 3 -#define PID_KI_SHIFT 6 -#define PID_KD_SHIFT 2 - -// struct _pid_param defined in FlightStab.h - -struct _pid_state { - // setpoint, input [-8192, 8191] - int16_t setpoint[3]; - int16_t input[3]; - int16_t last_err[3]; - int32_t sum_err[3]; - int32_t i_limit[3]; - int16_t output[3]; -}; - -struct _pid_state pid_state; // pid engine state - -void compute_pid(struct _pid_state *ppid_state, struct _pid_param *ppid_param) -{ - for (int8_t i=0; i<3; i++) { - int32_t err, sum_err, diff_err, pterm, iterm, dterm; - err = ppid_state->input[i] - ppid_state->setpoint[i]; - // accumulate the error up to an i_limit threshold - sum_err = ppid_state->sum_err[i] = constrain(ppid_state->sum_err[i] + err, -ppid_state->i_limit[i], ppid_state->i_limit[i]); - diff_err = err - ppid_state->last_err[i]; // difference the error - ppid_state->last_err[i] = err; - - pterm = (ppid_param->kp[i] * err) >> PID_KP_SHIFT; - iterm = (ppid_param->ki[i] * sum_err) >> PID_KI_SHIFT; - dterm = (ppid_param->kd[i] * diff_err) >> PID_KD_SHIFT; - ppid_state->output[i] = (pterm + iterm + dterm) >> ppid_param->output_shift; - -#if defined(SERIAL_DEBUG) && 0 - if (i == 2) { - Serial.print(ppid_state->input[i]); Serial.print('\t'); - Serial.print(err); Serial.print('\t'); - Serial.print(diff_err); Serial.print('\t'); - Serial.print(pterm); Serial.print('\t'); - Serial.print(iterm); Serial.print('\t'); - Serial.print(ppid_state->sum_err[i]); Serial.print('\t'); - Serial.print(dterm); Serial.print('\t'); - Serial.println(ppid_state->output[i]); - } -#endif - } -} - -/*************************************************************************************************************** - * EEPROM - ***************************************************************************************************************/ - -const uint16_t eeprom_stats_addr = 128; -const uint16_t eeprom_cfg1_addr = 0; -const uint16_t eeprom_cfg2_addr = 256+0; - -uint8_t eeprom_compute_chksum(void *buf, int8_t len) -{ - uint8_t chksum = 0; - for (int8_t i=0; ichksum = eeprom_compute_chksum(pcfg, sizeof(*pcfg)-1); - eeprom_write_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); -} - -int8_t eeprom_read_cfg(struct _eeprom_cfg *pcfg, uint16_t eeprom_addr, uint8_t expect_ver) -{ - eeprom_read_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); - if (pcfg->ver != expect_ver) { - return -1; - } - if (eeprom_compute_chksum(pcfg, sizeof(*pcfg)) != 0) { - return -2; - } - return 0; -} - - - -/*************************************************************************************************************** - * IMU SENSOR - ***************************************************************************************************************/ - -void read_imu() -{ - int16_t gx, gy, gz, tmp; -#if defined(USE_I2CDEVLIB) -#if defined(USE_MPU6050) - accelgyro.getRotation(&gx, &gy, &gz); -#elif defined(USE_ITG3200) - itg3205_gyro.getRotation(&gx, &gy, &gz); -#endif -#endif - -#if defined(USE_I2CLIGHT) -#if defined(USE_MPU6050) - mpu6050_read_gyro(&gx, &gy, &gz); -#elif defined(USE_ITG3200) - itg3205_read_gyro(&gx, &gy, &gz); -#endif -#endif - GYRO_ORIENTATION(gx, gy, gz); - switch (cfg.mount_orient) { - case MOUNT_NORMAL: break; - case MOUNT_ROLL_90_LEFT: - tmp = gyro[1]; - gyro[1] = gyro[2]; - gyro[2] = -tmp; - break; - case MOUNT_ROLL_90_RIGHT: - tmp = gyro[1]; - gyro[1] = -gyro[2]; - gyro[2] = tmp; - break; - } -} - -void init_imu() -{ -#if defined(USE_I2CDEVLIB) -#if defined(USE_MPU6050) - Wire.begin(); - accelgyro.initialize(); - if (!accelgyro.testConnection()) { - set_led_msg(2, 5, LED_SHORT); - } - accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); - accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); - accelgyro.setDLPFMode(MPU6050_DLPF_BW_256); - accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO); -#elif defined(USE_ITG3200) - Wire.begin(); - itg3205_gyro.initialize(); - itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO); - itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000); - itg3205_gyro.setDLPFBandwidth(ITG3200_DLPF_BW_5); -// gyro.setDLPFBandwidth(ITG3200_DLPF_BW_256); - if (!itg3205_gyro.testConnection()) { - set_led_msg(2, 5, LED_SHORT); - } -#endif -#endif - -#if defined(USE_I2CLIGHT) -#if defined(USE_MPU6050) - i2c_init(true, F_I2C); - if (!mpu6050_init()) { - set_led_msg(2, 5, LED_SHORT); - } -#elif defined(USE_ITG3200) - i2c_init(true, F_I2C); - if (!itg3205_init()) { - set_led_msg(2, 5, LED_SHORT); - } -#endif -#endif -} - -/*************************************************************************************************************** - * CALIBRATION - ***************************************************************************************************************/ - -int8_t calibration_wag_count; -uint32_t last_calibration_wag_time; - -struct _calibration { - int8_t done; - int16_t num_elements; // 3 for imu, 4 for rx - int16_t low[4]; - int16_t high[4]; - int32_t sum[4]; - int16_t mean[4]; - int16_t num_samples; -}; - -void calibrate_set_led(struct _calibration *prx_cal, struct _calibration *pimu_cal) { - set_led_msg(1, (pimu_cal->done ? 0 : 2) + (prx_cal->done ? 0 : 1), LED_SHORT); -} - -void calibrate_init_stat(struct _calibration *pcal, int8_t num_elements) -{ - pcal->done = false; - pcal->num_elements = num_elements; - for (int8_t i=0; i < pcal->num_elements; i++) { - pcal->low[i] = 32767; - pcal->high[i] = -32768; - pcal->sum[i] = 0; - } - pcal->num_samples = 0; -} - -void calibrate_update_stat(struct _calibration *pcal, int16_t *psample) -{ - for (int8_t i=0; i < pcal->num_elements; i++) { - pcal->low[i] = min(pcal->low[i], psample[i]); - pcal->high[i] = max(pcal->high[i], psample[i]); - pcal->sum[i] += psample[i]; - } -} - -void calibrate_compute_mean(struct _calibration *pcal) -{ - for (int8_t i=0; i < pcal->num_elements; i++) { - pcal->mean[i] = pcal->sum[i] / pcal->num_samples; - } -} - -int8_t calibrate_check_stat(struct _calibration *pcal, int16_t range) -{ - int8_t good = 0; - for (int8_t i=0; i < pcal->num_elements; i++) { - if (pcal->high[i] - pcal->low[i] < range) - good++; - } - return (good == pcal->num_elements); -} - -void calibrate_print_stat(struct _calibration *pcal) -{ -#if defined(SERIAL_DEBUG) && 0 - Serial.println(pcal->num_samples); - for (int8_t i=0; i < pcal->num_elements; i++) { - Serial.print(pcal->low[i]); Serial.print('\t'); - Serial.print(pcal->mean[i]); Serial.print('\t'); - Serial.println(pcal->high[i]); - } -#endif -} - -void calibrate_rx(struct _calibration *prx_cal) -{ - int16_t sample[4]; - int8_t is_calibrating = true; - - sample[0] = ail_in2; - sample[1] = ele_in2; - sample[2] = rud_in2; - sample[3] = ailr_in2; - calibrate_update_stat(prx_cal, sample); - - if (++prx_cal->num_samples == 100) { - if (calibrate_check_stat(prx_cal, 20)) { - calibrate_compute_mean(prx_cal); - ail_in2_mid = prx_cal->mean[0]; - ele_in2_mid = prx_cal->mean[1]; - rud_in2_mid = prx_cal->mean[2]; - ailr_in2_mid = prx_cal->mean[3]; -#if defined(SERIAL_DEBUG) && 0 - Serial.println("RX"); - calibrate_print_stat(prx_cal); -#endif - prx_cal->done = true; // done - } else { - calibrate_init_stat(prx_cal, 4); // reset and try again - } - } -} - -void calibrate_imu(struct _calibration *pimu_cal) -{ - int16_t sample[3]; - int8_t is_calibrating = true; - - sample[0] = gyro[0]; - sample[1] = gyro[1]; - sample[2] = gyro[2]; - calibrate_update_stat(pimu_cal, sample); - - if (++pimu_cal->num_samples == 300) { - if (calibrate_check_stat(pimu_cal, 50)) { - calibrate_compute_mean(pimu_cal); - for (int8_t i=0; i<3; i++) - gyro0[i] = pimu_cal->mean[i]; -#if defined(SERIAL_DEBUG) && 0 - Serial.println("GY"); - calibrate_print_stat(pimu_cal); -#endif - pimu_cal->done = true; // done - } else { - calibrate_init_stat(pimu_cal, 3); // reset and try again - } - } -} - -/*************************************************************************************************************** - * RX IN - MIXER - SERVO OUT - ***************************************************************************************************************/ - -void copy_rx_in() -{ - // lock-free method to copy isr-owned *_in vars to *_in2 vars - int16_t tmp; - if ((tmp = ail_in) == ail_in) ail_in2 = tmp; - if ((tmp = ele_in) == ele_in) ele_in2 = tmp; - if ((tmp = rud_in) == rud_in) rud_in2 = tmp; - if ((tmp = aux_in) == aux_in) aux_in2 = tmp; - if ((tmp = aux2_in) == aux2_in) aux2_in2 = tmp; - if ((tmp = thr_in) == thr_in) thr_in2 = tmp; - if ((tmp = flp_in) == flp_in) flp_in2 = tmp; - - if (wing_mode <= WING_VTAIL_1AIL) - // WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL - ailr_in2 = ail_in2; - else - if ((tmp = ailr_in) == ailr_in) ailr_in2 = tmp; -} - -void apply_mixer_change(int16_t *change) -{ - // *_in2 => [change] => *_out2 - - // for delta/vtail - // tx = MID + (stick[x] + change[x]) * mult, where mult = 1/1, 3/2, 5/4 - - // mixer - int16_t tmp0, tmp1, tmp2, tmp3; - switch (wing_mode) { - case WING_RUDELE_1AIL: - case WING_RUDELE_2AIL: - ail_out2 = ail_in2 + change[0]; - ailr_out2 = ailr_in2 + change[0]; - ele_out2 = ele_in2 + change[1]; - rud_out2 = rud_in2 + change[2]; - break; - - case WING_DELTA_1AIL: - // input: ail=ailr=roll, ele=pitch, rud=yaw - // output: ail=delta2, ailr=ail, ele=delta1, rud=rud - case WING_DELTA_2AIL: - // input: ail=ail, ailr=ailr ele=pitch, rud=linked - // output: ail=ail, ailr=ailr, ele=delta1, rud=delta2 - - // set up for WING_DELTA_2AIL pin mapping first - ail_out2 = ail_in2 + change[0]; - ailr_out2 = ailr_in2 + change[0]; - tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0]; - tmp1 = ele_in2 + change[1]; - - // apply 100% (1/1) - //ele_out2 = ((tmp0 + tmp1) >> 1); - //rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID; - - // apply 125% (5/4) - tmp2 = tmp0 + tmp1; - ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); - tmp2 = tmp0 - tmp1; - rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; - - // apply 150% (3/2) - //tmp2 = tmp0 + tmp1; - //ele_out2 = tmp2 - (tmp2 >> 2) - (RX_WIDTH_MID >> 1); - //tmp2 = tmp0 - tmp1; - //rud_out2 = tmp2 - (tmp2 >> 2) + RX_WIDTH_MID; - - if (wing_mode == WING_DELTA_2AIL) { - // rud_in2 == LINKED mode input - enum LINKED_MODE linked_mode = rud_in2 < 1250 ? LINKED_FLAPONLY : - rud_in2 > 1400 && rud_in2 < 1600 ? LINKED_FLAPPERON : - rud_in2 > 1750 ? LINKED_FLAPPERONEVATOR : - linked_mode; - - switch (linked_mode) { - case LINKED_FLAPONLY: // flaps only (and no roll stabilization) - tmp0 = ((ail_in2 - ail_in2_mid) - (ailr_in2 - ailr_in2_mid)) >> 1; // flap-only offset - ail_out2 = RX_WIDTH_MID + tmp0; - ailr_out2 = RX_WIDTH_MID - tmp0; - break; - case LINKED_FLAPPERON: // flaps and roll - // ail_out2 and ailr_out2 are already regular flapperons - break; - case LINKED_FLAPPERONEVATOR: // flaps, roll and pitch - // rud_vr scales tmp0 by -1.0 to +1.0 - tmp0 = (int32_t)((ele_in2_offset + change[1])) * ((int16_t)rud_vr - 128) >> 7; - ail_out2 += tmp0; - ailr_out2 -= tmp0; - break; - } - } else { - // shuffle outputs for WING_DELTA_1AIL pin mapping - ail_out2 = rud_out2; // ail_out=delta2, ele_out=delta1 - rud_out2 = rud_in2 + change[2]; // rud_out - } - break; - - case WING_VTAIL_1AIL: - case WING_VTAIL_2AIL: - ail_out2 = ail_in2 + change[0]; - ailr_out2 = ailr_in2 + change[0]; - tmp1 = ele_in2 + change[1]; - tmp2 = rud_in2 + change[2]; - // apply 125% (5/4) - tmp0 = tmp2 + tmp1; - ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); - tmp0 = tmp2 - tmp1; - rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; - break; - - case WING_DUCKERON: - // input: ail=roll, ele=pitch, rud=yaw, ailr_in=brake - // output: ail=left1, ele=left2, ailr=right1, rud=right2 - tmp0 = (ail_in2 - ail_in2_mid) + change[0]; // roll - tmp1 = ele_in2_offset + change[1]; // pitch - tmp2 = rud_in2_offset + change[2]; // yaw - tmp3 = constrain((ailr_in - RX_WIDTH_LOW_NORM) >> 1, 0, 500); // brake from 0-500 - ail_out2 = RX_WIDTH_MID + tmp0 + tmp1 - max(0, -tmp2 + tmp3); // left1 - ele_out2 = RX_WIDTH_MID + tmp0 + tmp1 + max(0, -tmp2 + tmp3); // left2 - ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1 - rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2 - break; - - case WING_RUD_2ELE_2AIL: - ail_out2 = ail_in2 + change[0]; - ailr_out2 = ailr_in2 + change[0]; - ele_out2 = ele_in2 + change[1]; // ELE-L - flp_out2 = flp_in2 - change[1]; // ELE-R - rud_out2 = rud_in2 + change[2]; - break; - } - - - // throttle, flap and aux2 pass through - thr_out2 = thr_in2; - if(wing_mode != WING_RUD_2ELE_2AIL) // aux2_out has been used for second elevator - flp_out2 = flp_in2; - aux2_out2 = aux2_in2; -} - -void set_mixer_limits(int16_t low, int16_t high) -{ - for (int8_t i=0; i<5; i++) { - mixer_out2_low_limit[i] = low; - mixer_out2_high_limit[i] = high; - } -} - -void apply_mixer() -{ - // *_in2 => [correction] => *_out2 - - static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2}; - int8_t i; - int8_t cnt; - - // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through) - if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) { - const int16_t zero_correction[5] = {0, 0, 0, 0, 0}; - apply_mixer_change((int16_t *)zero_correction); - for (i=0; i<5; i++) { - mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]); - mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]); - } - } - - // apply mixer with actual correction and clamp servo output to limits - apply_mixer_change(correction); - // Do not constrain Flap channel unless it is being used for left elevator - if (wing_mode == WING_RUD_2ELE_2AIL) - cnt = 5; - else - cnt = 4; - - for (i=0; i maximum_rx_frame_time) { - rx_frame_sync = false; - copy_rx_in(); - servo_sync = true; - last_rx_frame_time = t; - } - - Serial.print(" RX "); - Serial.print(ail_in2); Serial.print(' '); - Serial.print(ele_in2); Serial.print(' '); - Serial.print(rud_in2); Serial.print(' '); - Serial.print(ailr_in2); Serial.print(' '); - Serial.print(aux_in2); Serial.print(' '); - Serial.print(aux2_in2); Serial.print(' '); - Serial.print(thr_in2); Serial.print(' '); - Serial.print(flp_in2); Serial.print('\t'); - - uint8_t ail_vr2, ele_vr2, rud_vr2; - ail_vr2 = ail_vr; - ele_vr2 = ele_vr; - rud_vr2 = rud_vr; - start_next_adc(0); - - Serial.print("VR "); - Serial.print(ail_vr2, HEX); Serial.print(' '); - Serial.print(ele_vr2, HEX); Serial.print(' '); - Serial.print(rud_vr2, HEX); Serial.print('\t'); - - read_switches(); - Serial.print("SW "); - Serial.print((bool)ail_sw); Serial.print(' '); - Serial.print((bool)ele_sw); Serial.print(' '); - Serial.print((bool)rud_sw); Serial.print(' '); - Serial.print((bool)vtail_sw); Serial.print(' '); - Serial.print((bool)delta_sw); Serial.print(' '); - Serial.print((bool)aux_sw); Serial.print('\t'); - - read_imu(); - Serial.print("GY "); - Serial.print(gyro[0]); Serial.print('\t'); - Serial.print(gyro[1]); Serial.print('\t'); - Serial.print(gyro[2]); Serial.print('\t'); - - servo_out += servo_dir; - if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { - servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); - servo_dir = -servo_dir; - } - ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; -// ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = RX_WIDTH_MID; - - // sync servo frame when servo ISR is idle - // but ensure minimum time between servo frames, or Analog servos will not be happy!!! - if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { - servo_sync = false; - start_servo_frame(); - last_servo_frame_time = t; - } - - Serial.print("MISC "); - Serial.print(i2c_errors); Serial.print(' '); - Serial.print(cfg.wing_mode); Serial.print(' '); - Serial.print(wing_mode); Serial.print(' '); - Serial.print(cfg.mixer_epa_mode); Serial.print(' '); - for (int8_t i=0; i - bool zx_rev, zy_rev; - bool zx_sided, zy_sided; -}; - -void stick_zone_init(struct _stick_zone *psz) -{ - psz->zx = psz->zy = 1; // neutral zone - psz->curr = 5; // center - psz->zx_rev = psz->zy_rev = false; // rev=false => top/left == narrow AIL/ELE pulse - psz->zx_sided = psz->zy_sided = false; // have not found a side yet -} - -int8_t stick_zone(int16_t pwm, bool rev) -{ - int8_t zone; - if (pwm <= 1200) zone = 0; - else if (pwm >= 1300 && pwm <= 1700) zone = 1; - else if (pwm >= 1800) zone = 2; - else zone = -1; // in the hysteresis region - - if (zone >= 0 && rev) - zone = 2 - zone; - return zone; -} - -bool stick_zone_update(struct _stick_zone *psz) -{ - int8_t tmp; - bool moved; - - psz->prev = psz->curr; - if ((tmp = stick_zone(ail_in2, psz->zx_rev)) >= 0) psz->zx = tmp; // hysteresis - if ((tmp = stick_zone(ele_in2, psz->zy_rev)) >= 0) psz->zy = tmp; - - // we assume that the first corner visited bottom left (position 7) - // so stick on the left if the AIL pulse is at either horizontal end - if (!psz->zx_sided && (psz->zx == 0 || psz->zx == 2)) { - if (psz->zx == 2) { - psz->zx_rev = true; - psz->zx = 2 - psz->zx; - } - psz->zx_sided = true; - } - // and stick is on the bottom if the ELE pulse is at either vertical end - if (!psz->zy_sided && (psz->zy == 0 || psz->zy == 2)) { - if (psz->zy == 0) { - psz->zy_rev = true; - psz->zy = 2 - psz->zy; - } - psz->zy_sided = true; - } - - psz->curr = psz->zy * 3 + psz->zx + 1; - // telephone pad mapping - // 1 2 3 - // 4 5 6 - // 7 8 9 - moved = (psz->curr != psz->prev); - if (moved) { - psz->move = (psz->prev << 4) | psz->curr; // move = 0x[prev digit][curr digit] -#if defined(SERIAL_DEBUG) && 0 - Serial.print("stick_zone "); - Serial.print(psz->zx); Serial.print(' '); - Serial.print(psz->zy); Serial.print(' '); - Serial.print(psz->zx_rev); Serial.print(' '); - Serial.print(psz->zy_rev); Serial.print(' '); - Serial.print(psz->move, HEX); - Serial.println(); -#endif - } - return moved; -} - -void stick_config(struct _stick_zone *psz) -{ -// 1= wing_mode (see enum WING_MODE) -// 2= mixer_epa_mode (see enum MIXER_EPA_MODE) -// 3= mount_orient (see enum MOUNT_ORIENT) -// 4= stick_gain_throw (see enum STICK_GAIN_THROW) -// 5= max_rotate (see enum MAX_ROTATE) -// 6= rate_mode_stick_rotate (see enum RATE_MODE_STICK_ROTATE) -// 7= inflight_calibrate (see enum INFLIGHT_CALIBRATE) -// 8= exit - -// note: be careful about off-by-one errors in this function - - const int8_t param_ymin[] = { - WING_USE_DIPSW, - MIXER_EPA_FULL, - MOUNT_NORMAL, - STICK_GAIN_THROW_FULL, - MAX_ROTATE_VLOW, - RATE_MODE_STICK_ROTATE_DISABLE, - INFLIGHT_CALIBRATE_DISABLE, - 1 // exit_option - }; - const int8_t param_ymax[] = { - WING_RUDELE_2AIL, - MIXER_EPA_TRACK, - MOUNT_ROLL_90_RIGHT, - STICK_GAIN_THROW_QUARTER, - MAX_ROTATE_HIGH, - RATE_MODE_STICK_ROTATE_ENABLE, - INFLIGHT_CALIBRATE_ENABLE, - 2 // exit_option - }; - const int8_t param_xcount = sizeof(param_ymin)/sizeof(param_ymin[0]); - int8_t *pparam_yval[param_xcount]; - int8_t exit_option = 1; - - const int16_t servo_swing = 300; - const int32_t servo_interval[] = {100000L, 400000L}; - - int8_t x = 0; // 0-based, x=0 => wing_mode - int8_t servo_sync = false; - uint32_t last_servo_update_time = 0; - int32_t wait_interval = servo_interval[1]; - - pparam_yval[0] = (int8_t *) &cfg.wing_mode; - pparam_yval[1] = (int8_t *) &cfg.mixer_epa_mode; - pparam_yval[2] = (int8_t *) &cfg.mount_orient; - pparam_yval[3] = (int8_t *) &cfg.stick_gain_throw; - pparam_yval[4] = (int8_t *) &cfg.max_rotate; - pparam_yval[5] = (int8_t *) &cfg.rate_mode_stick_rotate; - pparam_yval[6] = (int8_t *) &cfg.inflight_calibrate; - pparam_yval[7] = &exit_option; - - int8_t update_x = (x + 1) << 1; - int8_t update_y = *pparam_yval[x] << 1; - while (true) { - uint32_t t = micros1(); - - if ((int32_t)(t - last_servo_update_time) > wait_interval) { - if (update_x > 0) { - ele_out2 = RX_WIDTH_MID + (update_x & 1 ? 0 : servo_swing); - ail_out2 = RX_WIDTH_MID; - wait_interval = servo_interval[update_x & 1]; - update_x--; - } else { - if (update_y != 0) { - int8_t sign = update_y > 0 ? 1 : -1; - int16_t signed_change = sign > 0 ? servo_swing : -servo_swing; - ail_out2 = RX_WIDTH_MID + (update_y & 1 ? 0 : signed_change); - wait_interval = servo_interval[update_y & 1]; - update_y -= sign; - } - } - last_servo_update_time = t; - } - -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) - if (serialrx_update()) { - rx_frame_sync = true; - } -#endif - - if (rx_frame_sync) { - rx_frame_sync = false; - copy_rx_in(); - servo_sync = true; - } - if (servo_sync && !servo_busy) { - servo_sync = false; - start_servo_frame(); - } - - if (update_x == 0 && /*update_y == 0 &&*/ stick_zone_update(psz)) { - - bool refresh_x = false; - bool refresh_y = false; - - switch (psz->move) { - case 0x54: x = max(x - 1, 0); refresh_x = true; break; // left - case 0x56: x = min(x + 1, param_xcount - 1); refresh_x = true; break; // right - case 0x52: *pparam_yval[x] = min(*pparam_yval[x] + 1, param_ymax[x]); refresh_y = true; break; // up - case 0x58: *pparam_yval[x] = max(*pparam_yval[x] - 1, param_ymin[x]); refresh_y = true; break; // down - } - - // check if update_x and/or update_y need to be refreshed - if (refresh_x || refresh_y) { - update_y = *pparam_yval[x] << 1; - if (refresh_x) - update_x = (x + 1) << 1; - } - - // check for exit option - if (exit_option == 2) { - break; - } - - #if defined(SERIAL_DEBUG) && 0 - Serial.print("param "); - Serial.print(psz->prev, HEX); Serial.print(' '); - Serial.print(psz->curr, HEX); Serial.print(' '); - Serial.print(x); Serial.print(' '); - Serial.print(*pparam_yval[x]); Serial.print(' '); - Serial.println(); - #endif - } - } - - // write eeprom; - eeprom_write_cfg(&cfg, eeprom_cfg1_addr); - eeprom_write_cfg(&cfg, eeprom_cfg2_addr); -} - - -/*************************************************************************************************************** - * SETUP - ***************************************************************************************************************/ - -void setup() -{ - int8_t i; - - init_clock(); - init_led(); - if (get_free_sram() < 128) - set_led_msg(2, 20, LED_VERY_SHORT); - -#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS) -#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) - serialrx_init(); -#else - Serial.begin(115200L); -#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) -#endif - -#if defined(SERIAL_DEBUG) && 0 - Serial.println("Serial Port Initialized."); -#endif - - -#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) - // clear wd reset bit and disable wdt in case it was enabled due to stick config reboot - MCUSR &= ~(1 << WDRF); - wdt_disable(); -#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ - -#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5) - // set up default parameters for No DIPSW and No POT - cfg.wing_mode = WING_RUDELE_2AIL; - for (i=0; i<3; i++) { - cfg.vr_gain[i] = 60; - } -#else - // set up default parameters - cfg.wing_mode = WING_USE_DIPSW; - for (i=0; i<3; i++) { - cfg.vr_gain[i] = vr_gain_use_pot; - } -#endif - cfg.mixer_epa_mode = MIXER_EPA_FULL; - -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL)) - cfg.servo_frame_rate = 20; // safe rate for analog servos -#else - cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate -#endif - - const int8_t *pserialrx_order; -#if defined(SERIALRX_CPPM) - #if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) - pserialrx_order = serialrx_order_TAER1a2f; - #else - pserialrx_order = serialrx_order_RETA1a2f; - #endif -#elif defined(SERIALRX_SPEKTRUM) - pserialrx_order = serialrx_order_TAER1a2f; -#elif defined(SERIALRX_SBUS) - pserialrx_order = serialrx_order_AETR1a2f; -#elif defined(SERIALRX_SRXL) - #ifdef SERIALRX_DEFMPX - pserialrx_order = serialrx_order_AERTa1f2; - #else - pserialrx_order = serialrx_order_TAERa1f2; - #endif -#else - pserialrx_order = serialrx_order_RETA1a2f; -#endif - for (i=0; i= WING_RUDELE_1AIL && wing_mode <= WING_VTAIL_1AIL) { - // disable AILR_OUT (was at PD7) - // disable AILR_IN at PB4 - // move AUX_IN from PB3 to PD7 - pwm_chan_pin[SERIALRX_a] = -1; // disable ailr_out - rx_portb[4] = NULL; // disable ailr_in - rx_portb[3] = NULL; // disable aux_in at PB3 - rx_portd[7] = &aux_in; // enable aux_in at PD7 - } -#endif // !SERIALRX_ENABLED -#endif // RX3S_V1 - -#if defined(RX3S_V2) - if (cfg.wing_mode == WING_USE_DIPSW) - wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 4) | (vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; - -#if !defined(SERIALRX_ENABLED) - if (wing_mode >= WING_RUDELE_2AIL && wing_mode <= WING_DUCKERON) { - // PD1 1 AILR_IN instead of AIL_SW - din_portd[1] = NULL; // disable ail_sw, must be set to NOR - rx_portd[1] = &ailr_in; // enable ailr_in - } -#endif // !SERIALRX_ENABLED -#endif // RX3S_V2 - -#if defined(RX3SM) - if (cfg.wing_mode == WING_USE_DIPSW) - wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; - - if (wing_mode > WING_VTAIL_1AIL) // constrain to supported modes - wing_mode = WING_RUDELE_1AIL; -#endif // RX3SM - -#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions -#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) - if (cfg.wing_mode == WING_USE_DIPSW) - wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)]; -#endif -#endif // EAGLE_A3PRO - - if (wing_mode == WING_USE_DIPSW) // set to valid mode if needed - wing_mode = WING_RUDELE_1AIL; - - set_led_msg(0, wing_mode, LED_LONG); - - init_analog_in(); // vr - init_digital_in_rx(); // rx - init_digital_out(); // servo - init_imu(); // gyro/accelgyro - - copy_rx_in(); // init *_in2 vars - apply_mixer(); // init *_out2 vars - -#if defined(DUMP_SENSORS) - dump_sensors(); -#endif - //struct _stick_zone sz; - //stick_config(&sz); -} - -/*************************************************************************************************************** - * LOOP - ***************************************************************************************************************/ - -void loop() -{ -#if !defined(DUMP_SENSORS) - int8_t i; - uint32_t t = micros1(); - uint32_t last_rx_frame_time = t; - uint32_t last_servo_frame_time = t; - uint32_t last_imu_time = t; - uint32_t last_pid_time = t; - uint32_t last_vr_time = t; - int8_t servo_sync = false; - - int16_t vr_gain[3]= {0, 0, 0}; - int16_t stick_gain[3]; - int16_t master_gain; - -#if !defined(NO_STICKCONFIG) - uint32_t stick_config_check_time = t; - struct _stick_zone stick_zone; - const uint8_t stick_config_seq[] = {0x78, 0x89, 0x98, 0x87, 0x78, 0x89, 0x98, 0x87, 0xff}; // 7-9-7-9-7 - int8_t stick_config_seq_i = 0; - int8_t stick_configurable = true; - - stick_zone_init(&stick_zone); // stick zone setup -#endif // !NO_STICKCONFIG - - struct _calibration rx_cal; - struct _calibration imu_cal; - - // calibration setup - calibrate_init_stat(&rx_cal, 4); - calibrate_init_stat(&imu_cal, 3); - last_calibration_wag_time = t; - - // inflight calibration - uint32_t last_stab_mode_time = t; - int8_t stab_mode_count; - -again: - t = micros1(); - update_led(t); - -#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) - if (serialrx_update()) { - rx_frame_sync = true; - } -#endif - - // update rx frame data with rx ISR received reference channel or after timeout - if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) { - rx_frame_sync = false; - copy_rx_in(); - if (!rx_cal.done) { - calibrate_rx(&rx_cal); - calibrate_set_led(&rx_cal, &imu_cal); - } - servo_sync = true; - last_rx_frame_time = t; - } - - // sync servo frame with rx frame immediately when servo ISR is idle - // but ensure minimum time between servo frames, or Analog servos will not be happy!!! - if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { - servo_sync = false; - apply_mixer(); - start_servo_frame(); - last_servo_frame_time = t; - } - - // schedule imu read just after servo pulse start, if needed. - // takes around 1ms at 100khz, 250us at 400khz - if ((int32_t)(t - last_imu_time) > PID_PERIOD) { - read_imu(); - if (!imu_cal.done) { - calibrate_imu(&imu_cal); - calibrate_set_led(&rx_cal, &imu_cal); - } - last_imu_time = t; - } - -#if !defined(NO_STICKCONFIG) - if (stick_configurable && stick_zone_update(&stick_zone)) { - stick_config_seq_i = (stick_zone.move == stick_config_seq[stick_config_seq_i]) ? stick_config_seq_i + 1 : 0; - if (stick_config_seq[stick_config_seq_i] == 0xff) { - stick_config(&stick_zone); // completed sequence, enter stick config mode - // RESET SYSTEM ON RETURN - wdt_enable(WDTO_1S); - while (true); - } - if ((int32_t)(t - stick_config_check_time) > 15000000L) // 15 sec to enter config mode - stick_configurable = false; - } -#endif // !NO_STICKCONFIG - - // short circuit rest of the loop if calibration not done, do not compute correction[] - if (!rx_cal.done || !imu_cal.done) { - // determine how much sticks are off center (from neutral). the mixer still needs them before calibration completes. - ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; - ele_in2_offset = ele_in2 - ele_in2_mid; - rud_in2_offset = rud_in2 - rud_in2_mid; - goto again; - } - - if ((int32_t)(t - last_pid_time) > PID_PERIOD) { - - // stabilization mode - enum STAB_MODE stab_mode2 = - (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - 25) ? STAB_RATE : - (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region - - if (stab_mode2 != stab_mode) { - stab_mode = stab_mode2; - set_led_msg(1, (stab_mode == STAB_RATE) ? 0 : 4, LED_SHORT); - - // reset attitude error and i_limit threshold on mode change - for (i=0; i<3; i++) { - pid_state.sum_err[i] = 0; - pid_state.i_limit[i] = 0; - } - - // check for inflight rx calibration - if (cfg.inflight_calibrate == INFLIGHT_CALIBRATE_ENABLE) { - if ((int32_t)(t - last_stab_mode_time) > 500000L) { - stab_mode_count = 0; - } - last_stab_mode_time = t; - - if (++stab_mode_count >= 3) { - ail_in2_mid = ail_in2; - ele_in2_mid = ele_in2; - rud_in2_mid = rud_in2; - ailr_in2_mid = ailr_in2; - } - } - } - - // determine how much sticks are off center (from neutral) - ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; - ele_in2_offset = ele_in2 - ele_in2_mid; - rud_in2_offset = rud_in2 - rud_in2_mid; - - // vr_gain[] [-128, 128] from VRs or config - - // see enum STICK_GAIN_THROW. shift=0 => FULL, shift=1 => HALF, shift=2 => QUARTER - int8_t shift = cfg.stick_gain_throw - 1; - - // stick_gain[] [1100, _in2_mid, 1900] => [0%, 100%, 0%] = [0, STICK_GAIN_MAX, 0] - stick_gain[0] = stick_gain_max - min(abs(ail_in2_offset) << shift, stick_gain_max); - stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max); - stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max); - - // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX] - master_gain = constrain(abs(aux_in2 - RX_WIDTH_MODE_MID), 0, master_gain_max); - if (master_gain < 25) master_gain = 0; // deadband - - // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) - if (stab_mode == STAB_HOLD || - (stab_mode == STAB_RATE && cfg.rate_mode_stick_rotate == RATE_MODE_STICK_ROTATE_ENABLE)) { - // stick controlled roll rate - // cfg.max_rotate shift = [1, 5] - // eg. max stick == 400, cfg.max_rotate == 4. then 400 << 4 = 6400 => 6400/32768*2000 = 391deg/s (32768 == 2000deg/s) - int16_t sp[3]; - sp[0] = ail_in2_offset << cfg.max_rotate; - sp[1] = ele_in2_offset << cfg.max_rotate; - sp[2] = rud_in2_offset << cfg.max_rotate; - for (i=0; i<3; i++) - pid_state.setpoint[i] = vr_gain[i] < 0 ? sp[i] : -sp[i]; - } else { - // zero roll rate, stabilization only - for (i=0; i<3; i++) - pid_state.setpoint[i] = 0; - } - - if (stab_mode == STAB_HOLD) { - // max attitude error (bounding box) - for (i=0; i<3; i++) { - // 2000 deg/s == 32768 units, so 1 deg/(PID_PERIOD=10ms) == 32768/20 units - pid_state.i_limit[i] = ((int32_t)30 * (32768 / 2 / (PID_PERIOD / 1000)) * stick_gain[i]) >> 9; - } - } - - // measured angular rate (from the gyro and apply calibration offset) - pid_state.input[0] = constrain(gyro[0] - gyro0[0], -8192, 8191); - pid_state.input[1] = constrain(gyro[1] - gyro0[1], -8192, 8191); - pid_state.input[2] = constrain(gyro[2] - gyro0[2], -8192, 8191); - - // apply PID control - compute_pid(&pid_state, (stab_mode == STAB_RATE) ? &cfg.pid_param_rate : &cfg.pid_param_hold); - - // apply vr_gain, stick_gain and master_gain - for (i=0; i<3; i++) { - // vr_gain [-128,0,127]/128, stick_gain [0,400,0]/512, master_gain [400,0,400]/512 - correction[i] = ((((int32_t)pid_state.output[i] * vr_gain[i] >> 7) * stick_gain[i]) >> 9) * master_gain >> 9; - } - - // calibration wag on all surfaces if needed - if (calibration_wag_count > 0) { - if ((int32_t)(t - last_calibration_wag_time) > 200000L) { - calibration_wag_count--; - last_calibration_wag_time = t; - } - for (i=0; i<3; i++) - correction[i] += (calibration_wag_count & 1) ? 150 : -150; - } - -#if defined(SERIAL_DEBUG) && 0 - Serial.print(correction[0]); Serial.print('\t'); - Serial.print(correction[1]); Serial.print('\t'); - Serial.print(correction[2]); Serial.println('\t'); -#endif - last_pid_time = t; - } - - if ((int32_t)(t - last_vr_time) > 500123) { - // *_vr are adc channel output - // vr_gain[] [-128, 0, 127] => [-100%, 0%, 100%] = [-128, 0, 127] - vr_gain[0] = (cfg.vr_gain[0] == vr_gain_use_pot) ? (int16_t)ail_vr - 128 : cfg.vr_gain[0]; - vr_gain[1] = (cfg.vr_gain[1] == vr_gain_use_pot) ? (int16_t)ele_vr - 128 : cfg.vr_gain[1]; - vr_gain[2] = (cfg.vr_gain[2] == vr_gain_use_pot) ? (int16_t)rud_vr - 128 : cfg.vr_gain[2]; - - // deadband filter - const int16_t vr_deadband = 8; - for (i=0; i<3; i++) { - if (abs(vr_gain[i]) < vr_deadband) - vr_gain[i] = 0; - } - - start_next_adc(0); - last_vr_time = t; - } - - goto again; // the dreaded "goto" statement :O -#endif // DUMP_SENSORS -} From b9ab058585c25a79dd8bccf58955198de6cea177 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 9 Feb 2015 08:50:42 -0500 Subject: [PATCH 16/29] Restore zero gain to 1475us - 1525us range --- FlightStab/FlightStab.ino | 2814 +++++++++++++++++++++++++++++++++++++ 1 file changed, 2814 insertions(+) create mode 100644 FlightStab/FlightStab.ino diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino new file mode 100644 index 0000000..48889cd --- /dev/null +++ b/FlightStab/FlightStab.ino @@ -0,0 +1,2814 @@ +/* FlightStab **************************************************************************************************/ + +#include +#include +#include +#include + +#include "FlightStab.h" + +//#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) +//#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) +//#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) +//#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) +//#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) ) + +bool ow_loop(); // OneWireSerial.ino + +// GYRO_ORIENTATION: roll right => -ve, pitch up => -ve, yaw right => -ve + +/*************************************************************************************************************** + * device definitions (TODO: move to separate files) + ***************************************************************************************************************/ + +//#define RX3S_V1 +//#define RX3S_V2 +//#define RX3SM +//#define NANOWII +//#define EAGLE_A3PRO +//#define MINI_MWC +//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC +//#define FLIP_1_5 +//#define NANO_MPU6050 + +//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP) +//#define SERIALRX_SPEKTRUM // over the serial port +//#define SERIALRX_SBUS // over the serial port +//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT +//#define SERIALRX_DEFMPX // default MPX channel mapping + +//#define NO_ONEWIRE // remove one-wire serial config code +//#define NO_STICKCONFIG // remove stick config code + +//#define SERIAL_DEBUG // enable debug messages through serial port +//#define DUMP_SENSORS // dump sensors through the serial port +//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings + +//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries +//#define USE_I2CLIGHT // poll-based i2c access routines +#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT)) +#define USE_I2CLIGHT // default +#endif + +#define CPPM_PROFILE_PB0 0 +#define CPPM_PROFILE_PD2 1 +#define CPPM_PROFILE_PE6 2 +#define LED_PROFILE_PB5 0 +#define LED_PROFILE_PD3 1 +#define LED_PROFILE_PD5 2 +#define OW_PROFILE_PC0 0 +#define OW_PROFILE_PC7 1 +#define OW_PROFILE_PD7 2 + +/* RX3S_V1 *****************************************************************************************************/ +#if defined(RX3S_V1) +#warning RX3S_V1 defined // emit device name +/* + OrangeRx Stabilizer RX3S V1 + PB0 8 AIL_IN PC0 14/A0 AIL_GAIN PD0 0 (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI) (PWM) PC3 17/A3 PAD PD3 3 RUD_SW (PWM) + PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + WING_RUDELE_1AIL + WING_DELTA_1AIL + WING_VTAIL_1AIL + PB3 11 NONE instead of AUX_IN + PB4 12 NONE instead of AILR_IN + PD7 7 AUX_IN instead of AILR_OUT + + SERIALRX + PB0 8 CPPM_IN + PB1 9 FLP_OUT + PB2 10 THR_OUT +*/ + +#define DEVICE_ID DEVICE_RX3S_V1 + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, -1, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 4 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* RX3S_V1 *****************************************************************************************************/ + +/* RX3S_V2 *****************************************************************************************************/ +#if defined(RX3S_V2) +#warning RX3S_V2 defined // emit device name +/* + OrangeRx Stabilizer RX3S V2 + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 AUX_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 VTAIL_SW (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + WING_RUDELE_2AIL + WING_DELTA_2AIL + WING_VTAIL_2AIL + WING_DUCKERON + PD1 1 AILR_IN instead of AIL_SW + + SERIALRX + PB0 8 CPPM_IN + PB1 9 FLP_OUT + PB2 10 THR_OUT + PB3 11 AUX2_OUT +*/ + +#define DEVICE_ID DEVICE_RX3S_V2V3 + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#if defined(AILR_IN_ON_RUD_IN) // Use RUD_IN input for AILR_IN - no rudder control +#define RX_PORTB {&ail_in, &ele_in, &ailr_in, &aux_in, NULL, NULL, NULL, NULL} +#else +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#endif +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, &vtail_sw, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&aux_sw, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, 11, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 4 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* RX3S_V2 *****************************************************************************************************/ + +/* RX3SM *****************************************************************************************************/ +#if defined(RX3SM) +#warning RX3SM defined // emit device name +/* + OrangeRx Stabilizer RX3SM + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 VTAIL_SW (RXD) V2=AUX_SW + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW V2=AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT + PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT +*/ + +#define DEVICE_ID DEVICE_RX3SM + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {7, 6, -1, 5, -1, -1, -1, -1} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE // no cppm + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD5 for AILR_OUT? + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 5 +#define EEPROM_RESET_IN_PIN 6 + +#endif +/* RX3SM *****************************************************************************************************/ + + +/* NANOWII ****************************************************************************************************/ +#if defined(NANOWII) +#warning NANOWII defined // emit device name +/* + NanoWii + PB0 17 (PCINT0) | | PD0 3 SCL (SCL) | | PF0 23/A5 (ADC0) + PB1 15 RUD_IN (SCK/PCINT1) | | PD1 2 SDA (SDA) | | PF1 22/A4 (ADC1) + PB2 16 AIL_IN (MOSI/PCINT2) | | PD2 0 RXD (RXD) | PE2 (HWB_) | + PB3 14 ELE_IN (MISO/PCINT3) | | PD3 1 TXD (TXD) | | + PB4 8 AUX_IN (PCINT4) | | PD4 4 SV (ADC8/ICP1) | | PF4 21/A3 SV (ADC4) + PB5 9 AIL_OUT (PCINT5/OC1A/OC4B_) | | PD5 (TXLED) | | PF5 20/A2 SV (ADC5) + PB6 10 ELE_OUT (PCINT6/OC1B/OC4B) | PC6 5 THR_OUT (OC3A/OC4A_) | PD6 12 (OC4D_) | PE6 7 AILR_IN (INT6) | PF6 19/A1 SV (ADC6) + PB7 11 RUD_OUT (PCINT7/OC0A/OC1C) | PC7 13 AILR_OUT (OC4A/ICP3) | PD7 6 FLP_OUT (OC4D) | | PF7 18/A0 SV (ADC7) + + SERIALRX + PE6 7 CPPM_IN +*/ + +#define DEVICE_ID DEVICE_NANOWII + +// MUST BE ALL NULL +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// PORTD MUST BE ALL NULL +#define RX_PORTB {NULL, &rud_in, &ail_in, &ele_in, &aux_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// MUST BE ALL NULL +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {11, 10, -1, 9, -1, 13, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {11, 10, 5, 9, -1, 13, -1, 6} // RETA1a2F + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PE6 + +// LED +#define LED_PROFILE LED_PROFILE_PD5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* NANOWII ****************************************************************************************************/ + +/* EAGLE_A3PRO *************************************************************************************************/ +#if defined(EAGLE_A3PRO) +#warning EAGLE_A3PRO defined // emit device name + + /* + Eagle A3 Pro Stabilizer EAGLE_A3PRO + PB0 8 AIL_IN (OWTXRX) PC0 14/A0 AIL_GAIN PD0 0 AIL_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 ELE_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 RUD_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 PD3 3 LED + PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILR_OUT + PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) + PB7 15 (XTAL2) PD7 7 RUD_OUT (PWM) + + AIL_SINGLE mode (DEFAULT SETTING) + no change + + AIL_DUAL mode + PB3 11 AUX_IN instead of MOSI + PB4 12 AILR_IN instead of MISO + + CPPM enabled + PB0 8 CPPM_IN instead of AIL_IN + PB1 9 FLP_OUT instead of ELE_IN + PB2 10 THR_OUT instead of RUD_IN + PB3 11 AUX2_OUT instead of AUX_IN +*/ + +#define DEVICE_ID DEVICE_EAGLE_A3PRO + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {7, 6, 10, 4, -1, 4, 11, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define ITG3205_ADDR 0x69 // override default addr +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PD3 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD4 for AILR_OUT? + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 5 +#define EEPROM_RESET_IN_PIN 6 + +#endif +/* EAGLE_A3PRO *************************************************************************************************/ + +/* MINI_MWC ****************************************************************************************************/ +#if defined(MINI_MWC) +#warning MINI_MWC defined // emit device name +/* + HK MINI MWC with DSM2 RX + PB0 8/D8 CPPM_EXT/pad PC0 14/A0 One-Wire PD0 0/D0 (RXD) + PB1 9/D9 FLP_OUT (PWM) PC1 15/A1 rsvd/CPPM_EXT PD1 1/D1 (TXD) + PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 AUX2_OUT PD2 2/D2 CPPM_INT + PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 THR_OUT (PWM) + PB4 12/D12 no connection PC4 18/A4 (SDA) PD4 4/D4 spare/conn + PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 ELE_OUT (PWM) + PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 RUD_OUT (PWM) + PB7 15/D15 (XTAL2) PD7 7/D7 spare/pad + + SERIALRX + PD2 D2 CPPM_IN internal RX + PB0 D8 CPPM_IN external RX. PC1 A1 is external facing, short this with PB0 D8. +*/ + +#define DEVICE_ID DEVICE_MINI_MWC + +// +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, 3, 10, -1, 11, 16, 9} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// must use one of the SERIALRX modes +#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL) +#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS" +#endif + +// CPPM from external/internal RX +#if defined(MINI_MWC_EXTERNAL_RX) +#define CPPM_PROFILE CPPM_PROFILE_PB0 // external RX +#else +#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX +#endif + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC0 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif // defined(MINI_MWC) +/* MINI_MWC ****************************************************************************************************/ + +/* FLIP_1_5 ****************************************************************************************************/ +#if defined(FLIP_1_5) +#warning FLIP_1_5 defined // emit device name +/* + FLIP 1.5 + PB0 8/D8 no connection PC0 14/A0 One-Wire PD0 0/D0 (RXD) + PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD) + PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN + PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM) + PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN + PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM) + PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM) + PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN + + SERIALRX + PD2 D2 CPPM_IN +*/ + +#define DEVICE_ID DEVICE_FLIP_1_5 + +// +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {NULL, NULL, NULL, NULL, &aux_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, &ail_in, &rud_in, &ele_in, &ailr_in} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, -1, 16} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX + + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC0 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif // defined(FLIP_1_5) +/* FLIP_1_5 ****************************************************************************************************/ + +/* NANO_MPU6050 ************************************************************************************************/ +#if defined(NANO_MPU6050) +#warning NANO_MPU6050 defined // emit device name +#undef USE_ITG3200 +#define USE_MPU6050 +#undef GYRO_ORIENTATION +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = -(x); gyro[1] = (y); gyro[2] = (z);} +#define F_I2C F_100KHZ // i2c bus speed +#endif +/* NANO_MPU6050 ************************************************************************************************/ + +// standard frequency definitions +#define F_8MHZ 8000000UL +#define F_16MHZ 16000000UL +#define F_100KHZ 100000UL +#define F_400KHZ 400000UL + +#if !defined(F_XTAL) +#define F_XTAL F_16MHZ // default external crystal oscillator frequency +#endif + +#if !defined(F_I2C) +#define F_I2C F_400KHZ // default i2c bus speed +#endif + +// emit cpu frequency if not 16MHz +#if F_CPU == F_8MHZ +#warning F_CPU == F_8MHZ +#endif +#if !((F_XTAL == F_16MHZ && F_CPU == F_16MHZ) || \ + (F_XTAL == F_16MHZ && F_CPU == F_8MHZ) || \ + (F_XTAL == F_8MHZ && F_CPU == F_8MHZ)) +#error (F_XTAL,F_CPU) must be (16MHz,16MHz), (16MHz,8MHz) or (8MHz,8MHz) +#endif + +// emit serial debug enabled +#if defined(SERIAL_DEBUG) +#warning SERIAL_DEBUG defined +#endif + +// verify single i2c lib defined +#if defined(USE_I2CDEVLIB) && defined(USE_I2CLIGHT) +#error Cannot define both USE_I2CDEVLIB and USE_I2CLIGHT +#endif + +// verify single imu defined +#if defined(USE_MPU6050) && defined(USE_ITG3200) +#error Cannot define both USE_MPU6050 and USE_ITG3200 +#endif + +// verify not more than one serialrx_* mode defined +#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM))) +#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS) +#endif + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL) +#define SERIALRX_ENABLED +#endif + +// i2cdevlib includes +#if defined(USE_I2CDEVLIB) +#warning USE_I2CDEVLIB defined + #include "Wire.h" + #include "I2Cdev.h" +#if defined(USE_MPU6050) + #include "MPU6050.h" + MPU6050 accelgyro; +#elif defined(USE_ITG3200) + #include "ITG3200.h" + ITG3200 itg3205_gyro; +#endif +#endif + +// device id and version +#if !defined(DEVICE_ID) +#define DEVICE_ID DEVICE_UNDEF +#endif +#if !defined(DEVICE_VER) +#define DEVICE_VER 12345678L +#endif + +#if defined(SERIALRX_CPPM) +#if CPPM_PROFILE == CPPM_PROFILE_PB0 // PB0 +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 +#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // PD2 +#define CPPM_PINREG PIND +#define CPPM_PINBIT 2 +#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // PE6 +#define CPPM_PINREG PINE +#define CPPM_PINBIT 6 +#endif +#endif + +#if OW_PROFILE == OW_PROFILE_PC0 // PC0 +#define OW_BIT 0 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC +#elif OW_PROFILE == OW_PROFILE_PC7 // PC7 +#define OW_BIT 7 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC +#elif OW_PROFILE == OW_PROFILE_PD7 // PD7 +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND +#endif + +#if LED_PROFILE == LED_PROFILE_PB5 // PB5 active high +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high +#elif LED_PROFILE == LED_PROFILE_PD3 // PD3 active high +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 3 +#define LED_XOR 0 // active high +#elif LED_PROFILE == LED_PROFILE_PD5 // PD5 active LOW +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 5 +#define LED_XOR 1 // active low +#endif + +// LED set +#define LED_OFF 0 +#define LED_ON 1 +#define LED_INVERT 2 + +// LED message pulse duration +#define LED_LONG 600 +#define LED_SHORT 200 +#define LED_VERY_SHORT 30 + +#if defined(LED_TIMING) +#define LED_TIMING_START do {LED_PORT |= (1 << LED_BIT);} while (false) +#define LED_TIMING_STOP do {LED_PORT &= ~(1 << LED_BIT);} while (false) +#else +#define LED_TIMING_START do {} while (false) // no-op +#define LED_TIMING_STOP do {} while (false) // no-op +#endif + +// adc +volatile uint8_t ail_vr = 255; +volatile uint8_t ele_vr = 255; +volatile uint8_t rud_vr = 255; + +// rx +#define RX_WIDTH_MIN 900 +#define RX_WIDTH_LOW_FULL 1000 +#define RX_WIDTH_LOW_NORM 1100 +#define RX_WIDTH_LOW_TRACK 1250 +#define RX_WIDTH_MID 1500 +#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode +#define RX_WIDTH_HIGH_TRACK 1750 +#define RX_WIDTH_HIGH_NORM 1900 +#define RX_WIDTH_HIGH_FULL 2000 +#define RX_WIDTH_MAX 2100 + +volatile int16_t ail_in = RX_WIDTH_MID; +volatile int16_t ele_in = RX_WIDTH_MID; +volatile int16_t rud_in = RX_WIDTH_MID; +volatile int16_t ailr_in = RX_WIDTH_MID; +volatile int16_t aux_in = RX_WIDTH_LOW_FULL; // assume max RATE MODE gain if no aux_in +volatile int16_t aux2_in = RX_WIDTH_MID; +volatile int16_t thr_in = RX_WIDTH_LOW_FULL; +volatile int16_t flp_in = RX_WIDTH_MID; +int16_t ail_in2, ailr_in2, ele_in2, rud_in2, aux_in2, aux2_in2, thr_in2, flp_in2; + +int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position offsets +int16_t ele_in2_mid = RX_WIDTH_MID; // +int16_t rud_in2_mid = RX_WIDTH_MID; // +int16_t ailr_in2_mid = RX_WIDTH_MID; // + +int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset; // difference from *_in2_mid (stick position) + +// switch +int8_t ail_sw = false; +int8_t ele_sw = false; +int8_t rud_sw = false; +int8_t vtail_sw = false; +int8_t delta_sw = false; +int8_t aux_sw = false; +int8_t dummy_sw = false; // used to set pins to input mode + +// servo +volatile int16_t ail_out; +volatile int16_t ele_out; +volatile int16_t rud_out; +volatile int16_t ailr_out; +volatile int16_t thr_out; +volatile int16_t flp_out; +volatile int16_t aux2_out; +int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2; + +// imu +int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets +int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec +int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) + +// stabilizer output +int16_t correction[3] = {0, 0, 0}; +int16_t mixer_out2_low_limit[5]; +int16_t mixer_out2_high_limit[5]; + +// configuration +struct _eeprom_cfg cfg; + +// local copy of config +enum WING_MODE wing_mode; + +// serialrx_* order +const int8_t rx_chan_size = 8; +const volatile int16_t *rx_chan_map[rx_chan_size] = + {&rud_in, &ele_in, &thr_in, &ail_in, &aux_in, &ailr_in, &aux2_in, &flp_in}; // see enum SERIALRX_CHAN + +const int8_t serialrx_order_RETA1a2f[rx_chan_size] = { + SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_TAER1a2f[rx_chan_size] = { + SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_AETR1a2f[rx_chan_size] = { + SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_AERTa1f2[rx_chan_size] = { + SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; +const int8_t serialrx_order_TAERa1f2[rx_chan_size] = { + SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; + +volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; + +// pwm chan order +const int8_t pwm_chan_size = 8; +const volatile int16_t *pwm_chan_map[pwm_chan_size] = + {&rud_out, &ele_out, &thr_out, &ail_out, NULL, &ailr_out, &aux2_out, &flp_out}; // see enum SERIALRX_CHAN + +// stabilization mode +enum STAB_MODE {STAB_RATE, STAB_HOLD}; +enum STAB_MODE stab_mode = STAB_RATE; + +// DELTA DUAL_AIL mode +enum LINKED_MODE {LINKED_FLAPONLY, LINKED_FLAPPERON, LINKED_FLAPPERONEVATOR}; +enum LINKED_MODE linked_mode = LINKED_FLAPPERON; + +const int16_t stick_gain_max = 400; // [1100-1500] or [1900-1500] => [0-STICK_GAIN_MAX] +const int16_t master_gain_max = 400; // [1500-1100] or [1500-1900] => [0-MASTER_GAIN_MAX] + +int32_t minimum_servo_frame_time; // min time between servo updates in us. derived from cfg.servo_frame_rate +const int32_t maximum_rx_frame_time = 30000; // max time to wait for rx_frame_sync in us + +/*************************************************************************************************************** + * TIMER1 AND MISC + ***************************************************************************************************************/ + +volatile uint16_t timer1_high = 0; +volatile uint8_t timer1_ovf = 0; + +ISR(TIMER1_OVF_vect) +{ + if (!++timer1_high) + timer1_ovf++; +} + +uint32_t micros1() +{ + uint16_t th, tl; + uint8_t to; +#if 0 + // interrupt-disable version + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + } +#else + // lock-free version. read twice, ensure low order counter did not overflow and + // high order bits remain unchanged + while (true) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + if (!((tl ^ TCNT1) & 0x8000) && th == timer1_high && to == timer1_ovf) + break; + } +#endif +#if F_CPU == F_16MHZ + return ((uint32_t)to << 31) | ((uint32_t)th << 15) | (tl >> 1); +#else + return ((uint32_t)th << 16) | tl; +#endif +} + +void delay1(uint32_t ms) +{ + uint32_t us = ms * 1000; + uint32_t t = micros1(); + while ((int32_t)(micros1() - t) < us); +} + +void init_clock() +{ + // set clock prescaler to /2 when (F_XTAL, F_CPU) = (16M, 8M) +#if F_XTAL == F_16MHZ && F_CPU == F_8MHZ + uint8_t saveSREG = SREG; + cli(); + CLKPR = (1 << CLKPCE); + CLKPR = (1 << CLKPS0); + SREG = saveSREG; +#endif +} + +int get_free_sram() +{ + extern int __heap_start, *__brkval; + int v; + return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval); +} + +bool boot_check(int8_t in_pin, int8_t out_pin) +{ + pinMode(out_pin, OUTPUT); + pinMode(in_pin, INPUT); + digitalWrite(in_pin, HIGH); // enable pullup + delay1(10); + + bool result = true; + for (int8_t i=0; i<8; i++) { + int8_t level = i & 1 ? HIGH : LOW; + digitalWrite(out_pin, level); + // alternative to digitalRead() + if (((*portInputRegister(digitalPinToPort(in_pin)) & digitalPinToBitMask(in_pin)) ? HIGH : LOW) != level) { + result = false; + break; + } + } + pinMode(out_pin, INPUT); + return result; +} + + +/*************************************************************************************************************** + * LED + ***************************************************************************************************************/ +/* + 4 LED message slots + slot 0 for operation mode + slot 1 for operation mode + slot 2 for error condition + slot 3 for error condition + + slot 0 + 1 LONG = MIX_NORMAL + 2 LONG = MIX_DELTA + 3 LONG = MIX_VTAIL + + slot 1 + 1 SHORT = rx calibrating + 2 SHORT = imu calibrating + 3 SHORT = both calibrating + 4 SHORT = STAB_HOLD mode (else STAB_RATE) + + slot 2 + 5 SHORT = gyro init error + 20 VERY SHORT = low sram + + slot 3 + 50 VERY SHORT = eeprom reset + +*/ + +int8_t led_pulse_count[4]; +int16_t led_pulse_msec[4]; + +void init_led() +{ + LED_DDR |= (1 << LED_BIT); +} + +void set_led(int8_t i) +{ +#if !defined(LED_TIMING) + switch (i ^ LED_XOR) { + case LED_ON: LED_PORT |= (1 << LED_BIT); break; + case LED_OFF: LED_PORT &= ~(1 << LED_BIT); break; + default: LED_PORT ^= (1 << LED_BIT); break; + } +#endif +} + +void set_led_msg(int8_t slot, int8_t pulse_count, int16_t pulse_msec) { + led_pulse_count[slot] = pulse_count; + led_pulse_msec[slot] = pulse_msec; +} + +void update_led(uint32_t now) +{ + static int8_t slot; + static int8_t step; + static uint32_t next_time; + + if ((int32_t)(next_time - now) > 0) + return; + + if (step == 0) { + slot = (slot + 1) & 0x3; + step = led_pulse_count[slot] << 1; + next_time = now + 1000000; + return; + } + + step--; + set_led(step & 0x1 ? LED_ON : LED_OFF); + next_time = now + ((uint32_t)led_pulse_msec[slot] << 10); +} + +/*************************************************************************************************************** + * I2CLIGHT / MPU6050 / ITG3205 + ***************************************************************************************************************/ + +uint16_t i2c_errors = 0; + +void i2c_init(int8_t pullup, uint32_t freq) +{ + if (pullup) { +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) + PORTC |= 1 << 5; // scl PC5 + PORTC |= 1 << 4; // sda PC4 +#elif defined(__AVR_ATmega32U4__) // nanowii only + PORTD |= 1 << 0; // scl PD0 + PORTD |= 1 << 1; // sda PD1 +#else +#error Unknown CPU type for I2C +#endif + } + TWSR = 0; // prescaler = 1 + TWBR = ((F_CPU / freq) - 16) >> 1; // baud rate +} + +void i2c_wait() +{ + int16_t timeout = 255; + while (!(TWCR & (1 << TWINT))) { + if (!timeout--) { + TWCR = 0; // disable twi + i2c_errors++; + break; + } + } +} + +void i2c_start(uint8_t addr) +{ + TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // repeated start + i2c_wait(); + TWDR = addr; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +void i2c_stop() +{ + TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN); +} + +void i2c_write(uint8_t data) +{ + TWDR = data; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +uint8_t i2c_read(int8_t ack) +{ + uint8_t data; + TWCR = (1 << TWINT) | (1 << TWEN) | (ack ? (1 << TWEA) : 0); + i2c_wait(); + data = TWDR; + if (!ack) i2c_stop(); + return data; +} + +void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_write(data); // write data + i2c_stop(); +} + +uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_start((addr << 1) | 1); // read data + //jrb return i2c_read(true); + return i2c_read(false); +} + +void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) +{ + i2c_start((addr << 1) | 1); // read data + while (size--) { + *buf++ = i2c_read(size > 0); + } +} + +void i2c_read_buf_reg(uint8_t addr, uint8_t reg, uint8_t *buf, int8_t size) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_read_buf(addr, buf, size); +} + +#define MPU6050_ADDR 0x68 + +int8_t mpu6050_init() +{ + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset + delay1(50); + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(MPU6050_ADDR, 0x1A, 0x0); // accel_bw/delay=260hz/0ms gyro_bw/delay/sample=256hz/0.98ms/8khz + //i2c_write_reg(MPU6050_ADDR, 0x1A, 0x6); // accel_bw/delay=5hz/19ms gyro_bw/delay/sample=5hz/18.6ms/1khz + i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s + + return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id +} + +void mpu6050_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x43, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +void mpu6050_read_accel(int16_t *ax, int16_t *ay, int16_t *az) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x3B, buf, sizeof(buf)); + *ax = (buf[0] << 8) | (buf[1]); + *ay = (buf[2] << 8) | (buf[3]); + *az = (buf[4] << 8) | (buf[5]); +} + +#if !defined(ITG3205_ADDR) +#define ITG3205_ADDR 0x68 +#endif + +int8_t itg3205_init() +{ + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset + delay1(50); + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | 0x6); // fs=2000deg/s | lpf=5hz sample=1khz + + return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id +} + +void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(ITG3205_ADDR, 0x1D, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +/*************************************************************************************************************** + * ANALOG IN (VR) + ***************************************************************************************************************/ + +const int8_t adc_portc_size = 6; +volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC; + +void start_adc(uint8_t ch) +{ + ADMUX = (ADMUX & ~0x07) | ch; // set adc channel + ADCSRA |= (1 << ADSC); // adc start conversion +} + +void start_next_adc(uint8_t ch) +{ + while (ch < adc_portc_size) { // start next adc channel that has a valid mapping + if (adc_portc[ch]) { + start_adc(ch); + break; + } + ch++; + } +} + +ISR(ADC_vect) +{ + uint8_t ch = ADMUX & 0x07; // extract the channel of the ADC result + *adc_portc[ch] = ADCH; // save only the 8 msbs + start_next_adc(ch+1); +} + +void init_analog_in() +{ + int8_t i; + for (i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + ch_count = ch; // track total channels found before sync gap + ch = 0; + } else { + if (ch < rx_chan_size) { + if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; + if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; + *rx_chan[ch] = width; + } + ch++; + if (ch == ch_count) + rx_frame_sync = true; // mark as synced on last channel before sync gap + } +} +#endif // CPPM_PROFILE_PB0 + +// interrupt handler for CPPM stream on non-ICP pin (eg. CPPM_PROFILE_PD2 and CPPM_PROFILE_PE6) +// CPPM_PINREG and CPPM_PINBIT must be defined +// port/pin must be set up for interrupt on edge change and input mode in init_digital_in_rx() +inline void non_icp_cppm_vect() +{ + static int8_t ch_count; + static int8_t ch; + static uint16_t fall_time; + static uint8_t last_pin; + uint16_t now; + uint8_t last_pin2; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + last_pin = CPPM_PINREG; + if (((last_pin2 & ~last_pin) & (1 << CPPM_PINBIT)) == 0) + return; // return if NOT falling edge on CPPM_PINREG/CPPM_PINBIT + sei(); + + uint16_t width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + ch_count = ch; // track total channels found before sync gap + ch = 0; + } else { + if (ch < rx_chan_size) { + if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; + if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; + *rx_chan[ch] = width; + } + ch++; + if (ch == ch_count) + rx_frame_sync = true; // mark as synced on last channel before sync gap + } +} + +#if CPPM_PROFILE == CPPM_PROFILE_PD2 +ISR(PCINT2_vect) +{ + non_icp_cppm_vect(); +} +#endif // CPPM_PROFILE_PD2 + +#if CPPM_PROFILE == CPPM_PROFILE_PE6 +ISR(INT6_vect) +{ + non_icp_cppm_vect(); +} +#endif // CPPM_PROFILE_PE6 +#endif // SERIALRX_CPPM + +#if !defined(SERIALRX_ENABLED) +// regular NON-CPPM RX handling +const int8_t rx_port_size = 8; +volatile int16_t *rx_portb[rx_port_size] = RX_PORTB; +volatile int16_t *rx_portd[rx_port_size] = RX_PORTD; +int8_t rx_frame_sync_ref; // PB bit for non-CPPM + +// PORTB PCINT0-PCINT7 +ISR(PCINT0_vect) +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINB; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portb[i] = width; + if (i == rx_frame_sync_ref) + rx_frame_sync = true; + } + } + } + } +} + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) +// PORTD PCINT16-PCINT23 +ISR(PCINT2_vect) +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PIND; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portd[i] = width; + } + } + } + } +} +#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ + +#if defined(__AVR_ATmega32U4__) // nanowii only +// PE6 MUST BE ailr_in +ISR(INT6_vect) +{ + static uint16_t rise_time; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINE; + last_pin = pin; + sei(); + + rise = pin & ~last_pin2; + if (rise & (1 << 6)) { + rise_time = now; + } else { + uint16_t width = (now - rise_time) >> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + ailr_in = width; + } + } +} +#endif // __AVR_ATmega32U4__ +#endif // !SERIALRX_ENABLED + +void init_digital_in_rx() +{ +#if defined(SERIALRX_CPPM) +#if CPPM_PROFILE == CPPM_PROFILE_PB0 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINB, 0) + // eg. atmega168/328 ICP + TIMSK1 |= (1 << ICIE1); // enable interrupt on ICP + TCCR1B |= (1 << ICNC1); // enable noise canceler and interrupt on falling edge +#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PIND, 2) + // eg. MINI_MWC CPPM is on D2 (INTERNAL RX) + PCICR |= (1 << PCIE2); // interrupt on pin change + PCMSK2 |= (1 << CPPM_PINBIT); + DDRD &= ~(1 << CPPM_PINBIT); // set input mode + PORTD |= (1 << CPPM_PINBIT); // enable internal pullup +#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINE, 6) + // eg. NANOWII CPPM + EICRB |= (1 << ISC60); // interrupt on pin change + EIMSK |= (1 << INT6); + DDRE &= ~(1 << CPPM_PINBIT); // set input mode + PORTE |= (1 << CPPM_PINBIT); // enable internal pullup +#else +#error Unknown CPPM_PROFILE +#endif + return; +#endif // SERIALRX_CPPM + +#if !defined(SERIALRX_ENABLED) + // standard non-CPPM RX input + // rx_portb for all, rx_portd for atmega168/328, PE6 for atmega32u4 + + // PORTB RX + PCICR |= (1 << PCIE0); // interrupt on pin change + for (int8_t i=0; i= 0) // pwm_ch = -1 by start_servo_frame() + digitalWrite(pwm_chan_pin[pwm_ch], LOW); + while (pwm_ch < pwm_chan_size - 1) { + pwm_ch++; + if (pwm_chan_pin[pwm_ch] >= 0) { + uint16_t wait; + uint16_t tcnt1 = TCNT1; + digitalWrite(pwm_chan_pin[pwm_ch], HIGH); + wait = (*pwm_chan_map[pwm_ch] - 2) << (F_CPU == F_16MHZ ? 1 : 0); + OCR1A = tcnt1 + wait; + return; + } + } + // completed cycle + servo_busy = false; + TIMSK1 &= ~(1 << OCIE1A); // disable further interrupt on TCNT1 == OCR1A +} + +void init_digital_out() +{ + for (int8_t i=0; i= 0) + pinMode(pwm_chan_pin[i], OUTPUT); + } +} + +/*************************************************************************************************************** + * PID + ***************************************************************************************************************/ + +#define PID_PERIOD 10000 +// relative exponential weights kp:ki:kd +#define PID_KP_SHIFT 3 +#define PID_KI_SHIFT 6 +#define PID_KD_SHIFT 2 + +// struct _pid_param defined in FlightStab.h + +struct _pid_state { + // setpoint, input [-8192, 8191] + int16_t setpoint[3]; + int16_t input[3]; + int16_t last_err[3]; + int32_t sum_err[3]; + int32_t i_limit[3]; + int16_t output[3]; +}; + +struct _pid_state pid_state; // pid engine state + +void compute_pid(struct _pid_state *ppid_state, struct _pid_param *ppid_param) +{ + for (int8_t i=0; i<3; i++) { + int32_t err, sum_err, diff_err, pterm, iterm, dterm; + err = ppid_state->input[i] - ppid_state->setpoint[i]; + // accumulate the error up to an i_limit threshold + sum_err = ppid_state->sum_err[i] = constrain(ppid_state->sum_err[i] + err, -ppid_state->i_limit[i], ppid_state->i_limit[i]); + diff_err = err - ppid_state->last_err[i]; // difference the error + ppid_state->last_err[i] = err; + + pterm = (ppid_param->kp[i] * err) >> PID_KP_SHIFT; + iterm = (ppid_param->ki[i] * sum_err) >> PID_KI_SHIFT; + dterm = (ppid_param->kd[i] * diff_err) >> PID_KD_SHIFT; + ppid_state->output[i] = (pterm + iterm + dterm) >> ppid_param->output_shift; + +#if defined(SERIAL_DEBUG) && 0 + if (i == 2) { + Serial.print(ppid_state->input[i]); Serial.print('\t'); + Serial.print(err); Serial.print('\t'); + Serial.print(diff_err); Serial.print('\t'); + Serial.print(pterm); Serial.print('\t'); + Serial.print(iterm); Serial.print('\t'); + Serial.print(ppid_state->sum_err[i]); Serial.print('\t'); + Serial.print(dterm); Serial.print('\t'); + Serial.println(ppid_state->output[i]); + } +#endif + } +} + +/*************************************************************************************************************** + * EEPROM + ***************************************************************************************************************/ + +const uint16_t eeprom_stats_addr = 128; +const uint16_t eeprom_cfg1_addr = 0; +const uint16_t eeprom_cfg2_addr = 256+0; + +uint8_t eeprom_compute_chksum(void *buf, int8_t len) +{ + uint8_t chksum = 0; + for (int8_t i=0; ichksum = eeprom_compute_chksum(pcfg, sizeof(*pcfg)-1); + eeprom_write_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); +} + +int8_t eeprom_read_cfg(struct _eeprom_cfg *pcfg, uint16_t eeprom_addr, uint8_t expect_ver) +{ + eeprom_read_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); + if (pcfg->ver != expect_ver) { + return -1; + } + if (eeprom_compute_chksum(pcfg, sizeof(*pcfg)) != 0) { + return -2; + } + return 0; +} + + + +/*************************************************************************************************************** + * IMU SENSOR + ***************************************************************************************************************/ + +void read_imu() +{ + int16_t gx, gy, gz, tmp; +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + accelgyro.getRotation(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_gyro.getRotation(&gx, &gy, &gz); +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + mpu6050_read_gyro(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_read_gyro(&gx, &gy, &gz); +#endif +#endif + GYRO_ORIENTATION(gx, gy, gz); + switch (cfg.mount_orient) { + case MOUNT_NORMAL: break; + case MOUNT_ROLL_90_LEFT: + tmp = gyro[1]; + gyro[1] = gyro[2]; + gyro[2] = -tmp; + break; + case MOUNT_ROLL_90_RIGHT: + tmp = gyro[1]; + gyro[1] = -gyro[2]; + gyro[2] = tmp; + break; + } +} + +void init_imu() +{ +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + Wire.begin(); + accelgyro.initialize(); + if (!accelgyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } + accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); + accelgyro.setDLPFMode(MPU6050_DLPF_BW_256); + accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO); +#elif defined(USE_ITG3200) + Wire.begin(); + itg3205_gyro.initialize(); + itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO); + itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000); + itg3205_gyro.setDLPFBandwidth(ITG3200_DLPF_BW_5); +// gyro.setDLPFBandwidth(ITG3200_DLPF_BW_256); + if (!itg3205_gyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + i2c_init(true, F_I2C); + if (!mpu6050_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#elif defined(USE_ITG3200) + i2c_init(true, F_I2C); + if (!itg3205_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif +} + +/*************************************************************************************************************** + * CALIBRATION + ***************************************************************************************************************/ + +int8_t calibration_wag_count; +uint32_t last_calibration_wag_time; + +struct _calibration { + int8_t done; + int16_t num_elements; // 3 for imu, 4 for rx + int16_t low[4]; + int16_t high[4]; + int32_t sum[4]; + int16_t mean[4]; + int16_t num_samples; +}; + +void calibrate_set_led(struct _calibration *prx_cal, struct _calibration *pimu_cal) { + set_led_msg(1, (pimu_cal->done ? 0 : 2) + (prx_cal->done ? 0 : 1), LED_SHORT); +} + +void calibrate_init_stat(struct _calibration *pcal, int8_t num_elements) +{ + pcal->done = false; + pcal->num_elements = num_elements; + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = 32767; + pcal->high[i] = -32768; + pcal->sum[i] = 0; + } + pcal->num_samples = 0; +} + +void calibrate_update_stat(struct _calibration *pcal, int16_t *psample) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = min(pcal->low[i], psample[i]); + pcal->high[i] = max(pcal->high[i], psample[i]); + pcal->sum[i] += psample[i]; + } +} + +void calibrate_compute_mean(struct _calibration *pcal) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->mean[i] = pcal->sum[i] / pcal->num_samples; + } +} + +int8_t calibrate_check_stat(struct _calibration *pcal, int16_t range) +{ + int8_t good = 0; + for (int8_t i=0; i < pcal->num_elements; i++) { + if (pcal->high[i] - pcal->low[i] < range) + good++; + } + return (good == pcal->num_elements); +} + +void calibrate_print_stat(struct _calibration *pcal) +{ +#if defined(SERIAL_DEBUG) && 0 + Serial.println(pcal->num_samples); + for (int8_t i=0; i < pcal->num_elements; i++) { + Serial.print(pcal->low[i]); Serial.print('\t'); + Serial.print(pcal->mean[i]); Serial.print('\t'); + Serial.println(pcal->high[i]); + } +#endif +} + +void calibrate_rx(struct _calibration *prx_cal) +{ + int16_t sample[4]; + int8_t is_calibrating = true; + + sample[0] = ail_in2; + sample[1] = ele_in2; + sample[2] = rud_in2; + sample[3] = ailr_in2; + calibrate_update_stat(prx_cal, sample); + + if (++prx_cal->num_samples == 100) { + if (calibrate_check_stat(prx_cal, 20)) { + calibrate_compute_mean(prx_cal); + ail_in2_mid = prx_cal->mean[0]; + ele_in2_mid = prx_cal->mean[1]; + rud_in2_mid = prx_cal->mean[2]; + ailr_in2_mid = prx_cal->mean[3]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("RX"); + calibrate_print_stat(prx_cal); +#endif + prx_cal->done = true; // done + } else { + calibrate_init_stat(prx_cal, 4); // reset and try again + } + } +} + +void calibrate_imu(struct _calibration *pimu_cal) +{ + int16_t sample[3]; + int8_t is_calibrating = true; + + sample[0] = gyro[0]; + sample[1] = gyro[1]; + sample[2] = gyro[2]; + calibrate_update_stat(pimu_cal, sample); + + if (++pimu_cal->num_samples == 300) { + if (calibrate_check_stat(pimu_cal, 50)) { + calibrate_compute_mean(pimu_cal); + for (int8_t i=0; i<3; i++) + gyro0[i] = pimu_cal->mean[i]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("GY"); + calibrate_print_stat(pimu_cal); +#endif + pimu_cal->done = true; // done + } else { + calibrate_init_stat(pimu_cal, 3); // reset and try again + } + } +} + +/*************************************************************************************************************** + * RX IN - MIXER - SERVO OUT + ***************************************************************************************************************/ + +void copy_rx_in() +{ + // lock-free method to copy isr-owned *_in vars to *_in2 vars + int16_t tmp; + if ((tmp = ail_in) == ail_in) ail_in2 = tmp; + if ((tmp = ele_in) == ele_in) ele_in2 = tmp; + if ((tmp = rud_in) == rud_in) rud_in2 = tmp; + if ((tmp = aux_in) == aux_in) aux_in2 = tmp; + if ((tmp = aux2_in) == aux2_in) aux2_in2 = tmp; + if ((tmp = thr_in) == thr_in) thr_in2 = tmp; + if ((tmp = flp_in) == flp_in) flp_in2 = tmp; + + if (wing_mode <= WING_VTAIL_1AIL) + // WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL + ailr_in2 = ail_in2; + else + if ((tmp = ailr_in) == ailr_in) ailr_in2 = tmp; +} + +void apply_mixer_change(int16_t *change) +{ + // *_in2 => [change] => *_out2 + + // for delta/vtail + // tx = MID + (stick[x] + change[x]) * mult, where mult = 1/1, 3/2, 5/4 + + // mixer + int16_t tmp0, tmp1, tmp2, tmp3; + switch (wing_mode) { + case WING_RUDELE_1AIL: + case WING_RUDELE_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; + rud_out2 = rud_in2 + change[2]; + break; + + case WING_DELTA_1AIL: + // input: ail=ailr=roll, ele=pitch, rud=yaw + // output: ail=delta2, ailr=ail, ele=delta1, rud=rud + case WING_DELTA_2AIL: + // input: ail=ail, ailr=ailr ele=pitch, rud=linked + // output: ail=ail, ailr=ailr, ele=delta1, rud=delta2 + + // set up for WING_DELTA_2AIL pin mapping first + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0]; + tmp1 = ele_in2 + change[1]; + + // apply 100% (1/1) + //ele_out2 = ((tmp0 + tmp1) >> 1); + //rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID; + + // apply 125% (5/4) + tmp2 = tmp0 + tmp1; + ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); + tmp2 = tmp0 - tmp1; + rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; + + // apply 150% (3/2) + //tmp2 = tmp0 + tmp1; + //ele_out2 = tmp2 - (tmp2 >> 2) - (RX_WIDTH_MID >> 1); + //tmp2 = tmp0 - tmp1; + //rud_out2 = tmp2 - (tmp2 >> 2) + RX_WIDTH_MID; + + if (wing_mode == WING_DELTA_2AIL) { + // rud_in2 == LINKED mode input + enum LINKED_MODE linked_mode = rud_in2 < 1250 ? LINKED_FLAPONLY : + rud_in2 > 1400 && rud_in2 < 1600 ? LINKED_FLAPPERON : + rud_in2 > 1750 ? LINKED_FLAPPERONEVATOR : + linked_mode; + + switch (linked_mode) { + case LINKED_FLAPONLY: // flaps only (and no roll stabilization) + tmp0 = ((ail_in2 - ail_in2_mid) - (ailr_in2 - ailr_in2_mid)) >> 1; // flap-only offset + ail_out2 = RX_WIDTH_MID + tmp0; + ailr_out2 = RX_WIDTH_MID - tmp0; + break; + case LINKED_FLAPPERON: // flaps and roll + // ail_out2 and ailr_out2 are already regular flapperons + break; + case LINKED_FLAPPERONEVATOR: // flaps, roll and pitch + // rud_vr scales tmp0 by -1.0 to +1.0 + tmp0 = (int32_t)((ele_in2_offset + change[1])) * ((int16_t)rud_vr - 128) >> 7; + ail_out2 += tmp0; + ailr_out2 -= tmp0; + break; + } + } else { + // shuffle outputs for WING_DELTA_1AIL pin mapping + ail_out2 = rud_out2; // ail_out=delta2, ele_out=delta1 + rud_out2 = rud_in2 + change[2]; // rud_out + } + break; + + case WING_VTAIL_1AIL: + case WING_VTAIL_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + tmp1 = ele_in2 + change[1]; + tmp2 = rud_in2 + change[2]; + // apply 125% (5/4) + tmp0 = tmp2 + tmp1; + ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); + tmp0 = tmp2 - tmp1; + rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; + break; + + case WING_DUCKERON: + // input: ail=roll, ele=pitch, rud=yaw, ailr_in=brake + // output: ail=left1, ele=left2, ailr=right1, rud=right2 + tmp0 = (ail_in2 - ail_in2_mid) + change[0]; // roll + tmp1 = ele_in2_offset + change[1]; // pitch + tmp2 = rud_in2_offset + change[2]; // yaw + tmp3 = constrain((ailr_in - RX_WIDTH_LOW_NORM) >> 1, 0, 500); // brake from 0-500 + ail_out2 = RX_WIDTH_MID + tmp0 + tmp1 - max(0, -tmp2 + tmp3); // left1 + ele_out2 = RX_WIDTH_MID + tmp0 + tmp1 + max(0, -tmp2 + tmp3); // left2 + ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1 + rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2 + break; + + case WING_RUD_2ELE_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; // ELE-L + flp_out2 = flp_in2 - change[1]; // ELE-R + rud_out2 = rud_in2 + change[2]; + break; + } + + + // throttle, flap and aux2 pass through + thr_out2 = thr_in2; + if(wing_mode != WING_RUD_2ELE_2AIL) // aux2_out has been used for second elevator + flp_out2 = flp_in2; + aux2_out2 = aux2_in2; +} + +void set_mixer_limits(int16_t low, int16_t high) +{ + for (int8_t i=0; i<5; i++) { + mixer_out2_low_limit[i] = low; + mixer_out2_high_limit[i] = high; + } +} + +void apply_mixer() +{ + // *_in2 => [correction] => *_out2 + + static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2}; + int8_t i; + int8_t cnt; + + // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through) + if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) { + const int16_t zero_correction[5] = {0, 0, 0, 0, 0}; + apply_mixer_change((int16_t *)zero_correction); + for (i=0; i<5; i++) { + mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]); + mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]); + } + } + + // apply mixer with actual correction and clamp servo output to limits + apply_mixer_change(correction); + // Do not constrain Flap channel unless it is being used for left elevator + if (wing_mode == WING_RUD_2ELE_2AIL) + cnt = 5; + else + cnt = 4; + + for (i=0; i maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + last_rx_frame_time = t; + } + + Serial.print(" RX "); + Serial.print(ail_in2); Serial.print(' '); + Serial.print(ele_in2); Serial.print(' '); + Serial.print(rud_in2); Serial.print(' '); + Serial.print(ailr_in2); Serial.print(' '); + Serial.print(aux_in2); Serial.print(' '); + Serial.print(aux2_in2); Serial.print(' '); + Serial.print(thr_in2); Serial.print(' '); + Serial.print(flp_in2); Serial.print('\t'); + + uint8_t ail_vr2, ele_vr2, rud_vr2; + ail_vr2 = ail_vr; + ele_vr2 = ele_vr; + rud_vr2 = rud_vr; + start_next_adc(0); + + Serial.print("VR "); + Serial.print(ail_vr2, HEX); Serial.print(' '); + Serial.print(ele_vr2, HEX); Serial.print(' '); + Serial.print(rud_vr2, HEX); Serial.print('\t'); + + read_switches(); + Serial.print("SW "); + Serial.print((bool)ail_sw); Serial.print(' '); + Serial.print((bool)ele_sw); Serial.print(' '); + Serial.print((bool)rud_sw); Serial.print(' '); + Serial.print((bool)vtail_sw); Serial.print(' '); + Serial.print((bool)delta_sw); Serial.print(' '); + Serial.print((bool)aux_sw); Serial.print('\t'); + + read_imu(); + Serial.print("GY "); + Serial.print(gyro[0]); Serial.print('\t'); + Serial.print(gyro[1]); Serial.print('\t'); + Serial.print(gyro[2]); Serial.print('\t'); + + servo_out += servo_dir; + if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { + servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); + servo_dir = -servo_dir; + } + ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; +// ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = RX_WIDTH_MID; + + // sync servo frame when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + start_servo_frame(); + last_servo_frame_time = t; + } + + Serial.print("MISC "); + Serial.print(i2c_errors); Serial.print(' '); + Serial.print(cfg.wing_mode); Serial.print(' '); + Serial.print(wing_mode); Serial.print(' '); + Serial.print(cfg.mixer_epa_mode); Serial.print(' '); + for (int8_t i=0; i + bool zx_rev, zy_rev; + bool zx_sided, zy_sided; +}; + +void stick_zone_init(struct _stick_zone *psz) +{ + psz->zx = psz->zy = 1; // neutral zone + psz->curr = 5; // center + psz->zx_rev = psz->zy_rev = false; // rev=false => top/left == narrow AIL/ELE pulse + psz->zx_sided = psz->zy_sided = false; // have not found a side yet +} + +int8_t stick_zone(int16_t pwm, bool rev) +{ + int8_t zone; + if (pwm <= 1200) zone = 0; + else if (pwm >= 1300 && pwm <= 1700) zone = 1; + else if (pwm >= 1800) zone = 2; + else zone = -1; // in the hysteresis region + + if (zone >= 0 && rev) + zone = 2 - zone; + return zone; +} + +bool stick_zone_update(struct _stick_zone *psz) +{ + int8_t tmp; + bool moved; + + psz->prev = psz->curr; + if ((tmp = stick_zone(ail_in2, psz->zx_rev)) >= 0) psz->zx = tmp; // hysteresis + if ((tmp = stick_zone(ele_in2, psz->zy_rev)) >= 0) psz->zy = tmp; + + // we assume that the first corner visited bottom left (position 7) + // so stick on the left if the AIL pulse is at either horizontal end + if (!psz->zx_sided && (psz->zx == 0 || psz->zx == 2)) { + if (psz->zx == 2) { + psz->zx_rev = true; + psz->zx = 2 - psz->zx; + } + psz->zx_sided = true; + } + // and stick is on the bottom if the ELE pulse is at either vertical end + if (!psz->zy_sided && (psz->zy == 0 || psz->zy == 2)) { + if (psz->zy == 0) { + psz->zy_rev = true; + psz->zy = 2 - psz->zy; + } + psz->zy_sided = true; + } + + psz->curr = psz->zy * 3 + psz->zx + 1; + // telephone pad mapping + // 1 2 3 + // 4 5 6 + // 7 8 9 + moved = (psz->curr != psz->prev); + if (moved) { + psz->move = (psz->prev << 4) | psz->curr; // move = 0x[prev digit][curr digit] +#if defined(SERIAL_DEBUG) && 0 + Serial.print("stick_zone "); + Serial.print(psz->zx); Serial.print(' '); + Serial.print(psz->zy); Serial.print(' '); + Serial.print(psz->zx_rev); Serial.print(' '); + Serial.print(psz->zy_rev); Serial.print(' '); + Serial.print(psz->move, HEX); + Serial.println(); +#endif + } + return moved; +} + +void stick_config(struct _stick_zone *psz) +{ +// 1= wing_mode (see enum WING_MODE) +// 2= mixer_epa_mode (see enum MIXER_EPA_MODE) +// 3= mount_orient (see enum MOUNT_ORIENT) +// 4= stick_gain_throw (see enum STICK_GAIN_THROW) +// 5= max_rotate (see enum MAX_ROTATE) +// 6= rate_mode_stick_rotate (see enum RATE_MODE_STICK_ROTATE) +// 7= inflight_calibrate (see enum INFLIGHT_CALIBRATE) +// 8= exit + +// note: be careful about off-by-one errors in this function + + const int8_t param_ymin[] = { + WING_USE_DIPSW, + MIXER_EPA_FULL, + MOUNT_NORMAL, + STICK_GAIN_THROW_FULL, + MAX_ROTATE_VLOW, + RATE_MODE_STICK_ROTATE_DISABLE, + INFLIGHT_CALIBRATE_DISABLE, + 1 // exit_option + }; + const int8_t param_ymax[] = { + WING_RUDELE_2AIL, + MIXER_EPA_TRACK, + MOUNT_ROLL_90_RIGHT, + STICK_GAIN_THROW_QUARTER, + MAX_ROTATE_HIGH, + RATE_MODE_STICK_ROTATE_ENABLE, + INFLIGHT_CALIBRATE_ENABLE, + 2 // exit_option + }; + const int8_t param_xcount = sizeof(param_ymin)/sizeof(param_ymin[0]); + int8_t *pparam_yval[param_xcount]; + int8_t exit_option = 1; + + const int16_t servo_swing = 300; + const int32_t servo_interval[] = {100000L, 400000L}; + + int8_t x = 0; // 0-based, x=0 => wing_mode + int8_t servo_sync = false; + uint32_t last_servo_update_time = 0; + int32_t wait_interval = servo_interval[1]; + + pparam_yval[0] = (int8_t *) &cfg.wing_mode; + pparam_yval[1] = (int8_t *) &cfg.mixer_epa_mode; + pparam_yval[2] = (int8_t *) &cfg.mount_orient; + pparam_yval[3] = (int8_t *) &cfg.stick_gain_throw; + pparam_yval[4] = (int8_t *) &cfg.max_rotate; + pparam_yval[5] = (int8_t *) &cfg.rate_mode_stick_rotate; + pparam_yval[6] = (int8_t *) &cfg.inflight_calibrate; + pparam_yval[7] = &exit_option; + + int8_t update_x = (x + 1) << 1; + int8_t update_y = *pparam_yval[x] << 1; + while (true) { + uint32_t t = micros1(); + + if ((int32_t)(t - last_servo_update_time) > wait_interval) { + if (update_x > 0) { + ele_out2 = RX_WIDTH_MID + (update_x & 1 ? 0 : servo_swing); + ail_out2 = RX_WIDTH_MID; + wait_interval = servo_interval[update_x & 1]; + update_x--; + } else { + if (update_y != 0) { + int8_t sign = update_y > 0 ? 1 : -1; + int16_t signed_change = sign > 0 ? servo_swing : -servo_swing; + ail_out2 = RX_WIDTH_MID + (update_y & 1 ? 0 : signed_change); + wait_interval = servo_interval[update_y & 1]; + update_y -= sign; + } + } + last_servo_update_time = t; + } + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + if (rx_frame_sync) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + } + if (servo_sync && !servo_busy) { + servo_sync = false; + start_servo_frame(); + } + + if (update_x == 0 && /*update_y == 0 &&*/ stick_zone_update(psz)) { + + bool refresh_x = false; + bool refresh_y = false; + + switch (psz->move) { + case 0x54: x = max(x - 1, 0); refresh_x = true; break; // left + case 0x56: x = min(x + 1, param_xcount - 1); refresh_x = true; break; // right + case 0x52: *pparam_yval[x] = min(*pparam_yval[x] + 1, param_ymax[x]); refresh_y = true; break; // up + case 0x58: *pparam_yval[x] = max(*pparam_yval[x] - 1, param_ymin[x]); refresh_y = true; break; // down + } + + // check if update_x and/or update_y need to be refreshed + if (refresh_x || refresh_y) { + update_y = *pparam_yval[x] << 1; + if (refresh_x) + update_x = (x + 1) << 1; + } + + // check for exit option + if (exit_option == 2) { + break; + } + + #if defined(SERIAL_DEBUG) && 0 + Serial.print("param "); + Serial.print(psz->prev, HEX); Serial.print(' '); + Serial.print(psz->curr, HEX); Serial.print(' '); + Serial.print(x); Serial.print(' '); + Serial.print(*pparam_yval[x]); Serial.print(' '); + Serial.println(); + #endif + } + } + + // write eeprom; + eeprom_write_cfg(&cfg, eeprom_cfg1_addr); + eeprom_write_cfg(&cfg, eeprom_cfg2_addr); +} + + +/*************************************************************************************************************** + * SETUP + ***************************************************************************************************************/ + +void setup() +{ + int8_t i; + + init_clock(); + init_led(); + if (get_free_sram() < 128) + set_led_msg(2, 20, LED_VERY_SHORT); + +#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS) +#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) + serialrx_init(); +#else + Serial.begin(115200L); +#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) +#endif + +#if defined(SERIAL_DEBUG) && 0 + Serial.println("Serial Port Initialized."); +#endif + + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) + // clear wd reset bit and disable wdt in case it was enabled due to stick config reboot + MCUSR &= ~(1 << WDRF); + wdt_disable(); +#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ + +#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5) + // set up default parameters for No DIPSW and No POT + cfg.wing_mode = WING_RUDELE_2AIL; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = 60; + } +#else + // set up default parameters + cfg.wing_mode = WING_USE_DIPSW; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = vr_gain_use_pot; + } +#endif + cfg.mixer_epa_mode = MIXER_EPA_FULL; + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL)) + cfg.servo_frame_rate = 20; // safe rate for analog servos +#else + cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate +#endif + + const int8_t *pserialrx_order; +#if defined(SERIALRX_CPPM) + #if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) + pserialrx_order = serialrx_order_TAER1a2f; + #else + pserialrx_order = serialrx_order_RETA1a2f; + #endif +#elif defined(SERIALRX_SPEKTRUM) + pserialrx_order = serialrx_order_TAER1a2f; +#elif defined(SERIALRX_SBUS) + pserialrx_order = serialrx_order_AETR1a2f; +#elif defined(SERIALRX_SRXL) + #ifdef SERIALRX_DEFMPX + pserialrx_order = serialrx_order_AERTa1f2; + #else + pserialrx_order = serialrx_order_TAERa1f2; + #endif +#else + pserialrx_order = serialrx_order_RETA1a2f; +#endif + for (i=0; i= WING_RUDELE_1AIL && wing_mode <= WING_VTAIL_1AIL) { + // disable AILR_OUT (was at PD7) + // disable AILR_IN at PB4 + // move AUX_IN from PB3 to PD7 + pwm_chan_pin[SERIALRX_a] = -1; // disable ailr_out + rx_portb[4] = NULL; // disable ailr_in + rx_portb[3] = NULL; // disable aux_in at PB3 + rx_portd[7] = &aux_in; // enable aux_in at PD7 + } +#endif // !SERIALRX_ENABLED +#endif // RX3S_V1 + +#if defined(RX3S_V2) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 4) | (vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; + +#if !defined(SERIALRX_ENABLED) + if (wing_mode >= WING_RUDELE_2AIL && wing_mode <= WING_DUCKERON) { + // PD1 1 AILR_IN instead of AIL_SW + din_portd[1] = NULL; // disable ail_sw, must be set to NOR + rx_portd[1] = &ailr_in; // enable ailr_in + } +#endif // !SERIALRX_ENABLED +#endif // RX3S_V2 + +#if defined(RX3SM) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; + + if (wing_mode > WING_VTAIL_1AIL) // constrain to supported modes + wing_mode = WING_RUDELE_1AIL; +#endif // RX3SM + +#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions +#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)]; +#endif +#endif // EAGLE_A3PRO + + if (wing_mode == WING_USE_DIPSW) // set to valid mode if needed + wing_mode = WING_RUDELE_1AIL; + + set_led_msg(0, wing_mode, LED_LONG); + + init_analog_in(); // vr + init_digital_in_rx(); // rx + init_digital_out(); // servo + init_imu(); // gyro/accelgyro + + copy_rx_in(); // init *_in2 vars + apply_mixer(); // init *_out2 vars + +#if defined(DUMP_SENSORS) + dump_sensors(); +#endif + //struct _stick_zone sz; + //stick_config(&sz); +} + +/*************************************************************************************************************** + * LOOP + ***************************************************************************************************************/ + +void loop() +{ +#if !defined(DUMP_SENSORS) + int8_t i; + uint32_t t = micros1(); + uint32_t last_rx_frame_time = t; + uint32_t last_servo_frame_time = t; + uint32_t last_imu_time = t; + uint32_t last_pid_time = t; + uint32_t last_vr_time = t; + int8_t servo_sync = false; + + int16_t vr_gain[3]= {0, 0, 0}; + int16_t stick_gain[3]; + int16_t master_gain; + +#if !defined(NO_STICKCONFIG) + uint32_t stick_config_check_time = t; + struct _stick_zone stick_zone; + const uint8_t stick_config_seq[] = {0x78, 0x89, 0x98, 0x87, 0x78, 0x89, 0x98, 0x87, 0xff}; // 7-9-7-9-7 + int8_t stick_config_seq_i = 0; + int8_t stick_configurable = true; + + stick_zone_init(&stick_zone); // stick zone setup +#endif // !NO_STICKCONFIG + + struct _calibration rx_cal; + struct _calibration imu_cal; + + // calibration setup + calibrate_init_stat(&rx_cal, 4); + calibrate_init_stat(&imu_cal, 3); + last_calibration_wag_time = t; + + // inflight calibration + uint32_t last_stab_mode_time = t; + int8_t stab_mode_count; + +again: + t = micros1(); + update_led(t); + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + // update rx frame data with rx ISR received reference channel or after timeout + if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + if (!rx_cal.done) { + calibrate_rx(&rx_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + servo_sync = true; + last_rx_frame_time = t; + } + + // sync servo frame with rx frame immediately when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + apply_mixer(); + start_servo_frame(); + last_servo_frame_time = t; + } + + // schedule imu read just after servo pulse start, if needed. + // takes around 1ms at 100khz, 250us at 400khz + if ((int32_t)(t - last_imu_time) > PID_PERIOD) { + read_imu(); + if (!imu_cal.done) { + calibrate_imu(&imu_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + last_imu_time = t; + } + +#if !defined(NO_STICKCONFIG) + if (stick_configurable && stick_zone_update(&stick_zone)) { + stick_config_seq_i = (stick_zone.move == stick_config_seq[stick_config_seq_i]) ? stick_config_seq_i + 1 : 0; + if (stick_config_seq[stick_config_seq_i] == 0xff) { + stick_config(&stick_zone); // completed sequence, enter stick config mode + // RESET SYSTEM ON RETURN + wdt_enable(WDTO_1S); + while (true); + } + if ((int32_t)(t - stick_config_check_time) > 15000000L) // 15 sec to enter config mode + stick_configurable = false; + } +#endif // !NO_STICKCONFIG + + // short circuit rest of the loop if calibration not done, do not compute correction[] + if (!rx_cal.done || !imu_cal.done) { + // determine how much sticks are off center (from neutral). the mixer still needs them before calibration completes. + ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; + ele_in2_offset = ele_in2 - ele_in2_mid; + rud_in2_offset = rud_in2 - rud_in2_mid; + goto again; + } + + if ((int32_t)(t - last_pid_time) > PID_PERIOD) { + + // stabilization mode + enum STAB_MODE stab_mode2 = + (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - 25) ? STAB_RATE : + (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region + + if (stab_mode2 != stab_mode) { + stab_mode = stab_mode2; + set_led_msg(1, (stab_mode == STAB_RATE) ? 0 : 4, LED_SHORT); + + // reset attitude error and i_limit threshold on mode change + for (i=0; i<3; i++) { + pid_state.sum_err[i] = 0; + pid_state.i_limit[i] = 0; + } + + // check for inflight rx calibration + if (cfg.inflight_calibrate == INFLIGHT_CALIBRATE_ENABLE) { + if ((int32_t)(t - last_stab_mode_time) > 500000L) { + stab_mode_count = 0; + } + last_stab_mode_time = t; + + if (++stab_mode_count >= 3) { + ail_in2_mid = ail_in2; + ele_in2_mid = ele_in2; + rud_in2_mid = rud_in2; + ailr_in2_mid = ailr_in2; + } + } + } + + // determine how much sticks are off center (from neutral) + ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; + ele_in2_offset = ele_in2 - ele_in2_mid; + rud_in2_offset = rud_in2 - rud_in2_mid; + + // vr_gain[] [-128, 128] from VRs or config + + // see enum STICK_GAIN_THROW. shift=0 => FULL, shift=1 => HALF, shift=2 => QUARTER + int8_t shift = cfg.stick_gain_throw - 1; + + // stick_gain[] [1100, _in2_mid, 1900] => [0%, 100%, 0%] = [0, STICK_GAIN_MAX, 0] + stick_gain[0] = stick_gain_max - min(abs(ail_in2_offset) << shift, stick_gain_max); + stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max); + stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max); + + // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX] + master_gain = constrain(abs(aux_in2 - RX_WIDTH_MID), 0, master_gain_max); + if (master_gain < 25) master_gain = 0; // deadband + + // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) + if (stab_mode == STAB_HOLD || + (stab_mode == STAB_RATE && cfg.rate_mode_stick_rotate == RATE_MODE_STICK_ROTATE_ENABLE)) { + // stick controlled roll rate + // cfg.max_rotate shift = [1, 5] + // eg. max stick == 400, cfg.max_rotate == 4. then 400 << 4 = 6400 => 6400/32768*2000 = 391deg/s (32768 == 2000deg/s) + int16_t sp[3]; + sp[0] = ail_in2_offset << cfg.max_rotate; + sp[1] = ele_in2_offset << cfg.max_rotate; + sp[2] = rud_in2_offset << cfg.max_rotate; + for (i=0; i<3; i++) + pid_state.setpoint[i] = vr_gain[i] < 0 ? sp[i] : -sp[i]; + } else { + // zero roll rate, stabilization only + for (i=0; i<3; i++) + pid_state.setpoint[i] = 0; + } + + if (stab_mode == STAB_HOLD) { + // max attitude error (bounding box) + for (i=0; i<3; i++) { + // 2000 deg/s == 32768 units, so 1 deg/(PID_PERIOD=10ms) == 32768/20 units + pid_state.i_limit[i] = ((int32_t)30 * (32768 / 2 / (PID_PERIOD / 1000)) * stick_gain[i]) >> 9; + } + } + + // measured angular rate (from the gyro and apply calibration offset) + pid_state.input[0] = constrain(gyro[0] - gyro0[0], -8192, 8191); + pid_state.input[1] = constrain(gyro[1] - gyro0[1], -8192, 8191); + pid_state.input[2] = constrain(gyro[2] - gyro0[2], -8192, 8191); + + // apply PID control + compute_pid(&pid_state, (stab_mode == STAB_RATE) ? &cfg.pid_param_rate : &cfg.pid_param_hold); + + // apply vr_gain, stick_gain and master_gain + for (i=0; i<3; i++) { + // vr_gain [-128,0,127]/128, stick_gain [0,400,0]/512, master_gain [400,0,400]/512 + correction[i] = ((((int32_t)pid_state.output[i] * vr_gain[i] >> 7) * stick_gain[i]) >> 9) * master_gain >> 9; + } + + // calibration wag on all surfaces if needed + if (calibration_wag_count > 0) { + if ((int32_t)(t - last_calibration_wag_time) > 200000L) { + calibration_wag_count--; + last_calibration_wag_time = t; + } + for (i=0; i<3; i++) + correction[i] += (calibration_wag_count & 1) ? 150 : -150; + } + +#if defined(SERIAL_DEBUG) && 0 + Serial.print(correction[0]); Serial.print('\t'); + Serial.print(correction[1]); Serial.print('\t'); + Serial.print(correction[2]); Serial.println('\t'); +#endif + last_pid_time = t; + } + + if ((int32_t)(t - last_vr_time) > 500123) { + // *_vr are adc channel output + // vr_gain[] [-128, 0, 127] => [-100%, 0%, 100%] = [-128, 0, 127] + vr_gain[0] = (cfg.vr_gain[0] == vr_gain_use_pot) ? (int16_t)ail_vr - 128 : cfg.vr_gain[0]; + vr_gain[1] = (cfg.vr_gain[1] == vr_gain_use_pot) ? (int16_t)ele_vr - 128 : cfg.vr_gain[1]; + vr_gain[2] = (cfg.vr_gain[2] == vr_gain_use_pot) ? (int16_t)rud_vr - 128 : cfg.vr_gain[2]; + + // deadband filter + const int16_t vr_deadband = 8; + for (i=0; i<3; i++) { + if (abs(vr_gain[i]) < vr_deadband) + vr_gain[i] = 0; + } + + start_next_adc(0); + last_vr_time = t; + } + + goto again; // the dreaded "goto" statement :O +#endif // DUMP_SENSORS +} From 2e142fb04c6baf44bb69a5438d9f95387d654705 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Sat, 21 Feb 2015 10:01:45 -0500 Subject: [PATCH 17/29] Add AUX2 to Flip 1.5 & Allow Master gains from 1-25 --- Builds/20150207_NANOWII.hex | 1024 --------------- Builds/20150207_NANOWII_CPPM.hex | 1014 --------------- Builds/20150207_NANOWII_SBUS.hex | 1115 ----------------- Builds/20150207_NANOWII_SPEKTRUM.hex | 1091 ---------------- Builds/20150207_NANOWII_SRXLH.hex | 1110 ---------------- Builds/20150207_NANOWII_SRXLM.hex | 1110 ---------------- ...207_AQUASTAR.hex => 20150221_AQUASTAR.hex} | 0 .../{20150207_DLUX.hex => 20150221_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20150221_EAGLE_A3PRO.hex} | 657 +++++----- ...> 20150221_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 713 ++++++----- ...207_FLIP_1_5.hex => 20150221_FLIP_1_5.hex} | 647 +++++----- ..._5_CPPM.hex => 20150221_FLIP_1_5_CPPM.hex} | 657 +++++----- ...WC_SBUS.hex => 20150221_FLIP_1_5_SBUS.hex} | 807 ++++++------ ...RUM.hex => 20150221_FLIP_1_5_SPEKTRUM.hex} | 807 ++++++------ ..._SRXLM.hex => 20150221_FLIP_1_5_SRXLH.hex} | 805 ++++++------ ..._SRXLH.hex => 20150221_FLIP_1_5_SRXLM.hex} | 805 ++++++------ ...WC_CPPM.hex => 20150221_MINI_MWC_CPPM.hex} | 657 +++++----- ...=> 20150221_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 659 +++++----- ..._5_SBUS.hex => 20150221_MINI_MWC_SBUS.hex} | 807 ++++++------ ...RUM.hex => 20150221_MINI_MWC_SPEKTRUM.hex} | 807 ++++++------ ..._SRXLM.hex => 20150221_MINI_MWC_SRXLH.hex} | 805 ++++++------ ..._SRXLH.hex => 20150221_MINI_MWC_SRXLM.hex} | 805 ++++++------ Builds/20150221_NANOWII.hex | 1023 +++++++++++++++ Builds/20150221_NANOWII_CPPM.hex | 1013 +++++++++++++++ Builds/20150221_NANOWII_SBUS.hex | 1114 ++++++++++++++++ Builds/20150221_NANOWII_SPEKTRUM.hex | 1090 ++++++++++++++++ Builds/20150221_NANOWII_SRXLH.hex | 1109 ++++++++++++++++ Builds/20150221_NANOWII_SRXLM.hex | 1109 ++++++++++++++++ ...{20150207_RX3SM.hex => 20150221_RX3SM.hex} | 669 +++++----- ...50207_RX3S_V1.hex => 20150221_RX3S_V1.hex} | 671 +++++----- ..._V1_CPPM.hex => 20150221_RX3S_V1_CPPM.hex} | 671 +++++----- ..._V1_SBUS.hex => 20150221_RX3S_V1_SBUS.hex} | 822 ++++++------ ...TRUM.hex => 20150221_RX3S_V1_SPEKTRUM.hex} | 820 ++++++------ ..._IN_ON_RUD_IN.hex => 20150221_RX3S_V2.hex} | 665 +++++----- ...=> 20150221_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 665 +++++----- ..._V2_CPPM.hex => 20150221_RX3S_V2_CPPM.hex} | 682 +++++----- ..._V2_SBUS.hex => 20150221_RX3S_V2_SBUS.hex} | 829 ++++++------ ...TRUM.hex => 20150221_RX3S_V2_SPEKTRUM.hex} | 827 ++++++------ ...2_SRXLM.hex => 20150221_RX3S_V2_SRXLH.hex} | 825 ++++++------ ...2_SRXLH.hex => 20150221_RX3S_V2_SRXLM.hex} | 825 ++++++------ ...50207_TGY160A.hex => 20150221_TGY160A.hex} | 0 ...ange Log.txt => 2015-02-21 Change Log.txt} | 9 +- FlightStab/FlightStab.ino | 32 +- 43 files changed, 16183 insertions(+), 16189 deletions(-) delete mode 100644 Builds/20150207_NANOWII.hex delete mode 100644 Builds/20150207_NANOWII_CPPM.hex delete mode 100644 Builds/20150207_NANOWII_SBUS.hex delete mode 100644 Builds/20150207_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20150207_NANOWII_SRXLH.hex delete mode 100644 Builds/20150207_NANOWII_SRXLM.hex rename Builds/{20150207_AQUASTAR.hex => 20150221_AQUASTAR.hex} (100%) rename Builds/{20150207_DLUX.hex => 20150221_DLUX.hex} (100%) rename Builds/{20150207_EAGLE_A3PRO.hex => 20150221_EAGLE_A3PRO.hex} (59%) rename Builds/{20150207_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20150221_EAGLE_A3PRO_NO_STICKCONFIG.hex} (52%) rename Builds/{20150207_FLIP_1_5.hex => 20150221_FLIP_1_5.hex} (60%) rename Builds/{20150207_FLIP_1_5_CPPM.hex => 20150221_FLIP_1_5_CPPM.hex} (58%) rename Builds/{20150207_MINI_MWC_SBUS.hex => 20150221_FLIP_1_5_SBUS.hex} (55%) rename Builds/{20150207_MINI_MWC_SPEKTRUM.hex => 20150221_FLIP_1_5_SPEKTRUM.hex} (53%) rename Builds/{20150207_FLIP_1_5_SRXLM.hex => 20150221_FLIP_1_5_SRXLH.hex} (55%) rename Builds/{20150207_MINI_MWC_SRXLH.hex => 20150221_FLIP_1_5_SRXLM.hex} (55%) rename Builds/{20150207_MINI_MWC_CPPM.hex => 20150221_MINI_MWC_CPPM.hex} (58%) rename Builds/{20150207_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20150221_MINI_MWC_CPPM_EXTERNAL_RX.hex} (58%) rename Builds/{20150207_FLIP_1_5_SBUS.hex => 20150221_MINI_MWC_SBUS.hex} (55%) rename Builds/{20150207_FLIP_1_5_SPEKTRUM.hex => 20150221_MINI_MWC_SPEKTRUM.hex} (53%) rename Builds/{20150207_MINI_MWC_SRXLM.hex => 20150221_MINI_MWC_SRXLH.hex} (55%) rename Builds/{20150207_FLIP_1_5_SRXLH.hex => 20150221_MINI_MWC_SRXLM.hex} (55%) create mode 100644 Builds/20150221_NANOWII.hex create mode 100644 Builds/20150221_NANOWII_CPPM.hex create mode 100644 Builds/20150221_NANOWII_SBUS.hex create mode 100644 Builds/20150221_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20150221_NANOWII_SRXLH.hex create mode 100644 Builds/20150221_NANOWII_SRXLM.hex rename Builds/{20150207_RX3SM.hex => 20150221_RX3SM.hex} (59%) rename Builds/{20150207_RX3S_V1.hex => 20150221_RX3S_V1.hex} (59%) rename Builds/{20150207_RX3S_V1_CPPM.hex => 20150221_RX3S_V1_CPPM.hex} (57%) rename Builds/{20150207_RX3S_V1_SBUS.hex => 20150221_RX3S_V1_SBUS.hex} (54%) rename Builds/{20150207_RX3S_V1_SPEKTRUM.hex => 20150221_RX3S_V1_SPEKTRUM.hex} (53%) rename Builds/{20150207_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20150221_RX3S_V2.hex} (59%) rename Builds/{20150207_RX3S_V2.hex => 20150221_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (59%) rename Builds/{20150207_RX3S_V2_CPPM.hex => 20150221_RX3S_V2_CPPM.hex} (57%) rename Builds/{20150207_RX3S_V2_SBUS.hex => 20150221_RX3S_V2_SBUS.hex} (54%) rename Builds/{20150207_RX3S_V2_SPEKTRUM.hex => 20150221_RX3S_V2_SPEKTRUM.hex} (53%) rename Builds/{20150207_RX3S_V2_SRXLM.hex => 20150221_RX3S_V2_SRXLH.hex} (54%) rename Builds/{20150207_RX3S_V2_SRXLH.hex => 20150221_RX3S_V2_SRXLM.hex} (54%) rename Builds/{20150207_TGY160A.hex => 20150221_TGY160A.hex} (100%) rename Docs/{2015-02-07 Change Log.txt => 2015-02-21 Change Log.txt} (85%) diff --git a/Builds/20150207_NANOWII.hex b/Builds/20150207_NANOWII.hex deleted file mode 100644 index be2a302..0000000 --- a/Builds/20150207_NANOWII.hex +++ /dev/null @@ -1,1024 +0,0 @@ -:100000000C948B010C94B3010C94B3010C94B301C8 -:100010000C94B3010C94B3010C94B3010C945505EA -:100020000C94B3010C94CB040C940F190C949319F9 -:100030000C94B3010C94B3010C94B3010C94B30170 -:100040000C94B3010C949D140C94B3010C94B30163 -:100050000C94B5010C94B3010C94B3010C94D11A17 -:100060000C94B3010C94B3010C94B3010C94B30140 -:100070000C94B3010C94EA030C94B3010C94B301F7 -:100080000C94B3010C94B3010C94B3010C94B30120 -:100090000C94B3010C94B3010C94B3010C94B30110 -:1000A0000C94B3010C94B3010C94B301010923091E -:1000B000E40901092309E4092D0A9C0A0C1C0F1C00 -:1000C000021C061C301C301C301C131C171C1B1C73 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+:1037C0000306050A04FF070B09788998877889980A +:1037D00087FF000000000000030100020504070647 +:1037E00002000300040005000800060007000200B4 +:1037F000A0860100801A06000503030304020202EA +:1038000001010101010101010C020E02100212026C +:10381000160200000000A8184D193E186F184F1826 +:023820009818F6 :00000001FF diff --git a/Builds/20150207_TGY160A.hex b/Builds/20150221_TGY160A.hex similarity index 100% rename from Builds/20150207_TGY160A.hex rename to Builds/20150221_TGY160A.hex diff --git a/Docs/2015-02-07 Change Log.txt b/Docs/2015-02-21 Change Log.txt similarity index 85% rename from Docs/2015-02-07 Change Log.txt rename to Docs/2015-02-21 Change Log.txt index ae4ade9..1a1bacd 100644 --- a/Docs/2015-02-07 Change Log.txt +++ b/Docs/2015-02-21 Change Log.txt @@ -1,6 +1,13 @@ -2015-02-03 FlightStab Change Log +2015-02-21 FlightStab Change Log +2015-02-21 FlightStab.ino +Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode. + +Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us. +This is to allow master_ gain to have a valued of when when hysteresis is +exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit. + 2015-02-07 FlightStab.ino Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain. Restore to 1474us to 1525us for zero gain. diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 48889cd..82e1375 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -470,7 +470,7 @@ bool ow_loop(); // OneWireSerial.ino #define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // -#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, -1, 16} // RETA1a2F +#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, 12, 16} // RETA1a2F #define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list // @@ -647,6 +647,8 @@ volatile uint8_t ele_vr = 255; volatile uint8_t rud_vr = 255; // rx +#define RX_GAIN_HYSTERESIS 25 +#define RX_MODE_HYSTERESIS 25 #define RX_WIDTH_MIN 900 #define RX_WIDTH_LOW_FULL 1000 #define RX_WIDTH_LOW_NORM 1100 @@ -991,7 +993,6 @@ uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) i2c_start(addr << 1); // write reg i2c_write(reg); i2c_start((addr << 1) | 1); // read data - //jrb return i2c_read(true); return i2c_read(false); } @@ -1877,7 +1878,7 @@ void apply_mixer_change(int16_t *change) // throttle, flap and aux2 pass through thr_out2 = thr_in2; - if(wing_mode != WING_RUD_2ELE_2AIL) // aux2_out has been used for second elevator + if(wing_mode != WING_RUD_2ELE_2AIL) // flp_out2 has been used for second elevator flp_out2 = flp_in2; aux2_out2 = aux2_in2; } @@ -2643,6 +2644,10 @@ again: if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { servo_sync = false; apply_mixer(); + + //jrb Debug - Remove comment from following line to view master_gain + 1000 on AUX2 output + //aux2_out2 = RX_WIDTH_LOW_FULL + master_gain; + start_servo_frame(); last_servo_frame_time = t; } @@ -2685,8 +2690,8 @@ again: // stabilization mode enum STAB_MODE stab_mode2 = - (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - 25) ? STAB_RATE : - (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region + (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - RX_MODE_HYSTERESIS) ? STAB_RATE : + (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region if (stab_mode2 != stab_mode) { stab_mode = stab_mode2; @@ -2729,9 +2734,20 @@ again: stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max); stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max); - // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX] - master_gain = constrain(abs(aux_in2 - RX_WIDTH_MID), 0, master_gain_max); - if (master_gain < 25) master_gain = 0; // deadband + // master gain [Rate = 1475-1075] or [Hold = 1575-1975] => [0, MASTER_GAIN_MAX] + if (aux_in2 < (RX_WIDTH_MID - RX_GAIN_HYSTERESIS)) { + // Handle Rate Mode Gain Offset, gain = 1 when hysteresis area is exited + // Previously gain was the value of RX_GAIN_HYSTERESIS at first exit + master_gain = constrain(((RX_WIDTH_MID - RX_GAIN_HYSTERESIS) - aux_in2) , 0, master_gain_max); + } else { + if (aux_in2 > (RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS)) { + // Handle Hold Mode Gain Offset, gain = 1 when both hysteresis areas are exited + // Previously gain was the value of RX_MODE_HYSTERESIS at first exit + master_gain = constrain(aux_in2 - (RX_WIDTH_MID + RX_MODE_HYSTERESIS), 0, master_gain_max); + } + // Force Gain to 0 while in either of the Hysteresis areas + else master_gain = 0; // Force deadband + } // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) if (stab_mode == STAB_HOLD || From 2d156565fc582c149191ed0ed5eef48f6ae05601 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Wed, 15 Apr 2015 14:58:50 -0400 Subject: [PATCH 18/29] Default gyro filter to 5HZ, add filter bandwidth configuration. --- Aquastar/Aquastar.ino | 21 +- Aquastar/FlightStab.h | 8 +- Builds/20150221_AQUASTAR.hex | 402 ------ Builds/20150221_DLUX.hex | 402 ------ Builds/20150221_EAGLE_A3PRO.hex | 816 ------------ .../20150221_EAGLE_A3PRO_NO_STICKCONFIG.hex | 742 ----------- Builds/20150221_FLIP_1_5.hex | 812 ------------ Builds/20150221_FLIP_1_5_CPPM.hex | 791 ------------ Builds/20150221_FLIP_1_5_SBUS.hex | 897 ------------- Builds/20150221_FLIP_1_5_SPEKTRUM.hex | 873 ------------- Builds/20150221_FLIP_1_5_SRXLH.hex | 892 ------------- Builds/20150221_FLIP_1_5_SRXLM.hex | 892 ------------- Builds/20150221_MINI_MWC_CPPM.hex | 791 ------------ Builds/20150221_MINI_MWC_CPPM_EXTERNAL_RX.hex | 786 ------------ Builds/20150221_MINI_MWC_SBUS.hex | 897 ------------- Builds/20150221_MINI_MWC_SPEKTRUM.hex | 873 ------------- Builds/20150221_MINI_MWC_SRXLH.hex | 892 ------------- Builds/20150221_MINI_MWC_SRXLM.hex | 892 ------------- Builds/20150221_NANOWII.hex | 1023 --------------- Builds/20150221_NANOWII_CPPM.hex | 1013 --------------- Builds/20150221_NANOWII_SBUS.hex | 1114 ---------------- Builds/20150221_NANOWII_SPEKTRUM.hex | 1090 ---------------- Builds/20150221_NANOWII_SRXLH.hex | 1109 ---------------- Builds/20150221_NANOWII_SRXLM.hex | 1109 ---------------- Builds/20150221_RX3SM.hex | 818 ------------ Builds/20150221_RX3S_V1.hex | 819 ------------ Builds/20150221_RX3S_V1_CPPM.hex | 790 ------------ Builds/20150221_RX3S_V1_SBUS.hex | 902 ------------- Builds/20150221_RX3S_V1_SPEKTRUM.hex | 878 ------------- Builds/20150221_RX3S_V2.hex | 821 ------------ Builds/20150221_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 821 ------------ Builds/20150221_RX3S_V2_CPPM.hex | 794 ------------ Builds/20150221_RX3S_V2_SBUS.hex | 905 ------------- Builds/20150221_RX3S_V2_SPEKTRUM.hex | 881 ------------- Builds/20150221_RX3S_V2_SRXLH.hex | 900 ------------- Builds/20150221_RX3S_V2_SRXLM.hex | 900 ------------- Builds/20150221_TGY160A.hex | 500 -------- Builds/20150414_AQUASTAR.hex | 408 ++++++ Builds/20150414_DLUX.hex | 408 ++++++ Builds/20150414_EAGLE_A3PRO.hex | 817 ++++++++++++ .../20150414_EAGLE_A3PRO_NO_STICKCONFIG.hex | 744 +++++++++++ Builds/20150414_FLIP_1_5.hex | 813 ++++++++++++ Builds/20150414_FLIP_1_5_CPPM.hex | 792 ++++++++++++ Builds/20150414_FLIP_1_5_SBUS.hex | 898 +++++++++++++ Builds/20150414_FLIP_1_5_SPEKTRUM.hex | 874 +++++++++++++ Builds/20150414_FLIP_1_5_SRXLH.hex | 894 +++++++++++++ Builds/20150414_FLIP_1_5_SRXLM.hex | 894 +++++++++++++ Builds/20150414_MINI_MWC_CPPM.hex | 792 ++++++++++++ Builds/20150414_MINI_MWC_CPPM_EXTERNAL_RX.hex | 788 ++++++++++++ Builds/20150414_MINI_MWC_SBUS.hex | 898 +++++++++++++ Builds/20150414_MINI_MWC_SPEKTRUM.hex | 874 +++++++++++++ Builds/20150414_MINI_MWC_SRXLH.hex | 894 +++++++++++++ Builds/20150414_MINI_MWC_SRXLM.hex | 894 +++++++++++++ Builds/20150414_NANOWII.hex | 1024 +++++++++++++++ Builds/20150414_NANOWII_CPPM.hex | 1014 +++++++++++++++ Builds/20150414_NANOWII_SBUS.hex | 1116 +++++++++++++++++ Builds/20150414_NANOWII_SPEKTRUM.hex | 1092 ++++++++++++++++ Builds/20150414_NANOWII_SRXLH.hex | 1112 ++++++++++++++++ Builds/20150414_NANOWII_SRXLM.hex | 1112 ++++++++++++++++ Builds/20150414_RX3SM.hex | 820 ++++++++++++ Builds/20150414_RX3S_V1.hex | 820 ++++++++++++ Builds/20150414_RX3S_V1_CPPM.hex | 793 ++++++++++++ Builds/20150414_RX3S_V1_SBUS.hex | 903 +++++++++++++ Builds/20150414_RX3S_V1_SPEKTRUM.hex | 879 +++++++++++++ Builds/20150414_RX3S_V2.hex | 823 ++++++++++++ Builds/20150414_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 823 ++++++++++++ Builds/20150414_RX3S_V2_CPPM.hex | 796 ++++++++++++ Builds/20150414_RX3S_V2_SBUS.hex | 906 +++++++++++++ Builds/20150414_RX3S_V2_SPEKTRUM.hex | 882 +++++++++++++ Builds/20150414_RX3S_V2_SRXLH.hex | 902 +++++++++++++ Builds/20150414_RX3S_V2_SRXLM.hex | 902 +++++++++++++ Builds/20150414_TGY160A.hex | 506 ++++++++ ...ange Log.txt => 2015-04-14 Change Log.txt} | 5 +- FlightStab/FlightStab.h | 8 +- FlightStab/FlightStab.ino | 19 +- 75 files changed, 29956 insertions(+), 29849 deletions(-) delete mode 100644 Builds/20150221_AQUASTAR.hex delete mode 100644 Builds/20150221_DLUX.hex delete mode 100644 Builds/20150221_EAGLE_A3PRO.hex delete mode 100644 Builds/20150221_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20150221_FLIP_1_5.hex delete mode 100644 Builds/20150221_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20150221_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20150221_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20150221_FLIP_1_5_SRXLH.hex delete mode 100644 Builds/20150221_FLIP_1_5_SRXLM.hex delete mode 100644 Builds/20150221_MINI_MWC_CPPM.hex delete mode 100644 Builds/20150221_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20150221_MINI_MWC_SBUS.hex delete mode 100644 Builds/20150221_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20150221_MINI_MWC_SRXLH.hex delete mode 100644 Builds/20150221_MINI_MWC_SRXLM.hex delete mode 100644 Builds/20150221_NANOWII.hex delete mode 100644 Builds/20150221_NANOWII_CPPM.hex delete mode 100644 Builds/20150221_NANOWII_SBUS.hex delete mode 100644 Builds/20150221_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20150221_NANOWII_SRXLH.hex delete mode 100644 Builds/20150221_NANOWII_SRXLM.hex delete mode 100644 Builds/20150221_RX3SM.hex delete mode 100644 Builds/20150221_RX3S_V1.hex delete mode 100644 Builds/20150221_RX3S_V1_CPPM.hex delete mode 100644 Builds/20150221_RX3S_V1_SBUS.hex delete mode 100644 Builds/20150221_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20150221_RX3S_V2.hex delete mode 100644 Builds/20150221_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20150221_RX3S_V2_CPPM.hex delete mode 100644 Builds/20150221_RX3S_V2_SBUS.hex delete mode 100644 Builds/20150221_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20150221_RX3S_V2_SRXLH.hex delete mode 100644 Builds/20150221_RX3S_V2_SRXLM.hex delete mode 100644 Builds/20150221_TGY160A.hex create mode 100644 Builds/20150414_AQUASTAR.hex create mode 100644 Builds/20150414_DLUX.hex create mode 100644 Builds/20150414_EAGLE_A3PRO.hex create mode 100644 Builds/20150414_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20150414_FLIP_1_5.hex create mode 100644 Builds/20150414_FLIP_1_5_CPPM.hex create mode 100644 Builds/20150414_FLIP_1_5_SBUS.hex create mode 100644 Builds/20150414_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20150414_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20150414_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20150414_MINI_MWC_CPPM.hex create mode 100644 Builds/20150414_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20150414_MINI_MWC_SBUS.hex create mode 100644 Builds/20150414_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20150414_MINI_MWC_SRXLH.hex create mode 100644 Builds/20150414_MINI_MWC_SRXLM.hex create mode 100644 Builds/20150414_NANOWII.hex create mode 100644 Builds/20150414_NANOWII_CPPM.hex create mode 100644 Builds/20150414_NANOWII_SBUS.hex create mode 100644 Builds/20150414_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20150414_NANOWII_SRXLH.hex create mode 100644 Builds/20150414_NANOWII_SRXLM.hex create mode 100644 Builds/20150414_RX3SM.hex create mode 100644 Builds/20150414_RX3S_V1.hex create mode 100644 Builds/20150414_RX3S_V1_CPPM.hex create mode 100644 Builds/20150414_RX3S_V1_SBUS.hex create mode 100644 Builds/20150414_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20150414_RX3S_V2.hex create mode 100644 Builds/20150414_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20150414_RX3S_V2_CPPM.hex create mode 100644 Builds/20150414_RX3S_V2_SBUS.hex create mode 100644 Builds/20150414_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20150414_RX3S_V2_SRXLH.hex create mode 100644 Builds/20150414_RX3S_V2_SRXLM.hex create mode 100644 Builds/20150414_TGY160A.hex rename Docs/{2015-02-21 Change Log.txt => 2015-04-14 Change Log.txt} (92%) diff --git a/Aquastar/Aquastar.ino b/Aquastar/Aquastar.ino index c3880fc..29e1194 100644 --- a/Aquastar/Aquastar.ino +++ b/Aquastar/Aquastar.ino @@ -154,6 +154,15 @@ prog_char pid_roll[] PROGMEM = "Ail "; prog_char pid_pitch[] PROGMEM = "Ele "; prog_char pid_yaw[] PROGMEM = "Rud "; +prog_char dlpf[] PROGMEM = "LOW PASS FILTER"; +prog_char bw_0[] PROGMEM = "256HZ "; +prog_char bw_1[] PROGMEM = "188HZ "; +prog_char bw_2[] PROGMEM = "98HZ "; +prog_char bw_3[] PROGMEM = "42HZ "; +prog_char bw_4[] PROGMEM = "20HZ "; +prog_char bw_5[] PROGMEM = "10HZ "; +prog_char bw_6[] PROGMEM = "5HZ "; + prog_char *param_text0[] PROGMEM = {status, status_device_id, status_device_ver, status_device_eeprom}; @@ -196,8 +205,11 @@ prog_char *param_text12[] PROGMEM = {pid_rate, prog_char *param_text13[] PROGMEM = {pid_hold, pid_roll, pid_pitch, pid_yaw}; + +prog_char *param_text14[] PROGMEM = {dlpf, + bw_0, bw_1, bw_2, bw_3, bw_4, bw_5, bw_6}; -prog_char *param_text14[] PROGMEM = {eeprom, +prog_char *param_text15[] PROGMEM = {eeprom, eeprom_instr, eeprom_update_cfg, eeprom_erase_cfg, eeprom_erase_stats}; prog_char **param_textB[] = { @@ -215,7 +227,8 @@ prog_char **param_textB[] = { param_text11, param_text12, param_text13, - param_text14 + param_text14, + param_text15 }; #define PARAM_TEXT(i, j) (const __FlashStringHelper*) pgm_read_word(&((param_textB[i])[j])) @@ -262,6 +275,7 @@ int8_t * const param_pval[] = { &cfg.vr_gain[0], (int8_t*) &pid_param_array_rate, (int8_t*) &pid_param_array_hold, + (int8_t*) &cfg.gyro_dlpf, ¶m_val_eeprom, }; @@ -280,6 +294,7 @@ enum PARAM_TYPE param_type[] = { PARAM_VR_GAIN, PARAM_PID, PARAM_PID, + PARAM_ENUM, PARAM_EEPROM, }; @@ -298,6 +313,7 @@ const int16_t param_min[] = { -128, // vr_gain 0, // pid_rate 0, // pid_hold + BW_256HZ, // Bandwidth Max 1 // eeprom }; @@ -316,6 +332,7 @@ const int16_t param_max[] = { 127, // vr_gain 1000, // pid_rate 1000, // pid_hold + BW_5HZ, // Bandwidth Min 4 // eeprom }; diff --git a/Aquastar/FlightStab.h b/Aquastar/FlightStab.h index 21c2bfb..d3b3dd3 100644 --- a/Aquastar/FlightStab.h +++ b/Aquastar/FlightStab.h @@ -8,7 +8,7 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 10; +const int8_t eeprom_cfg_ver = 11; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; @@ -27,6 +27,11 @@ enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box. +// Thus one must be subtracted from the EEPROM value before sending to the Gyro +enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ}; +#define DLPF_MASK 0x07 + const int8_t serialrx_num_chan = 8; const int8_t vr_gain_use_pot = -128; @@ -60,6 +65,7 @@ struct _eeprom_cfg { int8_t vr_gain[3]; struct _pid_param pid_param_rate; struct _pid_param pid_param_hold; + int8_t gyro_dlpf; uint8_t chksum; }; diff --git a/Builds/20150221_AQUASTAR.hex b/Builds/20150221_AQUASTAR.hex deleted file mode 100644 index 7c6ecee..0000000 --- a/Builds/20150221_AQUASTAR.hex +++ /dev/null @@ -1,402 +0,0 @@ -:10000000DDC101C200C2FFC1FEC1FDC1FCC1FBC117 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+:101EA80026022C02320239023F02450201010000DB +:101EB800010001000200030001000100010001000F +:101EC80001000100040005000500010006000000F3 +:101ED80000070208000100010001000000000001E5 +:101EE800000100010001000100010080FF00000066 +:101EF80000010001000300090004001400070002AB +:101F080000030003000400020002007F00E803E869 +:101F180003070004002C010A020C020E020F02172C +:101F28000219021B021D021F0221022302200126A0 +:101F3800014C022D01000000010101020202000112 +:101F4800020001020001025245544131613266002B +:101F580002030504000000008208E30B00004000B3 +:101F680014005400000000003E0BE30BD40A050BDC +:041F7800E50A2E0B3D +:00000001FF diff --git a/Docs/2015-02-21 Change Log.txt b/Docs/2015-04-14 Change Log.txt similarity index 92% rename from Docs/2015-02-21 Change Log.txt rename to Docs/2015-04-14 Change Log.txt index 1a1bacd..bd2d1a3 100644 --- a/Docs/2015-02-21 Change Log.txt +++ b/Docs/2015-04-14 Change Log.txt @@ -1,5 +1,8 @@ -2015-02-21 FlightStab Change Log +2015-04-14 FlightStab Change Log +2015-04-14 +Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros) +Add Programming Box configuration option to set Digital low Pass Filter Bandwidth 2015-02-21 FlightStab.ino Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode. diff --git a/FlightStab/FlightStab.h b/FlightStab/FlightStab.h index 21c2bfb..d3b3dd3 100644 --- a/FlightStab/FlightStab.h +++ b/FlightStab/FlightStab.h @@ -8,7 +8,7 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 10; +const int8_t eeprom_cfg_ver = 11; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; @@ -27,6 +27,11 @@ enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box. +// Thus one must be subtracted from the EEPROM value before sending to the Gyro +enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ}; +#define DLPF_MASK 0x07 + const int8_t serialrx_num_chan = 8; const int8_t vr_gain_use_pot = -128; @@ -60,6 +65,7 @@ struct _eeprom_cfg { int8_t vr_gain[3]; struct _pid_param pid_param_rate; struct _pid_param pid_param_hold; + int8_t gyro_dlpf; uint8_t chksum; }; diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 82e1375..d1a0b71 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -700,6 +700,7 @@ int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2; int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) +int8_t gyro_low_pass_filter = BW_5HZ - 1; // Default Zero Based Digital Low Pass Filter to 5HZ, get desired value from EEPROM // stabilizer output int16_t correction[3] = {0, 0, 0}; @@ -1018,8 +1019,7 @@ int8_t mpu6050_init() i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset delay1(50); i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref - i2c_write_reg(MPU6050_ADDR, 0x1A, 0x0); // accel_bw/delay=260hz/0ms gyro_bw/delay/sample=256hz/0.98ms/8khz - //i2c_write_reg(MPU6050_ADDR, 0x1A, 0x6); // accel_bw/delay=5hz/19ms gyro_bw/delay/sample=5hz/18.6ms/1khz + i2c_write_reg(MPU6050_ADDR, 0x1A, gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id @@ -1052,7 +1052,7 @@ int8_t itg3205_init() i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset delay1(50); i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref - i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | 0x6); // fs=2000deg/s | lpf=5hz sample=1khz + i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id } @@ -1584,15 +1584,14 @@ void init_imu() } accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); - accelgyro.setDLPFMode(MPU6050_DLPF_BW_256); + accelgyro.setDLPFMode(gyro_low_pass_filter - 1); accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO); #elif defined(USE_ITG3200) Wire.begin(); itg3205_gyro.initialize(); itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO); itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000); - itg3205_gyro.setDLPFBandwidth(ITG3200_DLPF_BW_5); -// gyro.setDLPFBandwidth(ITG3200_DLPF_BW_256); + itg3205_gyro.setDLPFBandwidth(gyro_low_pass_filter - 1); if (!itg3205_gyro.testConnection()) { set_led_msg(2, 5, LED_SHORT); } @@ -2312,6 +2311,7 @@ void setup() } #endif cfg.mixer_epa_mode = MIXER_EPA_FULL; + cfg.gyro_dlpf = BW_5HZ; #if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL)) cfg.servo_frame_rate = 20; // safe rate for analog servos @@ -2476,7 +2476,12 @@ void setup() break; } - minimum_servo_frame_time = cfg.servo_frame_rate * 1000; // ms to us + minimum_servo_frame_time = cfg.servo_frame_rate * 1000; // ms to us + + gyro_low_pass_filter = cfg.gyro_dlpf & DLPF_MASK; // Filter Frequency from EEPROM, verify in range + if (gyro_low_pass_filter > BW_5HZ) + gyro_low_pass_filter = BW_5HZ; + #if defined(SERIALRX_ENABLED) // set up serialrx order From bd6f9399c3b73072c0710e6683e760cdcb8b3c62 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Sat, 1 Aug 2015 15:25:02 -0400 Subject: [PATCH 19/29] Add Dual Aileron Support for RX3SM DSMx --- ...414_AQUASTAR.hex => 20150801_AQUASTAR.hex} | 0 .../{20150414_DLUX.hex => 20150801_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20150801_EAGLE_A3PRO.hex} | 0 ...> 20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 0 ...414_FLIP_1_5.hex => 20150801_FLIP_1_5.hex} | 0 ..._5_CPPM.hex => 20150801_FLIP_1_5_CPPM.hex} | 0 ..._5_SBUS.hex => 20150801_FLIP_1_5_SBUS.hex} | 0 ...RUM.hex => 20150801_FLIP_1_5_SPEKTRUM.hex} | 0 ..._SRXLH.hex => 20150801_FLIP_1_5_SRXLH.hex} | 0 ..._SRXLM.hex => 20150801_FLIP_1_5_SRXLM.hex} | 0 ...WC_CPPM.hex => 20150801_MINI_MWC_CPPM.hex} | 0 ...=> 20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 0 ...WC_SBUS.hex => 20150801_MINI_MWC_SBUS.hex} | 0 ...RUM.hex => 20150801_MINI_MWC_SPEKTRUM.hex} | 0 ..._SRXLH.hex => 20150801_MINI_MWC_SRXLH.hex} | 0 ..._SRXLM.hex => 20150801_MINI_MWC_SRXLM.hex} | 0 ...50414_NANOWII.hex => 20150801_NANOWII.hex} | 0 ...WII_CPPM.hex => 20150801_NANOWII_CPPM.hex} | 0 ...WII_SBUS.hex => 20150801_NANOWII_SBUS.hex} | 0 ...TRUM.hex => 20150801_NANOWII_SPEKTRUM.hex} | 0 ...I_SRXLH.hex => 20150801_NANOWII_SRXLH.hex} | 0 ...I_SRXLM.hex => 20150801_NANOWII_SRXLM.hex} | 0 ...{20150414_RX3SM.hex => 20150801_RX3SM.hex} | 481 +++++++++--------- ...50414_RX3S_V1.hex => 20150801_RX3S_V1.hex} | 0 ..._V1_CPPM.hex => 20150801_RX3S_V1_CPPM.hex} | 0 ..._V1_SBUS.hex => 20150801_RX3S_V1_SBUS.hex} | 0 ...TRUM.hex => 20150801_RX3S_V1_SPEKTRUM.hex} | 0 ...50414_RX3S_V2.hex => 20150801_RX3S_V2.hex} | 0 ...=> 20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 0 ..._V2_CPPM.hex => 20150801_RX3S_V2_CPPM.hex} | 0 ..._V2_SBUS.hex => 20150801_RX3S_V2_SBUS.hex} | 0 ...TRUM.hex => 20150801_RX3S_V2_SPEKTRUM.hex} | 0 ...2_SRXLH.hex => 20150801_RX3S_V2_SRXLH.hex} | 0 ...2_SRXLM.hex => 20150801_RX3S_V2_SRXLM.hex} | 0 ...50414_TGY160A.hex => 20150801_TGY160A.hex} | 0 ...ange Log.txt => 2015-08-01 Change Log.txt} | 7 +- FlightStab/FlightStab.ino | 16 +- 37 files changed, 257 insertions(+), 247 deletions(-) rename Builds/{20150414_AQUASTAR.hex => 20150801_AQUASTAR.hex} (100%) rename Builds/{20150414_DLUX.hex => 20150801_DLUX.hex} (100%) rename Builds/{20150414_EAGLE_A3PRO.hex => 20150801_EAGLE_A3PRO.hex} (100%) rename Builds/{20150414_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex} (100%) rename Builds/{20150414_FLIP_1_5.hex => 20150801_FLIP_1_5.hex} (100%) rename Builds/{20150414_FLIP_1_5_CPPM.hex => 20150801_FLIP_1_5_CPPM.hex} (100%) rename Builds/{20150414_FLIP_1_5_SBUS.hex => 20150801_FLIP_1_5_SBUS.hex} (100%) rename Builds/{20150414_FLIP_1_5_SPEKTRUM.hex => 20150801_FLIP_1_5_SPEKTRUM.hex} (100%) rename Builds/{20150414_FLIP_1_5_SRXLH.hex => 20150801_FLIP_1_5_SRXLH.hex} (100%) rename Builds/{20150414_FLIP_1_5_SRXLM.hex => 20150801_FLIP_1_5_SRXLM.hex} (100%) rename Builds/{20150414_MINI_MWC_CPPM.hex => 20150801_MINI_MWC_CPPM.hex} (100%) rename Builds/{20150414_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex} (100%) rename Builds/{20150414_MINI_MWC_SBUS.hex => 20150801_MINI_MWC_SBUS.hex} (100%) rename Builds/{20150414_MINI_MWC_SPEKTRUM.hex => 20150801_MINI_MWC_SPEKTRUM.hex} (100%) rename Builds/{20150414_MINI_MWC_SRXLH.hex => 20150801_MINI_MWC_SRXLH.hex} (100%) rename Builds/{20150414_MINI_MWC_SRXLM.hex => 20150801_MINI_MWC_SRXLM.hex} (100%) rename Builds/{20150414_NANOWII.hex => 20150801_NANOWII.hex} (100%) rename Builds/{20150414_NANOWII_CPPM.hex => 20150801_NANOWII_CPPM.hex} (100%) rename Builds/{20150414_NANOWII_SBUS.hex => 20150801_NANOWII_SBUS.hex} (100%) rename Builds/{20150414_NANOWII_SPEKTRUM.hex => 20150801_NANOWII_SPEKTRUM.hex} (100%) rename Builds/{20150414_NANOWII_SRXLH.hex => 20150801_NANOWII_SRXLH.hex} (100%) rename Builds/{20150414_NANOWII_SRXLM.hex => 20150801_NANOWII_SRXLM.hex} (100%) rename Builds/{20150414_RX3SM.hex => 20150801_RX3SM.hex} (70%) rename Builds/{20150414_RX3S_V1.hex => 20150801_RX3S_V1.hex} (100%) rename Builds/{20150414_RX3S_V1_CPPM.hex => 20150801_RX3S_V1_CPPM.hex} (100%) rename Builds/{20150414_RX3S_V1_SBUS.hex => 20150801_RX3S_V1_SBUS.hex} (100%) rename Builds/{20150414_RX3S_V1_SPEKTRUM.hex => 20150801_RX3S_V1_SPEKTRUM.hex} (100%) rename Builds/{20150414_RX3S_V2.hex => 20150801_RX3S_V2.hex} (100%) rename Builds/{20150414_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (100%) rename Builds/{20150414_RX3S_V2_CPPM.hex => 20150801_RX3S_V2_CPPM.hex} (100%) rename Builds/{20150414_RX3S_V2_SBUS.hex => 20150801_RX3S_V2_SBUS.hex} (100%) rename Builds/{20150414_RX3S_V2_SPEKTRUM.hex => 20150801_RX3S_V2_SPEKTRUM.hex} (100%) rename Builds/{20150414_RX3S_V2_SRXLH.hex => 20150801_RX3S_V2_SRXLH.hex} (100%) rename Builds/{20150414_RX3S_V2_SRXLM.hex => 20150801_RX3S_V2_SRXLM.hex} (100%) rename Builds/{20150414_TGY160A.hex => 20150801_TGY160A.hex} (100%) rename Docs/{2015-04-14 Change Log.txt => 2015-08-01 Change Log.txt} (92%) diff --git a/Builds/20150414_AQUASTAR.hex b/Builds/20150801_AQUASTAR.hex similarity index 100% rename from Builds/20150414_AQUASTAR.hex rename to Builds/20150801_AQUASTAR.hex diff --git a/Builds/20150414_DLUX.hex b/Builds/20150801_DLUX.hex similarity index 100% rename from Builds/20150414_DLUX.hex rename to Builds/20150801_DLUX.hex diff --git a/Builds/20150414_EAGLE_A3PRO.hex b/Builds/20150801_EAGLE_A3PRO.hex similarity index 100% rename from Builds/20150414_EAGLE_A3PRO.hex rename to Builds/20150801_EAGLE_A3PRO.hex diff --git a/Builds/20150414_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex similarity index 100% rename from Builds/20150414_EAGLE_A3PRO_NO_STICKCONFIG.hex rename to Builds/20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex diff --git a/Builds/20150414_FLIP_1_5.hex b/Builds/20150801_FLIP_1_5.hex similarity index 100% rename from Builds/20150414_FLIP_1_5.hex rename to Builds/20150801_FLIP_1_5.hex diff --git a/Builds/20150414_FLIP_1_5_CPPM.hex b/Builds/20150801_FLIP_1_5_CPPM.hex similarity index 100% rename from Builds/20150414_FLIP_1_5_CPPM.hex rename to Builds/20150801_FLIP_1_5_CPPM.hex diff --git a/Builds/20150414_FLIP_1_5_SBUS.hex b/Builds/20150801_FLIP_1_5_SBUS.hex similarity index 100% rename from Builds/20150414_FLIP_1_5_SBUS.hex rename to Builds/20150801_FLIP_1_5_SBUS.hex diff --git a/Builds/20150414_FLIP_1_5_SPEKTRUM.hex b/Builds/20150801_FLIP_1_5_SPEKTRUM.hex similarity index 100% rename from Builds/20150414_FLIP_1_5_SPEKTRUM.hex rename to Builds/20150801_FLIP_1_5_SPEKTRUM.hex diff --git a/Builds/20150414_FLIP_1_5_SRXLH.hex b/Builds/20150801_FLIP_1_5_SRXLH.hex similarity index 100% rename from Builds/20150414_FLIP_1_5_SRXLH.hex rename to Builds/20150801_FLIP_1_5_SRXLH.hex diff --git a/Builds/20150414_FLIP_1_5_SRXLM.hex b/Builds/20150801_FLIP_1_5_SRXLM.hex similarity index 100% rename from Builds/20150414_FLIP_1_5_SRXLM.hex rename to Builds/20150801_FLIP_1_5_SRXLM.hex diff --git a/Builds/20150414_MINI_MWC_CPPM.hex b/Builds/20150801_MINI_MWC_CPPM.hex similarity index 100% rename from Builds/20150414_MINI_MWC_CPPM.hex rename to Builds/20150801_MINI_MWC_CPPM.hex diff --git a/Builds/20150414_MINI_MWC_CPPM_EXTERNAL_RX.hex b/Builds/20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex similarity index 100% rename from Builds/20150414_MINI_MWC_CPPM_EXTERNAL_RX.hex rename to Builds/20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex diff --git a/Builds/20150414_MINI_MWC_SBUS.hex b/Builds/20150801_MINI_MWC_SBUS.hex similarity index 100% rename from Builds/20150414_MINI_MWC_SBUS.hex rename to Builds/20150801_MINI_MWC_SBUS.hex diff --git a/Builds/20150414_MINI_MWC_SPEKTRUM.hex b/Builds/20150801_MINI_MWC_SPEKTRUM.hex similarity index 100% rename from Builds/20150414_MINI_MWC_SPEKTRUM.hex rename to Builds/20150801_MINI_MWC_SPEKTRUM.hex diff --git a/Builds/20150414_MINI_MWC_SRXLH.hex b/Builds/20150801_MINI_MWC_SRXLH.hex similarity index 100% rename from Builds/20150414_MINI_MWC_SRXLH.hex rename to Builds/20150801_MINI_MWC_SRXLH.hex diff --git a/Builds/20150414_MINI_MWC_SRXLM.hex b/Builds/20150801_MINI_MWC_SRXLM.hex similarity index 100% rename from Builds/20150414_MINI_MWC_SRXLM.hex rename to Builds/20150801_MINI_MWC_SRXLM.hex diff --git a/Builds/20150414_NANOWII.hex b/Builds/20150801_NANOWII.hex similarity index 100% rename from Builds/20150414_NANOWII.hex rename to Builds/20150801_NANOWII.hex diff --git a/Builds/20150414_NANOWII_CPPM.hex b/Builds/20150801_NANOWII_CPPM.hex similarity index 100% rename from Builds/20150414_NANOWII_CPPM.hex rename to Builds/20150801_NANOWII_CPPM.hex diff --git a/Builds/20150414_NANOWII_SBUS.hex b/Builds/20150801_NANOWII_SBUS.hex similarity index 100% rename from Builds/20150414_NANOWII_SBUS.hex rename to Builds/20150801_NANOWII_SBUS.hex diff --git a/Builds/20150414_NANOWII_SPEKTRUM.hex b/Builds/20150801_NANOWII_SPEKTRUM.hex similarity index 100% rename from Builds/20150414_NANOWII_SPEKTRUM.hex rename to Builds/20150801_NANOWII_SPEKTRUM.hex diff --git a/Builds/20150414_NANOWII_SRXLH.hex b/Builds/20150801_NANOWII_SRXLH.hex similarity index 100% rename from Builds/20150414_NANOWII_SRXLH.hex rename to Builds/20150801_NANOWII_SRXLH.hex diff --git a/Builds/20150414_NANOWII_SRXLM.hex b/Builds/20150801_NANOWII_SRXLM.hex similarity index 100% rename from Builds/20150414_NANOWII_SRXLM.hex rename to Builds/20150801_NANOWII_SRXLM.hex diff --git a/Builds/20150414_RX3SM.hex b/Builds/20150801_RX3SM.hex similarity index 70% rename from Builds/20150414_RX3SM.hex rename to Builds/20150801_RX3SM.hex index e982892..c6ae620 100644 --- a/Builds/20150414_RX3SM.hex +++ b/Builds/20150801_RX3SM.hex @@ -12,17 +12,17 @@ :1000B0004080010204081020010204081020000002 :1000C0000007000201000003040600000000000019 :1000D000000011241FBECFEFD4E0DEBFCDBF11E082 -:1000E000A0E0B1E0E6E6F2E302C005900D92AA3B83 -:1000F000B107D9F713E0AAEBB1E001C01D92A4301B +:1000E000A0E0B1E0E6E6F2E302C005900D92AA3C82 +:1000F000B107D9F713E0AAECB1E001C01D92A4301A :10010000B107E1F70E94F5160C9431190C94000028 :100110001F920F920FB60F9211248F939F9380918D -:100120006502909166020196909366028093650243 -:100130008091650290916602892B29F48091670273 -:100140008F5F809367029F918F910F900FBE0F90EA -:100150001F90189560918400709185002091650230 -:1001600030916602E0916702809184009091850051 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b/Builds/20150801_RX3S_V1_CPPM.hex similarity index 100% rename from Builds/20150414_RX3S_V1_CPPM.hex rename to Builds/20150801_RX3S_V1_CPPM.hex diff --git a/Builds/20150414_RX3S_V1_SBUS.hex b/Builds/20150801_RX3S_V1_SBUS.hex similarity index 100% rename from Builds/20150414_RX3S_V1_SBUS.hex rename to Builds/20150801_RX3S_V1_SBUS.hex diff --git a/Builds/20150414_RX3S_V1_SPEKTRUM.hex b/Builds/20150801_RX3S_V1_SPEKTRUM.hex similarity index 100% rename from Builds/20150414_RX3S_V1_SPEKTRUM.hex rename to Builds/20150801_RX3S_V1_SPEKTRUM.hex diff --git a/Builds/20150414_RX3S_V2.hex b/Builds/20150801_RX3S_V2.hex similarity index 100% rename from Builds/20150414_RX3S_V2.hex rename to Builds/20150801_RX3S_V2.hex diff --git a/Builds/20150414_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Builds/20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex similarity index 100% rename from Builds/20150414_RX3S_V2_AILR_IN_ON_RUD_IN.hex rename to Builds/20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex diff --git a/Builds/20150414_RX3S_V2_CPPM.hex b/Builds/20150801_RX3S_V2_CPPM.hex similarity index 100% rename from Builds/20150414_RX3S_V2_CPPM.hex rename to Builds/20150801_RX3S_V2_CPPM.hex diff --git a/Builds/20150414_RX3S_V2_SBUS.hex b/Builds/20150801_RX3S_V2_SBUS.hex similarity index 100% rename from Builds/20150414_RX3S_V2_SBUS.hex rename to Builds/20150801_RX3S_V2_SBUS.hex diff --git a/Builds/20150414_RX3S_V2_SPEKTRUM.hex b/Builds/20150801_RX3S_V2_SPEKTRUM.hex similarity index 100% rename from Builds/20150414_RX3S_V2_SPEKTRUM.hex rename to Builds/20150801_RX3S_V2_SPEKTRUM.hex diff --git a/Builds/20150414_RX3S_V2_SRXLH.hex b/Builds/20150801_RX3S_V2_SRXLH.hex similarity index 100% rename from Builds/20150414_RX3S_V2_SRXLH.hex rename to Builds/20150801_RX3S_V2_SRXLH.hex diff --git a/Builds/20150414_RX3S_V2_SRXLM.hex b/Builds/20150801_RX3S_V2_SRXLM.hex similarity index 100% rename from Builds/20150414_RX3S_V2_SRXLM.hex rename to Builds/20150801_RX3S_V2_SRXLM.hex diff --git a/Builds/20150414_TGY160A.hex b/Builds/20150801_TGY160A.hex similarity index 100% rename from Builds/20150414_TGY160A.hex rename to Builds/20150801_TGY160A.hex diff --git a/Docs/2015-04-14 Change Log.txt b/Docs/2015-08-01 Change Log.txt similarity index 92% rename from Docs/2015-04-14 Change Log.txt rename to Docs/2015-08-01 Change Log.txt index bd2d1a3..5afe7cb 100644 --- a/Docs/2015-04-14 Change Log.txt +++ b/Docs/2015-08-01 Change Log.txt @@ -1,4 +1,9 @@ -2015-04-14 FlightStab Change Log +2015-08-01 FlightStab Change Log + +2015-08-01 +Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer. +Note that the RX3SM DSM2 device is not supported as it does not have enough connectors. + 2015-04-14 Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros) diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index d1a0b71..56e3fe0 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -194,7 +194,7 @@ bool ow_loop(); // OneWireSerial.ino #endif /* RX3S_V2 *****************************************************************************************************/ -/* RX3SM *****************************************************************************************************/ +/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/ #if defined(RX3SM) #warning RX3SM defined // emit device name /* @@ -203,10 +203,14 @@ bool ow_loop(); // OneWireSerial.ino PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) - PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW V2=AILL_OUT + PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW [AILR_OUT] V2=AILL_OUT PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT + + The RX3SM DSM2 version uses micro connectors and can't support dual ailerons. + The RX3SM DSMx version has enough pins to support dual ailerons with a minor hardware + modification described in the documentation. */ #define DEVICE_ID DEVICE_RX3SM @@ -216,7 +220,7 @@ bool ow_loop(); // OneWireSerial.ino // (must in PORT B/D due to ISR) #define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} -#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, &ailr_in, NULL, NULL, NULL, NULL, NULL, NULL} // #define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} @@ -224,7 +228,7 @@ bool ow_loop(); // OneWireSerial.ino #define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL} // -#define PWM_CHAN_PIN {7, 6, -1, 5, -1, -1, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F // #define USE_ITG3200 @@ -244,7 +248,7 @@ bool ow_loop(); // OneWireSerial.ino #define EEPROM_RESET_IN_PIN 6 #endif -/* RX3SM *****************************************************************************************************/ +/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/ /* NANOWII ****************************************************************************************************/ @@ -2549,7 +2553,7 @@ void setup() if (cfg.wing_mode == WING_USE_DIPSW) wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; - if (wing_mode > WING_VTAIL_1AIL) // constrain to supported modes + if (wing_mode > WING_VTAIL_2AIL) // constrain to supported modes wing_mode = WING_RUDELE_1AIL; #endif // RX3SM From 83f97ae14e3704c2c599f0f8978bfb46b7fe6c8c Mon Sep 17 00:00:00 2001 From: John Beidl Date: Tue, 18 Aug 2015 13:49:52 -0400 Subject: [PATCH 20/29] Fix Inflight Cal for Delta & V-Tail --- Aquastar/Aquastar.ino | 6 +- Aquastar/FlightStab.h | 4 +- Builds/20150801_AQUASTAR.hex | 408 ------ Builds/20150801_DLUX.hex | 408 ------ Builds/20150801_EAGLE_A3PRO.hex | 817 ------------ .../20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex | 744 ----------- Builds/20150801_FLIP_1_5.hex | 813 ------------ Builds/20150801_FLIP_1_5_CPPM.hex | 792 ------------ Builds/20150801_FLIP_1_5_SBUS.hex | 898 ------------- Builds/20150801_FLIP_1_5_SPEKTRUM.hex | 874 ------------- Builds/20150801_FLIP_1_5_SRXLH.hex | 894 ------------- Builds/20150801_FLIP_1_5_SRXLM.hex | 894 ------------- Builds/20150801_MINI_MWC_CPPM.hex | 792 ------------ Builds/20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex | 788 ------------ Builds/20150801_MINI_MWC_SBUS.hex | 898 ------------- Builds/20150801_MINI_MWC_SPEKTRUM.hex | 874 ------------- Builds/20150801_MINI_MWC_SRXLH.hex | 894 ------------- Builds/20150801_MINI_MWC_SRXLM.hex | 894 ------------- Builds/20150801_NANOWII.hex | 1024 --------------- Builds/20150801_NANOWII_CPPM.hex | 1014 --------------- Builds/20150801_NANOWII_SBUS.hex | 1116 ---------------- Builds/20150801_NANOWII_SPEKTRUM.hex | 1092 ---------------- Builds/20150801_NANOWII_SRXLH.hex | 1112 ---------------- Builds/20150801_NANOWII_SRXLM.hex | 1112 ---------------- Builds/20150801_RX3SM.hex | 821 ------------ Builds/20150801_RX3S_V1.hex | 820 ------------ Builds/20150801_RX3S_V1_CPPM.hex | 793 ------------ Builds/20150801_RX3S_V1_SBUS.hex | 903 ------------- Builds/20150801_RX3S_V1_SPEKTRUM.hex | 879 ------------- Builds/20150801_RX3S_V2.hex | 823 ------------ Builds/20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 823 ------------ Builds/20150801_RX3S_V2_CPPM.hex | 796 ------------ Builds/20150801_RX3S_V2_SBUS.hex | 906 ------------- Builds/20150801_RX3S_V2_SPEKTRUM.hex | 882 ------------- Builds/20150801_RX3S_V2_SRXLH.hex | 902 ------------- Builds/20150801_RX3S_V2_SRXLM.hex | 902 ------------- Builds/20150801_TGY160A.hex | 506 -------- Builds/20150818_AQUASTAR.hex | 410 ++++++ Builds/20150818_DLUX.hex | 410 ++++++ Builds/20150818_EAGLE_A3PRO.hex | 823 ++++++++++++ .../20150818_EAGLE_A3PRO_NO_STICKCONFIG.hex | 750 +++++++++++ Builds/20150818_FLIP_1_5.hex | 819 ++++++++++++ Builds/20150818_FLIP_1_5_CPPM.hex | 797 ++++++++++++ Builds/20150818_FLIP_1_5_SBUS.hex | 903 +++++++++++++ Builds/20150818_FLIP_1_5_SPEKTRUM.hex | 879 +++++++++++++ Builds/20150818_FLIP_1_5_SRXLH.hex | 899 +++++++++++++ Builds/20150818_FLIP_1_5_SRXLM.hex | 899 +++++++++++++ Builds/20150818_MINI_MWC_CPPM.hex | 797 ++++++++++++ Builds/20150818_MINI_MWC_CPPM_EXTERNAL_RX.hex | 793 ++++++++++++ Builds/20150818_MINI_MWC_SBUS.hex | 903 +++++++++++++ Builds/20150818_MINI_MWC_SPEKTRUM.hex | 879 +++++++++++++ Builds/20150818_MINI_MWC_SRXLH.hex | 899 +++++++++++++ Builds/20150818_MINI_MWC_SRXLM.hex | 899 +++++++++++++ Builds/20150818_NANOWII.hex | 1029 +++++++++++++++ Builds/20150818_NANOWII_CPPM.hex | 1021 +++++++++++++++ Builds/20150818_NANOWII_SBUS.hex | 1121 +++++++++++++++++ Builds/20150818_NANOWII_SPEKTRUM.hex | 1097 ++++++++++++++++ Builds/20150818_NANOWII_SRXLH.hex | 1117 ++++++++++++++++ Builds/20150818_NANOWII_SRXLM.hex | 1117 ++++++++++++++++ Builds/20150818_RX3SM.hex | 827 ++++++++++++ Builds/20150818_RX3S_V1.hex | 826 ++++++++++++ Builds/20150818_RX3S_V1_CPPM.hex | 799 ++++++++++++ Builds/20150818_RX3S_V1_SBUS.hex | 909 +++++++++++++ Builds/20150818_RX3S_V1_SPEKTRUM.hex | 885 +++++++++++++ Builds/20150818_RX3S_V2.hex | 829 ++++++++++++ Builds/20150818_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 829 ++++++++++++ Builds/20150818_RX3S_V2_CPPM.hex | 802 ++++++++++++ Builds/20150818_RX3S_V2_SBUS.hex | 912 ++++++++++++++ Builds/20150818_RX3S_V2_SPEKTRUM.hex | 888 +++++++++++++ Builds/20150818_RX3S_V2_SRXLH.hex | 908 +++++++++++++ Builds/20150818_RX3S_V2_SRXLM.hex | 908 +++++++++++++ Builds/20150818_TGY160A.hex | 508 ++++++++ ...ange Log.txt => 2015-08-18 Change Log.txt} | 9 +- FlightStab/FlightStab.h | 4 +- FlightStab/FlightStab.ino | 63 +- 75 files changed, 30155 insertions(+), 29930 deletions(-) delete mode 100644 Builds/20150801_AQUASTAR.hex delete mode 100644 Builds/20150801_DLUX.hex delete mode 100644 Builds/20150801_EAGLE_A3PRO.hex delete mode 100644 Builds/20150801_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20150801_FLIP_1_5.hex delete mode 100644 Builds/20150801_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20150801_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20150801_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20150801_FLIP_1_5_SRXLH.hex delete mode 100644 Builds/20150801_FLIP_1_5_SRXLM.hex delete mode 100644 Builds/20150801_MINI_MWC_CPPM.hex delete mode 100644 Builds/20150801_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20150801_MINI_MWC_SBUS.hex delete mode 100644 Builds/20150801_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20150801_MINI_MWC_SRXLH.hex delete mode 100644 Builds/20150801_MINI_MWC_SRXLM.hex delete mode 100644 Builds/20150801_NANOWII.hex delete mode 100644 Builds/20150801_NANOWII_CPPM.hex delete mode 100644 Builds/20150801_NANOWII_SBUS.hex delete mode 100644 Builds/20150801_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20150801_NANOWII_SRXLH.hex delete mode 100644 Builds/20150801_NANOWII_SRXLM.hex delete mode 100644 Builds/20150801_RX3SM.hex delete mode 100644 Builds/20150801_RX3S_V1.hex delete mode 100644 Builds/20150801_RX3S_V1_CPPM.hex delete mode 100644 Builds/20150801_RX3S_V1_SBUS.hex delete mode 100644 Builds/20150801_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20150801_RX3S_V2.hex delete mode 100644 Builds/20150801_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20150801_RX3S_V2_CPPM.hex delete mode 100644 Builds/20150801_RX3S_V2_SBUS.hex delete mode 100644 Builds/20150801_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20150801_RX3S_V2_SRXLH.hex delete mode 100644 Builds/20150801_RX3S_V2_SRXLM.hex delete mode 100644 Builds/20150801_TGY160A.hex create mode 100644 Builds/20150818_AQUASTAR.hex create mode 100644 Builds/20150818_DLUX.hex create mode 100644 Builds/20150818_EAGLE_A3PRO.hex create mode 100644 Builds/20150818_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20150818_FLIP_1_5.hex create mode 100644 Builds/20150818_FLIP_1_5_CPPM.hex create mode 100644 Builds/20150818_FLIP_1_5_SBUS.hex create mode 100644 Builds/20150818_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20150818_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20150818_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20150818_MINI_MWC_CPPM.hex create mode 100644 Builds/20150818_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20150818_MINI_MWC_SBUS.hex create mode 100644 Builds/20150818_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20150818_MINI_MWC_SRXLH.hex create mode 100644 Builds/20150818_MINI_MWC_SRXLM.hex create mode 100644 Builds/20150818_NANOWII.hex create mode 100644 Builds/20150818_NANOWII_CPPM.hex create mode 100644 Builds/20150818_NANOWII_SBUS.hex create mode 100644 Builds/20150818_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20150818_NANOWII_SRXLH.hex create mode 100644 Builds/20150818_NANOWII_SRXLM.hex create mode 100644 Builds/20150818_RX3SM.hex create mode 100644 Builds/20150818_RX3S_V1.hex create mode 100644 Builds/20150818_RX3S_V1_CPPM.hex create mode 100644 Builds/20150818_RX3S_V1_SBUS.hex create mode 100644 Builds/20150818_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20150818_RX3S_V2.hex create mode 100644 Builds/20150818_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20150818_RX3S_V2_CPPM.hex create mode 100644 Builds/20150818_RX3S_V2_SBUS.hex create mode 100644 Builds/20150818_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20150818_RX3S_V2_SRXLH.hex create mode 100644 Builds/20150818_RX3S_V2_SRXLM.hex create mode 100644 Builds/20150818_TGY160A.hex rename Docs/{2015-08-01 Change Log.txt => 2015-08-18 Change Log.txt} (88%) diff --git a/Aquastar/Aquastar.ino b/Aquastar/Aquastar.ino index 29e1194..68835ae 100644 --- a/Aquastar/Aquastar.ino +++ b/Aquastar/Aquastar.ino @@ -128,6 +128,8 @@ prog_char mount_orient[] PROGMEM = "MOUNT ORIENT"; prog_char mount_normal[] PROGMEM = "Normal"; prog_char mount_roll90left[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Left"; prog_char mount_roll90right[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Right"; +prog_char mount_rotate90left[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Left"; +prog_char mount_rotate90right[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Right"; prog_char stick_gain_throw[] PROGMEM = "STK-GAIN THROW"; prog_char stick_gain_throw_full[] PROGMEM = "Full"; @@ -183,7 +185,7 @@ prog_char *param_text5[] PROGMEM = {serialrx_spektrum_levels, serialrx_spektrum_levels_1024, serialrx_spektrum_levels_2048}; prog_char *param_text6[] PROGMEM = {mount_orient, - mount_normal, mount_roll90left, mount_roll90right}; + mount_normal, mount_roll90left, mount_roll90right, mount_rotate90left, mount_rotate90right}; prog_char *param_text7[] PROGMEM = {stick_gain_throw, stick_gain_throw_full, stick_gain_throw_half, stick_gain_throw_quarter}; @@ -324,7 +326,7 @@ const int16_t param_max[] = { 20, // servo_frame_rate serialrx_num_chan-1, // serialrx_order max chan SERIALRX_SPEKTRUM_LEVELS_2048, - MOUNT_ROLL_90_RIGHT, + MOUNT_ROTATE_90_RIGHT, STICK_GAIN_THROW_QUARTER, MAX_ROTATE_HIGH, RATE_MODE_STICK_ROTATE_ENABLE, diff --git a/Aquastar/FlightStab.h b/Aquastar/FlightStab.h index d3b3dd3..2b980a3 100644 --- a/Aquastar/FlightStab.h +++ b/Aquastar/FlightStab.h @@ -8,7 +8,7 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 11; +const int8_t eeprom_cfg_ver = 12; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; @@ -18,7 +18,7 @@ enum WING_MODE {WING_USE_DIPSW=1, WING_DUCKERON,WING_RUD_2ELE_2AIL}; enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; -enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT}; enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; diff --git a/Builds/20150801_AQUASTAR.hex b/Builds/20150801_AQUASTAR.hex deleted file mode 100644 index 8d61699..0000000 --- a/Builds/20150801_AQUASTAR.hex +++ /dev/null @@ -1,408 +0,0 @@ -:1000000003C227C226C225C224C223C222C221C2E1 -:1000100020C245CA1EC21DC21CC21BC21AC219C2BE -:1000200018C217C216C220556E646566696E656493 -:100030000020525833532056310020525833532059 -:1000400056322F563300204E616E6F57696900207B -:100050004561676C6520413350726F002052583300 -:10006000534D00204D696E69204D57430020464C8A 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+:041F9C00F70A400BF5 +:00000001FF diff --git a/Docs/2015-08-01 Change Log.txt b/Docs/2015-08-18 Change Log.txt similarity index 88% rename from Docs/2015-08-01 Change Log.txt rename to Docs/2015-08-18 Change Log.txt index 5afe7cb..389d5dd 100644 --- a/Docs/2015-08-01 Change Log.txt +++ b/Docs/2015-08-18 Change Log.txt @@ -1,4 +1,11 @@ -2015-08-01 FlightStab Change Log +2015-08-18 FlightStab Change Log + +2015-08-18 +Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right. +Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes. +Added code to capture center stick for Flap channel. +Updated Programming Box firmware to support new mounting options. + 2015-08-01 Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer. diff --git a/FlightStab/FlightStab.h b/FlightStab/FlightStab.h index d3b3dd3..2b980a3 100644 --- a/FlightStab/FlightStab.h +++ b/FlightStab/FlightStab.h @@ -8,7 +8,7 @@ aquastar programming box to be in sync with the flightstab firmware. #if !defined(FLIGHTSTAB_H) #define FLIGHTSTAB_H -const int8_t eeprom_cfg_ver = 11; +const int8_t eeprom_cfg_ver = 12; enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; @@ -18,7 +18,7 @@ enum WING_MODE {WING_USE_DIPSW=1, WING_DUCKERON,WING_RUD_2ELE_2AIL}; enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; -enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT}; enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 56e3fe0..9b8401c 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -678,8 +678,9 @@ int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position o int16_t ele_in2_mid = RX_WIDTH_MID; // int16_t rud_in2_mid = RX_WIDTH_MID; // int16_t ailr_in2_mid = RX_WIDTH_MID; // +int16_t flp_in2_mid = RX_WIDTH_MID; // -int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset; // difference from *_in2_mid (stick position) +int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset, flp_in2_offset; // difference from *_in2_mid (stick position) // switch int8_t ail_sw = false; @@ -1574,6 +1575,16 @@ void read_imu() gyro[1] = -gyro[2]; gyro[2] = tmp; break; + case MOUNT_ROTATE_90_LEFT: + tmp = gyro[0]; + gyro[0] = gyro[1]; + gyro[1] = -tmp; + break; + case MOUNT_ROTATE_90_RIGHT: + tmp = gyro[0]; + gyro[0] = -gyro[1]; + gyro[1] = tmp; + break; } } @@ -1690,13 +1701,14 @@ void calibrate_print_stat(struct _calibration *pcal) void calibrate_rx(struct _calibration *prx_cal) { - int16_t sample[4]; + int16_t sample[5]; int8_t is_calibrating = true; sample[0] = ail_in2; sample[1] = ele_in2; sample[2] = rud_in2; sample[3] = ailr_in2; + sample[4] = flp_in2; calibrate_update_stat(prx_cal, sample); if (++prx_cal->num_samples == 100) { @@ -1706,6 +1718,7 @@ void calibrate_rx(struct _calibration *prx_cal) ele_in2_mid = prx_cal->mean[1]; rud_in2_mid = prx_cal->mean[2]; ailr_in2_mid = prx_cal->mean[3]; + flp_in2_mid = prx_cal->mean[4]; #if defined(SERIAL_DEBUG) && 0 Serial.println("RX"); calibrate_print_stat(prx_cal); @@ -1775,6 +1788,13 @@ void apply_mixer_change(int16_t *change) // mixer int16_t tmp0, tmp1, tmp2, tmp3; + #define AIL_DELTA tmp0 + #define ELE_DELTA tmp1 + #define AIL_SCALE tmp2 + #define ELE_SCALE tmp3 + #define RUD_DELTA tmp0 + #define RUD_SCALE tmp2 + switch (wing_mode) { case WING_RUDELE_1AIL: case WING_RUDELE_2AIL: @@ -1794,18 +1814,23 @@ void apply_mixer_change(int16_t *change) // set up for WING_DELTA_2AIL pin mapping first ail_out2 = ail_in2 + change[0]; ailr_out2 = ailr_in2 + change[0]; - tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0]; - tmp1 = ele_in2 + change[1]; - + //jrb tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0]; + AIL_DELTA = (ail_in2 - ail_in2_mid)+ change[0]; + //jrb tmp1 = ele_in2 + change[1]; // ele input + elevator change + ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1]; + // apply 100% (1/1) //ele_out2 = ((tmp0 + tmp1) >> 1); //rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID; // apply 125% (5/4) - tmp2 = tmp0 + tmp1; - ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); - tmp2 = tmp0 - tmp1; - rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; + AIL_SCALE = (AIL_DELTA >> 1) + (AIL_DELTA >> 3); + ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3); + //jrb ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); + ele_out2 = ELE_SCALE - AIL_SCALE + ele_in2_mid; + //jrb tmp2 = tmp0 - tmp1; + //jrb rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; + rud_out2 = AIL_SCALE + ELE_SCALE + ail_in2_mid; // apply 150% (3/2) //tmp2 = tmp0 + tmp1; @@ -1847,13 +1872,19 @@ void apply_mixer_change(int16_t *change) case WING_VTAIL_2AIL: ail_out2 = ail_in2 + change[0]; ailr_out2 = ailr_in2 + change[0]; - tmp1 = ele_in2 + change[1]; - tmp2 = rud_in2 + change[2]; + //jrb tmp1 = ele_in2 + change[1]; + //jrb tmp2 = rud_in2 + change[2]; + ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1]; + RUD_DELTA = (rud_in2 - rud_in2_mid) + change[2]; // apply 125% (5/4) - tmp0 = tmp2 + tmp1; - ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); - tmp0 = tmp2 - tmp1; - rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; + //jrb tmp0 = tmp2 + tmp1; + RUD_SCALE = (RUD_DELTA >> 1) + (RUD_DELTA >> 3); + ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3); + //jrb ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); + //jrb tmp0 = tmp2 - tmp1; + //jrb rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; + ele_out2 = ELE_SCALE + RUD_SCALE + ele_in2_mid; + rud_out2 = RUD_SCALE + ELE_SCALE + rud_in2_mid; break; case WING_DUCKERON: @@ -2724,6 +2755,7 @@ again: ele_in2_mid = ele_in2; rud_in2_mid = rud_in2; ailr_in2_mid = ailr_in2; + flp_in2_mid = flp_in2; } } } @@ -2732,6 +2764,7 @@ again: ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; ele_in2_offset = ele_in2 - ele_in2_mid; rud_in2_offset = rud_in2 - rud_in2_mid; + flp_in2_offset = flp_in2 - flp_in2_mid; // vr_gain[] [-128, 128] from VRs or config From a4a9a75c895242c0fef28d5d8980f41c588da9da Mon Sep 17 00:00:00 2001 From: John Beidl Date: Fri, 21 Aug 2015 17:08:14 -0400 Subject: [PATCH 21/29] Delta and V-Tail mode axis correction --- Builds/20150818_EAGLE_A3PRO.hex | 823 ------------ .../20150818_EAGLE_A3PRO_NO_STICKCONFIG.hex | 750 ----------- Builds/20150818_FLIP_1_5.hex | 819 ------------ Builds/20150818_FLIP_1_5_CPPM.hex | 797 ------------ Builds/20150818_FLIP_1_5_SBUS.hex | 903 ------------- Builds/20150818_FLIP_1_5_SPEKTRUM.hex | 879 ------------- Builds/20150818_FLIP_1_5_SRXLH.hex | 899 ------------- Builds/20150818_FLIP_1_5_SRXLM.hex | 899 ------------- Builds/20150818_MINI_MWC_CPPM.hex | 797 ------------ Builds/20150818_MINI_MWC_CPPM_EXTERNAL_RX.hex | 793 ------------ Builds/20150818_MINI_MWC_SBUS.hex | 903 ------------- Builds/20150818_MINI_MWC_SPEKTRUM.hex | 879 ------------- Builds/20150818_MINI_MWC_SRXLH.hex | 899 ------------- Builds/20150818_MINI_MWC_SRXLM.hex | 899 ------------- Builds/20150818_NANOWII.hex | 1029 --------------- Builds/20150818_NANOWII_CPPM.hex | 1021 --------------- Builds/20150818_NANOWII_SBUS.hex | 1121 ---------------- Builds/20150818_NANOWII_SPEKTRUM.hex | 1097 ---------------- Builds/20150818_NANOWII_SRXLH.hex | 1117 ---------------- Builds/20150818_NANOWII_SRXLM.hex | 1117 ---------------- Builds/20150818_RX3SM.hex | 827 ------------ Builds/20150818_RX3S_V1.hex | 826 ------------ Builds/20150818_RX3S_V1_CPPM.hex | 799 ------------ Builds/20150818_RX3S_V1_SBUS.hex | 909 ------------- Builds/20150818_RX3S_V1_SPEKTRUM.hex | 885 ------------- Builds/20150818_RX3S_V2.hex | 829 ------------ Builds/20150818_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 829 ------------ Builds/20150818_RX3S_V2_CPPM.hex | 802 ------------ Builds/20150818_RX3S_V2_SBUS.hex | 912 -------------- Builds/20150818_RX3S_V2_SPEKTRUM.hex | 888 ------------- Builds/20150818_RX3S_V2_SRXLH.hex | 908 ------------- Builds/20150818_RX3S_V2_SRXLM.hex | 908 ------------- ...818_AQUASTAR.hex => 20150821_AQUASTAR.hex} | 0 .../{20150818_DLUX.hex => 20150821_DLUX.hex} | 0 Builds/20150821_EAGLE_A3PRO.hex | 824 ++++++++++++ .../20150821_EAGLE_A3PRO_NO_STICKCONFIG.hex | 750 +++++++++++ Builds/20150821_FLIP_1_5.hex | 819 ++++++++++++ Builds/20150821_FLIP_1_5_CPPM.hex | 798 ++++++++++++ Builds/20150821_FLIP_1_5_SBUS.hex | 904 +++++++++++++ Builds/20150821_FLIP_1_5_SPEKTRUM.hex | 880 +++++++++++++ Builds/20150821_FLIP_1_5_SRXLH.hex | 899 +++++++++++++ Builds/20150821_FLIP_1_5_SRXLM.hex | 899 +++++++++++++ Builds/20150821_MINI_MWC_CPPM.hex | 798 ++++++++++++ Builds/20150821_MINI_MWC_CPPM_EXTERNAL_RX.hex | 793 ++++++++++++ Builds/20150821_MINI_MWC_SBUS.hex | 904 +++++++++++++ Builds/20150821_MINI_MWC_SPEKTRUM.hex | 880 +++++++++++++ Builds/20150821_MINI_MWC_SRXLH.hex | 899 +++++++++++++ Builds/20150821_MINI_MWC_SRXLM.hex | 899 +++++++++++++ Builds/20150821_NANOWII.hex | 1030 +++++++++++++++ Builds/20150821_NANOWII_CPPM.hex | 1021 +++++++++++++++ Builds/20150821_NANOWII_SBUS.hex | 1122 +++++++++++++++++ Builds/20150821_NANOWII_SPEKTRUM.hex | 1098 ++++++++++++++++ Builds/20150821_NANOWII_SRXLH.hex | 1117 ++++++++++++++++ Builds/20150821_NANOWII_SRXLM.hex | 1117 ++++++++++++++++ Builds/20150821_RX3SM.hex | 827 ++++++++++++ Builds/20150821_RX3S_V1.hex | 827 ++++++++++++ Builds/20150821_RX3S_V1_CPPM.hex | 799 ++++++++++++ Builds/20150821_RX3S_V1_SBUS.hex | 910 +++++++++++++ Builds/20150821_RX3S_V1_SPEKTRUM.hex | 885 +++++++++++++ Builds/20150821_RX3S_V2.hex | 829 ++++++++++++ Builds/20150821_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 829 ++++++++++++ Builds/20150821_RX3S_V2_CPPM.hex | 802 ++++++++++++ Builds/20150821_RX3S_V2_SBUS.hex | 913 ++++++++++++++ Builds/20150821_RX3S_V2_SPEKTRUM.hex | 889 +++++++++++++ Builds/20150821_RX3S_V2_SRXLH.hex | 908 +++++++++++++ Builds/20150821_RX3S_V2_SRXLM.hex | 908 +++++++++++++ ...50818_TGY160A.hex => 20150821_TGY160A.hex} | 0 ...ange Log.txt => 2015-08-21 Change Log.txt} | 8 +- FlightStab/FlightStab.ino | 8 +- 69 files changed, 28788 insertions(+), 28768 deletions(-) delete mode 100644 Builds/20150818_EAGLE_A3PRO.hex delete mode 100644 Builds/20150818_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20150818_FLIP_1_5.hex delete mode 100644 Builds/20150818_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20150818_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20150818_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20150818_FLIP_1_5_SRXLH.hex delete mode 100644 Builds/20150818_FLIP_1_5_SRXLM.hex delete mode 100644 Builds/20150818_MINI_MWC_CPPM.hex delete mode 100644 Builds/20150818_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20150818_MINI_MWC_SBUS.hex delete mode 100644 Builds/20150818_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20150818_MINI_MWC_SRXLH.hex delete mode 100644 Builds/20150818_MINI_MWC_SRXLM.hex delete mode 100644 Builds/20150818_NANOWII.hex delete mode 100644 Builds/20150818_NANOWII_CPPM.hex delete mode 100644 Builds/20150818_NANOWII_SBUS.hex delete mode 100644 Builds/20150818_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20150818_NANOWII_SRXLH.hex delete mode 100644 Builds/20150818_NANOWII_SRXLM.hex delete mode 100644 Builds/20150818_RX3SM.hex delete mode 100644 Builds/20150818_RX3S_V1.hex delete mode 100644 Builds/20150818_RX3S_V1_CPPM.hex delete mode 100644 Builds/20150818_RX3S_V1_SBUS.hex delete mode 100644 Builds/20150818_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20150818_RX3S_V2.hex delete mode 100644 Builds/20150818_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20150818_RX3S_V2_CPPM.hex delete mode 100644 Builds/20150818_RX3S_V2_SBUS.hex delete mode 100644 Builds/20150818_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20150818_RX3S_V2_SRXLH.hex delete mode 100644 Builds/20150818_RX3S_V2_SRXLM.hex rename Builds/{20150818_AQUASTAR.hex => 20150821_AQUASTAR.hex} (100%) rename Builds/{20150818_DLUX.hex => 20150821_DLUX.hex} (100%) create mode 100644 Builds/20150821_EAGLE_A3PRO.hex create mode 100644 Builds/20150821_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20150821_FLIP_1_5.hex create mode 100644 Builds/20150821_FLIP_1_5_CPPM.hex create mode 100644 Builds/20150821_FLIP_1_5_SBUS.hex create mode 100644 Builds/20150821_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20150821_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20150821_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20150821_MINI_MWC_CPPM.hex create mode 100644 Builds/20150821_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20150821_MINI_MWC_SBUS.hex create mode 100644 Builds/20150821_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20150821_MINI_MWC_SRXLH.hex create mode 100644 Builds/20150821_MINI_MWC_SRXLM.hex create mode 100644 Builds/20150821_NANOWII.hex create mode 100644 Builds/20150821_NANOWII_CPPM.hex create mode 100644 Builds/20150821_NANOWII_SBUS.hex create mode 100644 Builds/20150821_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20150821_NANOWII_SRXLH.hex create mode 100644 Builds/20150821_NANOWII_SRXLM.hex create mode 100644 Builds/20150821_RX3SM.hex create mode 100644 Builds/20150821_RX3S_V1.hex create mode 100644 Builds/20150821_RX3S_V1_CPPM.hex create mode 100644 Builds/20150821_RX3S_V1_SBUS.hex create mode 100644 Builds/20150821_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20150821_RX3S_V2.hex create mode 100644 Builds/20150821_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20150821_RX3S_V2_CPPM.hex create mode 100644 Builds/20150821_RX3S_V2_SBUS.hex create mode 100644 Builds/20150821_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20150821_RX3S_V2_SRXLH.hex create mode 100644 Builds/20150821_RX3S_V2_SRXLM.hex rename Builds/{20150818_TGY160A.hex => 20150821_TGY160A.hex} (100%) rename Docs/{2015-08-18 Change Log.txt => 2015-08-21 Change Log.txt} (92%) diff --git a/Builds/20150818_EAGLE_A3PRO.hex b/Builds/20150818_EAGLE_A3PRO.hex deleted file mode 100644 index cae5894..0000000 --- a/Builds/20150818_EAGLE_A3PRO.hex +++ /dev/null @@ -1,823 +0,0 @@ -:100000000C9469000C9486000C9486000C949B035D -:100010000C9486000C9425040C9486000C948600A5 -:100020000C9486000C9486000C9486000C94F613B5 -:100030000C9486000C9488000C9486000C94860026 -:100040000C9428170C9486000C9486000C9486005F -:100050000C9486000C94BA020C9486000C948600D2 -:100060000C9486000C9486005E087D0837095E08B3 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+:1037DE0005010F0103010B0109010D011101080281 +:1037EE0006020C02040200000A0210020E02000081 +:1037FE0000010101020100000000000000000000B5 +:10380E0000000102000000000000020200000000A3 +:10381E00000000000000000000000302FE01FF0196 +:10382E00000200000000000000000605FF04FF0774 +:10383E00FFFFA40306050A04FF070B097889988782 +:10384E0078899887FF000000000000030100020540 +:10385E000407060200030004000500080006000726 +:10386E00000200A0860100801A060005030503046D +:10387E0002020201010101010101011202140216EC +:10388E000218021C0200000000E7188C197D18AE09 +:06389E00188E18D7180077 +:00000001FF diff --git a/Builds/20150818_TGY160A.hex b/Builds/20150821_TGY160A.hex similarity index 100% rename from Builds/20150818_TGY160A.hex rename to Builds/20150821_TGY160A.hex diff --git a/Docs/2015-08-18 Change Log.txt b/Docs/2015-08-21 Change Log.txt similarity index 92% rename from Docs/2015-08-18 Change Log.txt rename to Docs/2015-08-21 Change Log.txt index 389d5dd..af3dd46 100644 --- a/Docs/2015-08-18 Change Log.txt +++ b/Docs/2015-08-21 Change Log.txt @@ -1,4 +1,10 @@ -2015-08-18 FlightStab Change Log +2015-08-21 FlightStab Change Log + +2015-08-21 +A problem was discovered with the 2015-08-18 release. An error in subtraction +order resulted in the pitch and roll axis being reversed in Delta mode and +the pitch and yaw axis reversed in V-Tail mode. + 2015-08-18 Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right. diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 9b8401c..b3a8cbb 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -1827,10 +1827,10 @@ void apply_mixer_change(int16_t *change) AIL_SCALE = (AIL_DELTA >> 1) + (AIL_DELTA >> 3); ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3); //jrb ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); - ele_out2 = ELE_SCALE - AIL_SCALE + ele_in2_mid; + ele_out2 = AIL_SCALE + ELE_SCALE + ele_in2_mid; //jrb tmp2 = tmp0 - tmp1; //jrb rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; - rud_out2 = AIL_SCALE + ELE_SCALE + ail_in2_mid; + rud_out2 = AIL_SCALE - ELE_SCALE + ail_in2_mid; // apply 150% (3/2) //tmp2 = tmp0 + tmp1; @@ -1884,7 +1884,7 @@ void apply_mixer_change(int16_t *change) //jrb tmp0 = tmp2 - tmp1; //jrb rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; ele_out2 = ELE_SCALE + RUD_SCALE + ele_in2_mid; - rud_out2 = RUD_SCALE + ELE_SCALE + rud_in2_mid; + rud_out2 = ELE_SCALE - RUD_SCALE + rud_in2_mid; break; case WING_DUCKERON: @@ -2192,7 +2192,7 @@ void stick_config(struct _stick_zone *psz) const int8_t param_ymax[] = { WING_RUDELE_2AIL, MIXER_EPA_TRACK, - MOUNT_ROLL_90_RIGHT, + MOUNT_ROTATE_90_RIGHT, STICK_GAIN_THROW_QUARTER, MAX_ROTATE_HIGH, RATE_MODE_STICK_ROTATE_ENABLE, From 21cfd8ae1ab9d831af21792e843163f66c6401c4 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Wed, 10 Feb 2016 14:23:54 -0500 Subject: [PATCH 22/29] NanoWii and Flip 1.5 Throttle pulse during power on. --- AVRootloader/AVR/AVRootloader.asm | 832 --------------- AVRootloader/AVR/AVRootloader.asmproj | 40 - AVRootloader/AVR/AVRootloader.atsln | 17 - AVRootloader/AVR/AVRootloader.inc | 394 ------- AVRootloader/AVR/AvrBuild.bat | 15 - AVRootloader/AVR/Crypt.inc | 259 ----- AVRootloader/AVR/Special.inc | 259 ----- .../AVR/default/AVRootloader_AQUASTAR.hex | 35 - .../AVR/default/AVRootloader_DLUX.hex | 35 - .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 - .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 - .../AVR/default/AVRootloader_TGY160A.hex | 35 - AVRootloader/Windows/AVRootloader.dev | 108 -- AVRootloader/Windows/AVRootloader.exe | Bin 798208 -> 0 bytes AVRootloader/Windows/AVRootloader.ini | 79 -- AVRootloader/readme.txt | 38 - Builds/20150821_FLIP_1_5.hex | 819 --------------- Builds/20150821_FLIP_1_5_SBUS.hex | 904 ---------------- Builds/20150821_FLIP_1_5_SRXLM.hex | 899 ---------------- Builds/20150821_MINI_MWC_CPPM.hex | 798 -------------- Builds/20150821_MINI_MWC_SPEKTRUM.hex | 880 ---------------- Builds/20150821_MINI_MWC_SRXLM.hex | 899 ---------------- ...821_AQUASTAR.hex => 20160209_AQUASTAR.hex} | 0 .../{20150821_DLUX.hex => 20160209_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20160209_EAGLE_A3PRO.hex} | 463 ++++---- ...> 20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 455 ++++---- Builds/20160209_FLIP_1_5.hex | 819 +++++++++++++++ Builds/20160209_FLIP_1_5_CPPM.hex | 798 ++++++++++++++ Builds/20160209_FLIP_1_5_SBUS.hex | 904 ++++++++++++++++ Builds/20160209_FLIP_1_5_SPEKTRUM.hex | 880 ++++++++++++++++ Builds/20160209_FLIP_1_5_SRXLH.hex | 899 ++++++++++++++++ Builds/20160209_FLIP_1_5_SRXLM.hex | 899 ++++++++++++++++ ..._5_CPPM.hex => 20160209_MINI_MWC_CPPM.hex} | 469 ++++----- ...=> 20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 463 ++++---- ...WC_SBUS.hex => 20160209_MINI_MWC_SBUS.hex} | 615 +++++------ ...RUM.hex => 20160209_MINI_MWC_SPEKTRUM.hex} | 613 +++++------ ..._SRXLH.hex => 20160209_MINI_MWC_SRXLH.hex} | 613 +++++------ ..._SRXLH.hex => 20160209_MINI_MWC_SRXLM.hex} | 613 +++++------ ...50821_NANOWII.hex => 20160209_NANOWII.hex} | 837 +++++++-------- ...WII_CPPM.hex => 20160209_NANOWII_CPPM.hex} | 845 +++++++-------- ...WII_SBUS.hex => 20160209_NANOWII_SBUS.hex} | 993 +++++++++--------- ...TRUM.hex => 20160209_NANOWII_SPEKTRUM.hex} | 991 ++++++++--------- ...I_SRXLH.hex => 20160209_NANOWII_SRXLH.hex} | 993 +++++++++--------- ...I_SRXLM.hex => 20160209_NANOWII_SRXLM.hex} | 993 +++++++++--------- ...{20150821_RX3SM.hex => 20160209_RX3SM.hex} | 473 ++++----- ...50821_RX3S_V1.hex => 20160209_RX3S_V1.hex} | 473 ++++----- ..._V1_CPPM.hex => 20160209_RX3S_V1_CPPM.hex} | 487 ++++----- ..._V1_SBUS.hex => 20160209_RX3S_V1_SBUS.hex} | 627 +++++------ ...TRUM.hex => 20160209_RX3S_V1_SPEKTRUM.hex} | 622 +++++------ ..._IN_ON_RUD_IN.hex => 20160209_RX3S_V2.hex} | 473 ++++----- ...=> 20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 473 ++++----- ..._V2_CPPM.hex => 20160209_RX3S_V2_CPPM.hex} | 498 ++++----- ..._V2_SBUS.hex => 20160209_RX3S_V2_SBUS.hex} | 633 +++++------ ...TRUM.hex => 20160209_RX3S_V2_SPEKTRUM.hex} | 629 +++++------ ...2_SRXLH.hex => 20160209_RX3S_V2_SRXLH.hex} | 633 +++++------ ...2_SRXLM.hex => 20160209_RX3S_V2_SRXLM.hex} | 633 +++++------ ...50821_TGY160A.hex => 20160209_TGY160A.hex} | 0 FlightStab/FlightStab.ino | 9 +- 58 files changed, 13525 insertions(+), 15708 deletions(-) delete mode 100644 AVRootloader/AVR/AVRootloader.asm delete mode 100644 AVRootloader/AVR/AVRootloader.asmproj delete mode 100644 AVRootloader/AVR/AVRootloader.atsln delete mode 100644 AVRootloader/AVR/AVRootloader.inc delete mode 100644 AVRootloader/AVR/AvrBuild.bat delete mode 100644 AVRootloader/AVR/Crypt.inc delete mode 100644 AVRootloader/AVR/Special.inc delete mode 100644 AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_DLUX.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_TGY160A.hex delete mode 100644 AVRootloader/Windows/AVRootloader.dev delete mode 100644 AVRootloader/Windows/AVRootloader.exe delete mode 100644 AVRootloader/Windows/AVRootloader.ini delete mode 100644 AVRootloader/readme.txt delete mode 100644 Builds/20150821_FLIP_1_5.hex delete mode 100644 Builds/20150821_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20150821_FLIP_1_5_SRXLM.hex delete mode 100644 Builds/20150821_MINI_MWC_CPPM.hex delete mode 100644 Builds/20150821_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20150821_MINI_MWC_SRXLM.hex rename Builds/{20150821_AQUASTAR.hex => 20160209_AQUASTAR.hex} (100%) rename Builds/{20150821_DLUX.hex => 20160209_DLUX.hex} (100%) rename Builds/{20150821_EAGLE_A3PRO.hex => 20160209_EAGLE_A3PRO.hex} (71%) rename Builds/{20150821_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex} (69%) create mode 100644 Builds/20160209_FLIP_1_5.hex create mode 100644 Builds/20160209_FLIP_1_5_CPPM.hex create mode 100644 Builds/20160209_FLIP_1_5_SBUS.hex create mode 100644 Builds/20160209_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20160209_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20160209_FLIP_1_5_SRXLM.hex rename Builds/{20150821_FLIP_1_5_CPPM.hex => 20160209_MINI_MWC_CPPM.hex} (70%) rename Builds/{20150821_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex} (70%) rename Builds/{20150821_MINI_MWC_SBUS.hex => 20160209_MINI_MWC_SBUS.hex} (66%) rename Builds/{20150821_FLIP_1_5_SPEKTRUM.hex => 20160209_MINI_MWC_SPEKTRUM.hex} (65%) rename Builds/{20150821_MINI_MWC_SRXLH.hex => 20160209_MINI_MWC_SRXLH.hex} (66%) rename Builds/{20150821_FLIP_1_5_SRXLH.hex => 20160209_MINI_MWC_SRXLM.hex} (66%) rename Builds/{20150821_NANOWII.hex => 20160209_NANOWII.hex} (59%) rename Builds/{20150821_NANOWII_CPPM.hex => 20160209_NANOWII_CPPM.hex} (59%) rename Builds/{20150821_NANOWII_SBUS.hex => 20160209_NANOWII_SBUS.hex} (56%) rename Builds/{20150821_NANOWII_SPEKTRUM.hex => 20160209_NANOWII_SPEKTRUM.hex} (55%) rename Builds/{20150821_NANOWII_SRXLH.hex => 20160209_NANOWII_SRXLH.hex} (55%) rename Builds/{20150821_NANOWII_SRXLM.hex => 20160209_NANOWII_SRXLM.hex} (55%) rename Builds/{20150821_RX3SM.hex => 20160209_RX3SM.hex} (71%) rename Builds/{20150821_RX3S_V1.hex => 20160209_RX3S_V1.hex} (71%) rename Builds/{20150821_RX3S_V1_CPPM.hex => 20160209_RX3S_V1_CPPM.hex} (69%) rename Builds/{20150821_RX3S_V1_SBUS.hex => 20160209_RX3S_V1_SBUS.hex} (65%) rename Builds/{20150821_RX3S_V1_SPEKTRUM.hex => 20160209_RX3S_V1_SPEKTRUM.hex} (64%) rename Builds/{20150821_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20160209_RX3S_V2.hex} (71%) rename Builds/{20150821_RX3S_V2.hex => 20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (71%) rename Builds/{20150821_RX3S_V2_CPPM.hex => 20160209_RX3S_V2_CPPM.hex} (69%) rename Builds/{20150821_RX3S_V2_SBUS.hex => 20160209_RX3S_V2_SBUS.hex} (65%) rename Builds/{20150821_RX3S_V2_SPEKTRUM.hex => 20160209_RX3S_V2_SPEKTRUM.hex} (64%) rename Builds/{20150821_RX3S_V2_SRXLH.hex => 20160209_RX3S_V2_SRXLH.hex} (65%) rename Builds/{20150821_RX3S_V2_SRXLM.hex => 20160209_RX3S_V2_SRXLM.hex} (65%) rename Builds/{20150821_TGY160A.hex => 20160209_TGY160A.hex} (100%) diff --git a/AVRootloader/AVR/AVRootloader.asm b/AVRootloader/AVR/AVRootloader.asm deleted file mode 100644 index 136c814..0000000 --- a/AVRootloader/AVR/AVRootloader.asm +++ /dev/null @@ -1,832 +0,0 @@ -; copyright HR - -.nolist - -#if defined(AQUASTAR) || defined(DLUX) -.include "m8def.inc" ; ATmega8 -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 -#endif - -#if defined(TGY160A) -.include "m168PAdef.inc" ; ATmega168PA -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 -#endif - -#if defined(RX3S_V1V2V3_AILR_OUT) -.include "m168PAdef.inc" ; ATmega168PA -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD7 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD7 -#endif - -#if defined(MINI_MWC_A0) -.include "m328Pdef.inc" ; ATmega328P -.equ RX_PORT = PORTC ; Receive port and pin -.equ RX = PC0 -.equ TX_PORT = PORTC ; Transmit port and pin -.equ TX = PC0 -#endif - -; supported devices -;.include "can128def.inc" ; AT90CAN128 -;.include "can32def.inc" ; AT90CAN32 -;.include "can64def.inc" ; AT90CAN64 -;.include "m1280def.inc" ; ATmega1280 -;.include "m1281def.inc" ; ATmega1281 -;.include "m1284Pdef.inc" ; ATmega1284P -;.include "m128Adef.inc" ; ATmega128A -;.include "m128def.inc" ; ATmega128 -;.include "m161def.inc" ; ATmega161 -;.include "m162def.inc" ; ATmega162 -;.include "m163def.inc" ; ATmega163 -;.include "m164PAdef.inc" ; ATmega164PA -;.include "m164Pdef.inc" ; ATmega164P -;.include "m165def.inc" ; ATmega165 -;.include "m165Pdef.inc" ; ATmega165P -;.include "m168def.inc" ; ATmega168 -;.include "m168PAdef.inc" ; ATmega168PA -;.include "m168Pdef.inc" ; ATmega168P -;.include "m169def.inc" ; ATmega169 -;.include "m169Pdef.inc" ; ATmega169P -;.include "m16Adef.inc" ; ATmega16A -;.include "m16def.inc" ; ATmega16 -;.include "m16HVAdef.inc" ; ATmega16HVA -;.include "m16M1def.inc" ; ATmega16M1 -;.include "m16U2def.inc" ; ATmega16U2 -;.include "m16U4def.inc" ; ATmega16U4 -;.include "m2560def.inc" ; ATmega2560 -;.include "m2561def.inc" ; ATmega2561 -;.include "m323def.inc" ; ATmega323 -;.include "m324PAdef.inc" ; ATmega324PA -;.include "m324Pdef.inc" ; ATmega324P -;.include "m3250def.inc" ; ATmega3250 -;.include "m3250Pdef.inc" ; ATmega3250P -;.include "m325def.inc" ; ATmega325 -;.include "m325Pdef.inc" ; ATmega325P -;.include "m328Pdef.inc" ; ATmega328P -;.include "m3290def.inc" ; ATmega3290 -;.include "m3290Pdef.inc" ; ATmega3290P -;.include "m329def.inc" ; ATmega329 -;.include "m329Pdef.inc" ; ATmega329P -;.include "m32Adef.inc" ; ATmega32A -;.include "m32C1def.inc" ; ATmega32C1 -;.include "m32def.inc" ; ATmega32 -;.include "m32HVBdef.inc" ; ATmega32HVB -;.include "m32M1def.inc" ; ATmega32M1 -;.include "m32U2def.inc" ; ATmega32U2 -;.include "m32U4def.inc" ; ATmega32U4 -;.include "m32U6def.inc" ; ATmega32U6 -;.include "m406def.inc" ; ATmega406 -;.include "m48def.inc" ; ATmega48 -;.include "m48PAdef.inc" ; ATmega48PA -;.include "m48Pdef.inc" ; ATmega48P -;.include "m640def.inc" ; ATmega640 -;.include "m644def.inc" ; ATmega644 -;.include "m644Pdef.inc" ; ATmega644P -;.include "m6450def.inc" ; ATmega6450 -;.include "m645def.inc" ; ATmega645 -;.include "m6490def.inc" ; ATmega6490 -;.include "m649def.inc" ; ATmega649 -;.include "m64Adef.inc" ; ATmega64A -;.include "m64C1def.inc" ; ATmega64C1 -;.include "m64def.inc" ; ATmega64 -;.include "m64M1def.inc" ; ATmega64M1 -;.include "m8515def.inc" ; ATmega8515 -;.include "m8535def.inc" ; ATmega8535 -;.include "m88def.inc" ; ATmega88 -;.include "m88PAdef.inc" ; ATmega88PA -;.include "m88Pdef.inc" ; ATmega88P -;.include "m8Adef.inc" ; ATmega8A -;.include "m8def.inc" ; ATmega8 -;.include "m8HVAdef.inc" ; ATmega8HVA -;.include "pwm216def.inc" ; AT90PWM216 -;.include "pwm2Bdef.inc" ; AT90PWM2B -;.include "pwm2def.inc" ; AT90PWM2 -;.include "pwm316def.inc" ; AT90PWM316 -;.include "pwm324def.inc" ; AT90PWM324 -;.include "pwm3Bdef.inc" ; AT90PWM3B -;.include "pwm3def.inc" ; AT90PWM3 -;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used -;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used -;.include "tn167def.inc" ; ATtiny167 -;.include "tn2313def.inc" ; ATtiny2313 -;.include "tn24Adef.inc" ; ATtiny24A -;.include "tn24def.inc" ; ATtiny24 -;.include "tn25def.inc" ; ATtiny25 -;.include "tn261def.inc" ; ATtiny261 -;.include "tn43Udef.inc" ; ATtiny43U -;.include "tn44Adef.inc" ; ATtiny44A -;.include "tn44def.inc" ; ATtiny44 -;.include "tn45def.inc" ; ATtiny45 -;.include "tn461def.inc" ; ATtiny461 -;.include "tn48def.inc" ; ATtiny48 -;.include "tn84def.inc" ; ATtiny84 -;.include "tn85def.inc" ; ATtiny85 -;.include "tn861def.inc" ; ATtiny861 -;.include "tn87def.inc" ; ATtiny87 -;.include "tn88def.inc" ; ATtiny88 -;.include "usb1286def.inc" ; AT90USB1286 -;.include "usb1287def.inc" ; AT90USB1287 -;.include "usb162def.inc" ; AT90USB162 -;.include "usb646def.inc" ; AT90USB646 -;.include "usb647def.inc" ; AT90USB647 -;.include "usb82def.inc" ; AT90USB82 - -; unsupported devices, no self programming or sram to small -;.include "1200def.inc" ; AT90S1200 -;.include "2313def.inc" ; AT90S2313 -;.include "2323def.inc" ; AT90S2323 -;.include "2343def.inc" ; AT90S2343 -;.include "4414def.inc" ; AT90S4414 -;.include "4433def.inc" ; AT90S4433 -;.include "4434def.inc" ; AT90S4434 -;.include "8515def.inc" ; AT90S8515 -;.include "8535def.inc" ; AT90S8535 -;.include "AT86RF401def.inc" ; AT86RF401 -;.include "ATxmega128A1def.inc" ; ATxmega128A1 -;.include "ATxmega128A3def.inc" ; ATxmega128A3 -;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B -;.include "ATxmega256A3def.inc" ; ATxmega256A3 -;.include "ATxmega16A4def.inc" ; ATxmega16A4 -;.include "ATxmega32A4def.inc" ; ATxmega32A4 -;.include "ATxmega64A1def.inc" ; ATxmega64A1 -;.include "ATxmega64A3def.inc" ; ATxmega64A3 -;.include "m103def.inc" ; ATmega103 -;.include "tn10def.inc" ; ATtiny10 -;.include "tn11def.inc" ; ATtiny11 -;.include "tn12def.inc" ; ATtiny12 -;.include "tn15def.inc" ; ATtiny15 -;.include "tn22def.inc" ; ATtiny22 -;.include "tn26def.inc" ; ATtiny26 -;.include "tn28def.inc" ; ATtiny28 - - -.ifndef PageSize -.error "Device don't support Bootloader !" -.else - -#message "compile for" __PART_NAME__ - - -; set follow equ to 0/1 to de/activate.... -.equ UseBootMode = 0 ; 0 = start bootloader always - ; 1 = start on power up reset or by call from application - ; 2 = start on external reset or by call from application - ; 3 = start on watchdog reset or by call from application - ; 4 = start on USB reset or by call from application (only USB Devices) - ; 5 = start only by call from application (not recommended) - ; with these bootmodes you can shorten startup time for application - -.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) -.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) - -.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) -.equ UseE2Read = 1 ; EEPROM read command - -.equ UseCrypt = 0 ; cryptography (crypt.inc) -.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH -.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM - -.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) -.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) -.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) - -.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code -.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH -.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS -.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH -.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg - ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs - -.equ UseAutobaud = 1 ; Baudrate detection -.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. - ; First after BootDelay milliseconds inactivity the application is called. - ; Otherwise the timeout BootDelay defines an overall timeout for connection. - -.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) -.equ UseRS485 = 0 ; activate RS-485 Data Enable pin -.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) - -;;.equ RX_PORT = PORTD ; Receive port and pin -;;.equ RX = PD7 -;;.equ TX_PORT = PORTD ; Transmit port and pin -;;.equ TX = PD7 - -.if UseRS485 -.equ DE_PORT = PORTB ; DE enable pin of RS-485 -.equ DE = PB2 ; must be only set if RS485 DE is used -.endif - -.set XTAL = 16000000 ; -.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) -.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important -.set BootVersion = 6 ; Version 6 (must be not changed) -.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again - ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) - -;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode - -; now scroll down at end of source to configure BootSign and BootMsg - -.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) -.message "WARNING: actual settings compromise security !" -.endif - - -.include "AVRootloader.inc" -;.listmac -.list - -.org BootStart -init: cli - xwdr - clr zerol - - ldi cmdl, byte1(RamEnd) - xout SPL, cmdl -.ifdef SPH - ldi cmdl, byte2(RamEnd) - xout SPH, cmdl -.endif ; .if SPH - -.if UseSaveMCUSR || UseBootMode - xin paral, MCUSR -.if UseSaveMCUSR - push paral ; save old MCUSR ontop of stack -.endif ; .if UseSaveMCUSR -.endif ; .if UseSaveMCUSR || UseBootMode - -.if UseWDR -; xin cmdl, WDTCR -; ori cmdl, (1 << WDE) | (1 << WDCE) - ldi cmdl, (1 << WDE) | (1 << WDCE) - ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) - xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT - xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout - xout WDTCR, cmdh -.elif UseBootMode - xout MCUSR, zerol -.endif ; .if UseWDR - -.if UseBootMode - andi paral, ResetFlags - breq bm1 -.ifdef BootModeFlag - sbrs paral, BootModeFlag -.endif - jmpapp -bm1: -.endif ; .if UseBootMode - -; initialize ports - cbi RX_DDR, RX -.if UseUartInvert && Use1Wire - cbi RX_PORT, RX -.else - sbi RX_PORT, RX -.endif ; .if UseUartInvert && Use1Wire -.if !Use1Wire -.if UseUartInvert - sbi TX_PORT, TX -.else - cbi TX_PORT, TX -.endif ; .if UseUartInvert - sbi TX_DDR, TX -.endif ; .if !Use11Wire - -.if UseRS485 - sbi DE_DDR, DE - de_0 -.endif ; .if UseRS485 - -; initialize crc polynom and RAMPZ - clr zeroh - ldi polyl, byte1(POLYNOM) - ldi polyh, byte2(POLYNOM) -.if BigMega - ldi cmdl, byte3(BootSign *2) - xout RAMPZ, cmdl -.else - xout RAMPZ, zerol -.endif ; .if BigMega - - -; baudrate and identifier scanning -.if UseResetDelay -abd: -.endif - ldi cmdl, byte3(BootDelay / 6) - ldi xh, byte2(BootDelay / 6) - ldi xl, byte1(BootDelay / 6) -.if !UseResetDelay -abd: -.endif - movw crcl, zerol - ldi parah, (BootMsg - BootSign) * 2 - ldi zl, byte1(BootSign * 2) - ldi zh, byte2(BootSign * 2) - -.if UseAutobaud -; baudrate detection -; autobaud based on P.Dannegger with some optimization -; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 - movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low -ab1: add yl, yl - adc yh, yh - movw cntl, zerol -ab2: sbiw xl, 1 - sbc cmdl, zerol - rx_0 - brne ab2 - breq id2 ; exit -ab3: sbiw yl, 1 - adiw cntl, 2 - brcs exit - rx_1 - rjmp ab3 - asr yl - sbiw yl, BaudTolerance - adiw yl, BaudTolerance * 2 - movw yl, cntl - brcc ab1 - sbiw cntl, UartLoop - brcs ab1 - movw baudl, cntl -.else -; fixed baudrate - ldi yl, byte1(Baudrate) - ldi yh, byte2(Baudrate) - movw baudl, yl -.endif ; .if UseAutobaud - -; identifier (BootSign) scanning with timeout and checksum - -id1: sbiw xl, 1 ; UART getc with timeouts - sbc cmdl, zerol - rx_1 - brne id1 -id2: breq exit -id3: sbiw xl, 1 - sbc cmdl, zerol - rx_0 - brne id3 - breq exit - rcall getx - xlpm r0, z+ - cp r0, paral - brne abd - dec parah - brne id1 - rcall getw - brne abd - -; send info about chip/bootloader (BootMsg + BootInfo) -info: ldi parah, (BootInfo - BootMsg) * 2 +4 -in1: xlpm paral, z+ - rcall putc - dec parah - brne in1 - -.if UseVersioning -;send application software version (AppVersion) -vers: ldi parah, 4 - ldi zl, byte1(AppVerAddr) - ldi zh, byte2(AppVerAddr) -ve1: xlpm paral, z+ - rcall putc - dec parah - brne ve1 -.endif ; .if UseVersioning - - -; main commandloop -; 0=run/restart -; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM -; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive -main: ldi paral, SUCCESS -mai1: rcall putc - movw crcl, zerol - rcall getw - movw cmdl, paral - cpi cmdh, 0xFE - brlo mai2 - rcall getw - movw yl, paral - sbrc cmdh, 0 - movw zl, paral -.if BigMega - sbrc cmdh, 0 - mov zx, cmdl -.endif ; .if BigMega - -mai2: rcall getw -mai3: ldi paral, ERRORCRC - brne mai1 - cpi cmdh, 0xFE - breq setbuf - brsh main - cpse cmdh, zerol - rjmp mai4 -; run application/restart bootloader - cpse cmdl, zerol -exit: jmpapp - rjmp init - -; set buffer -setbuf: -.if UseCrypt - clr flag - cpi cmdl, 0xFE - brlo set3 - bst cmdl, 0 - ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 - ldi zl, byte1(SRAM_START) - ldi zh, byte2(SRAM_START) - movw xl, feedl - adiw xl, 8 ; last feedback - clr r0 -set1: brtc set2 - ld r0, x+ -set2: st z+, r0 - dec cnt - brne set1 -.endif ; .if UseCrypt - -set3: ldi xl, byte1(SRAM_START + 16) - ldi xh, byte2(SRAM_START + 16) - movw sraml, xl -.if UseSRAM - cpi cmdl, 1 - brne set4 - movw xl, zl -.endif ; .if UseSRAM - -set4: rcall getc - st x+, paral - sbiw yl, 1 - brne set4 -.if !UseCrypt - inc cmdh - rjmp mai2 -.else - rcall getw - brne mai3 - ori flag, 0x01 -set5: - cpi cmdl, 0xFE - brlo proB ; rjmp main - rjmp decrypt -.endif ; .if !UseCrypt - -mai4: cpi cmdh, 3 - brsh mai5 -; program/erase - bst cmdh, 0 -prog: ldi paral, ERRORPROG -.if UseCrypt - brtc pro1 -.if UseCryptFLASH - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptFLASH - brlo pro8 -.endif ; .if UseCrypt - -pro1: movw yl, sraml -pro2: cpi zl, byte1(BootStart *2) - ldi parah, byte2(BootStart *2) - cpc zh, parah -.if BigMega - xout RAMPZ, zx - ldi parah, byte3(BootStart *2) - cpc zx, parah -.endif ; .if BigMega - brsh pro8 - - ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - - brtc pro5 - - ldi cntl, (1 << SPMEN) - ldi cnt, pagesize -pro4: ld r0, y+ - ld r1, y+ -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - - adiw zl, 2 - dec cnt - brne pro4 - - subi zl, byte1(PageSize *2) - sbci zh, byte2(PageSize *2) - subi yl, byte1(PageSize *2) - sbci yh, byte2(PageSize *2) - - ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - -pro5: -.if BLS -.ifdef RWWSRE - ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section - rcall dospm -.endif ; .if RWWSRE -.endif ; .if BLS - -.if PageSize * 2 > 256 -.error "PageSize is greater as 256 bytes, check programing loops" -.endif - - ldi cnt, byte1(pagesize * 2) - ldi paral, ERRORVERIFY - ldi parah, 0xFF -pro6: xlpm r0, z+ - brtc pro7 - ld parah, y+ -pro7: cpse parah, r0 -pro8: rjmp mai1 - dec cnt - brne pro6 - -.if BigMega - cp zl, zerol - cpc zh, zeroh - brne pro9 - inc zx -.endif ; .if BigMega - -pro9: brtc proA - cp yl, xl - cpc yh, xh - brlo pro2 - brne pro8 -proA: dec cmdl - brne prog -proB: rjmp main - -mai5: -.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) - breq mai8 -.elif UseVerify - brne mai6 -veri: ldi paral, ERRORVERIFY -ver1: movw yl, sraml -ver2: ld r0, y+ -.if BigMega - xout RAMPZ, zx - xlpm r1, z - adiw z, 1 - adc zx, zerol -.else - xlpm r1, z+ -.endif ; .if BigMega - cpse r0, r1 - rjmp mai1 - cp yl, xl - cpc yh, xh - brne ver2 - dec cmdl - brne ver1 - rjmp main -.endif ; .if UseVerify - -mai6: -.if UseE2Read && UseE2Write - cpi cmdh, 6 - brsh mai7 - bst cmdh, 0 -.if UseCrypt - brtc ee1 - ldi paral, ERRORPROG -.if UseCryptE2 - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptE2 - brlo maiZ -.endif ; .if UseCrypt - -ee1: ldi paral, ERRORVERIFY - movw yl, sraml -ee2: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - brts ee3 - sbi EECR, EERE - in paral, EEDR - rcall putp - rjmp ee5 -ee3: ld r0, y+ - xout EEDR, r0 - sbi EECR, EEMWE - sbi EECR, EEWE -ee4: xwdr - sbic EECR, EEWE - rjmp ee4 - sbi EECR, EERE - in r1, EEDR - cpse r1, r0 - rjmp maiZ - cp yl, xl - cpc yh, xh - brne ee2 -ee5: dec cmdl - brne ee1 - brts ee6 - rcall putw -ee6: rjmp main -.elif UseE2Read - cpi cmdh, 5 - breq maiY - brsh mai7 -ee1: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - sbi EECR, EERE - in paral, EEDR - rcall putp - dec cmdl - brne ee1 - rcall putw - rjmp main -.elif UseE2Write - cpi cmdh, 5 - brlo maiY - brne mai7 -.if UseCrypt - ldi paral, ERRORPROG -.if UseCryptE2 - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptE2 - brlo maiZ -.endif ; .if UseCrypt - -ee1: ldi paral, ERRORVERIFY - movw yl, sraml -ee2: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - ld r0, y+ - xout EEDR, r0 - sbi EECR, EEMWE - sbi EECR, EEWE -ee3: xwdr - sbic EECR, EEWE - rjmp ee3 - sbi EECR, EERE - in r1, EEDR - cpse r1, r0 - rjmp maiZ - cp yl, xl - cpc yh, xh - brne ee2 - dec cmdl - brne ee1 - rjmp main -.endif ;.elif UseE2Write - -mai7: -.if UseSRAM -.if !UseE2Read || !UseE2Write - cpi cmdh, 6 -.endif ; .if !UseE2Read || !UseE2Write - - brne mai8 -sram: ld paral, z+ - rcall putp - dec cmdl - brne sram - rcall putw - rjmp main -.endif ; .if UseSRAM - -mai8: -; here new command #7 - -maiY: ldi paral, ERRORCOMMAND -maiZ: rjmp mai1 - - -; send char with crc -.if UseE2Read || UseSRAM -putw: movw paral, crcl - rcall putc - mov paral, parah -putp: eor crcl, paral - ldi cnt, 8 -put1: lsr crch - ror crcl - brcc put2 - eor crch, polyh - eor crcl, polyl -put2: dec cnt - brne put1 -.endif ; .if UseE2Read || UseSRAM - -; send char -putc: xwdr - de_1 - rcall waitf - rcall waitf - ldi cnt, 10 - com paral -put3: tx_out ; 1 - rcall waitf ; 15 - lsr paral ; 1 - brcs put4 ; 1 - tx_0 ; 1 -put4: rcall put5 ; 7 - dec cnt ; 1 - brne put3 ; 2 = 29 + baud -put5: ret - -; receive char/word -getw: rcall getc -getm: mov parah, paral -getc: xwdr - de_0 -get5: rx_1 - rjmp get5 -get1: rx_0 - rjmp get1 -getx: ldi cnt, 8 - movw cntl, baudl - lsr cnth - ror cntl - rcall waith -get2: rcall waitf ; 15 + baud - lsr paral ; 1 - rx_0 ; 1 - ori paral, 0x80 ; 1 - sbrc paral, 7 ; 1 - eor crcl, polyl ; 1 - lsr crch ; 1 - ror crcl ; 1 - brcc get3 ; 1 - eor crch, polyh ; 1 -get3: brcc get4 ; 1 - eor crcl, polyl ; 1 -get4: dec cnt ; 1 - brne get2 ; 2 = 29 + baud - eor crcl, crch - eor crcl, crch - ret - -; UART delays ; by P.Dannegger -waitf: movw cntl, baudl ; 1 -waith: sbiw cntl, 4 ; 2 - brcc waith ; 2/1 - cpi cntl, 0xFD ; 1 - brcs wait1 ; 2/1 (2) - breq wait1 ; 2/1 (3) - cpi cntl, 0xFF ; 1 - breq wait1 ; 2/1 (4/5) -wait1: tx_1 ; 1 - ret ; 4 + 3 (rcall) = 15 - -.if UseCrypt -.include "Crypt.inc" -.endif ; .if UseCrypt - - -BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini -BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars -BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed - -.if UseCrypt -; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature -BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC -.endif ; .if UseCrypt - - -.include "Special.inc" - -.endif ; .ifndef PageSize -> end of source - - diff --git a/AVRootloader/AVR/AVRootloader.asmproj b/AVRootloader/AVR/AVRootloader.asmproj deleted file mode 100644 index 6676d6b..0000000 --- a/AVRootloader/AVR/AVRootloader.asmproj +++ /dev/null @@ -1,40 +0,0 @@ - - - - 2.0 - 6.0 - com.Atmel.AVRAssembler - 52202416-41a7-4c61-892b-f36132641d3c - none - ATmega168PA - AVRootloader - .obj - $(MSBuildProjectDirectory)\$(Configuration) - ASSEMBLY - Executable - Native - - true - false - - 0 - $(MSBuildProjectDirectory)\AVRootloader.asm - 3.5.0 - - - bin\default\ - - - True - Error - ($IncludeFile) - - - - - - - compile - - - \ No newline at end of file diff --git a/AVRootloader/AVR/AVRootloader.atsln b/AVRootloader/AVR/AVRootloader.atsln deleted file mode 100644 index 4b6a147..0000000 --- a/AVRootloader/AVR/AVRootloader.atsln +++ /dev/null @@ -1,17 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 11.00 -# Atmel Studio Solution File, Format Version 11.00 -Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - default|AVR = default|AVR - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR - {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/AVRootloader/AVR/AVRootloader.inc b/AVRootloader/AVR/AVRootloader.inc deleted file mode 100644 index 70a8bee..0000000 --- a/AVRootloader/AVR/AVRootloader.inc +++ /dev/null @@ -1,394 +0,0 @@ -; copyright HR - -.equ RX_DDR = RX_PORT -1 -.equ RX_PIN = RX_PORT -2 -.equ TX_DDR = TX_PORT -1 -.equ TX_PIN = TX_PORT -2 - -.if UseRS485 -.equ DE_DDR = DE_PORT -1 -.endif - -.if RX_PORT == TX_PORT && RX == TX -.set Use1Wire = 1 -.else -.set Use1Wire = 0 -.endif ; .if RX_PORT == TX_PORT && RX == TX - -.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed -.equ BaudTolerance = 3 - -.if !UseAutobaud -.set Baudrate = XTAL / BootBaudrate - UartLoop -.endif ; .if !UseAutobaud - -.set SUCCESS = 0x30 -.set ERRORVERIFY = 0xC0 -.set ERRORCOMMAND = 0xC1 -.set ERRORCRC = 0xC2 -.set ERRORBOUNDS = 0xC3 -.set ERRORCRYPT = 0xC4 -.set ERRORPROG = 0xC5 -.set ERRORVERSION = 0xC6 - -.if UseCrypt -.set SUCCESS = SUCCESS | 0x01 -.if UseCryptFLASH -.set SUCCESS = SUCCESS | 0x02 -.endif ; .if UseCryptFLASH -.if UseCryptE2 -.set SUCCESS = SUCCESS | 0x04 -.endif ; .if UseCryptE2 -.endif ; .if UseCrypt -.if UseVersioning -.set SUCCESS = SUCCESS | 0x08 -.endif ; .if UseVersioning - -.equ POLYNOM = 0xA001 ; CRC Polynom - -.def feedl = r4 ; feedback pointer -.def feedh = r5 -.def zx = r7 ; RAMPZ -.def crcl = r8 ; CRC 16Bit -.def crch = r9 -.def zerol = r10 ; zero -.def zeroh = r11 -.def baudl = r12 ; baudrate -.def baudh = r13 -.def sraml = r14 ; SRAM buffer start -.def sramh = r15 -.def paral = r16 ; params for UART -.def parah = r17 -.def polyl = r18 ; Polynom CRC -.def polyh = r19 -.def cnt = r20 ; counter in UART loops -.def flag = r21 ; flag for crypto -.def cmdl = r22 ; commands -.def cmdh = r23 -.def cntl = r24 ; temp/baudrate -.def cnth = r25 - -.if FlashEnd > 0x7FFF -.set BigMega = 1 ; ATMega with big FLASH -.else -.set BigMega = 0 -.endif ; .if FlashEnd > 0x7FFF - -.ifdef FirstBootStart -.set BLS = 1 ; Bootloader Section supported -.else -.set BLS = 0 -.endif ; .ifdef FirstBootStart - -; calculate Bootloader start address -.ifdef FirstBootStart -.set FirstBoot = FirstBootStart -.else -.set FirstBoot = FlashEnd +1 -.endif ; .ifdef FirstBootStart - -.ifdef SecondBootStart -.set SecondBoot = SecondBootStart -.else -.set SecondBoot = FlashEnd +1 -.endif ; .ifdef SecondBootStart - -.ifdef ThirdBootStart -.set ThirdBoot = ThirdBootStart -.else -.set ThirdBoot = FlashEnd +1 -.endif ; .ifdef ThirdBootStart - -.ifdef FourthBootStart -.set FourthBoot = FourthBootStart -.else -.set FourthBoot = FlashEnd +1 -.endif ; .ifdef FourthBootStart - -.if BootCodeSize -.if BLS -.set FlashSize = FlashEnd +1 -.if FlashSize - FirstBoot >= BootCodeSize >> 1 -.equ BootStart = FirstBoot -.message "Please program Boot Fuse to First Boot Start !" -.elif FlashSize - SecondBoot >= BootCodeSize >> 1 -.equ BootStart = SecondBoot -.message "Please program Boot Fuse to Second Boot Start !" -.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 -.equ BootStart = ThirdBoot -.message "Please program Boot Fuse to Third Boot Start !" -.elif FlashSize - FourthBoot >= BootCodeSize >> 1 -.equ BootStart = FourthBoot -.message "Please program Boot Fuse to Fourth Boot Start !" -.else -.equ BootStart = 0 -.error "BootStart is undefinied !" -.endif ; .if FlashSize ... -.else -.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 -.equ BootStart = FlashSize - FlashSize % PageSize -.message "Compile Bootloader without Boot Section !" -.endif ; .if BLS -.else -.if (FLASHEND > 1023) -.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 -.else -.equ BootStart = 0 -.endif -.message "Please set used CSEG to BootSize !" -.endif ; .if BootCodeSize - -; fix bug with parsing HEX files in AVRStudio 4.16 -.if BootCodeSize -.org 0 -.db 0xFF, 0xFF -.endif - -.set BootPages = (FlashEnd +1 - BootStart) / PageSize - -.if UseVersioning -.if BLS -.set AppVerAddr = BootStart * 2 - 4 -.else -.set AppVerAddr = BootStart * 2 - 6 -.endif ; .if BLS -.endif ; .if UseVersioning - -; examine special handling for SPM -.if BLS && (SIGNATURE_000 == 0x1e) -.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 -.set SPMspecial = 1 -.endif -.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 -.set SPMspecial = 2 -.endif -.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 -.set SPMspecial = 3 -.endif -.endif - -; BootMode flags -.if UseBootMode == 1 -.set BootModeFlag = PORF -.elif UseBootMode == 2 -.set BootModeFlag = EXTRF -.elif UseBootMode == 3 -.set BootModeFlag = WDRF -.elif UseBootMode == 4 -.ifndef USBRF -.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" -.else -.set BootModeFlag = USBRF -.endif -.endif - -.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) -.ifdef BORF -.set ResetFlags = ResetFlags | (1 << BORF) -.endif -.ifdef JTRF -.set ResetFlags = ResetFlags | (1 << JTRF) -.endif -.ifdef BODRF -.set ResetFlags = ResetFlags | (1 << BODRF) -.endif -.ifdef OCDRF -.set ResetFlags = ResetFlags | (1 << OCDRF) -.endif -.ifdef USBRF -.set ResetFlags = ResetFlags | (1 << USBRF) -.endif - - -; some redefinition of register names or bits -.ifndef MCUSR -.ifndef MCUCSR -.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" -.else -.equ MCUSR = MCUCSR -.endif -.endif ; .ifndef MCUCSR - -.ifndef WDCE -.ifndef WDDE -.equ WDCE = WDTOE -.else -.equ WDCE = WDDE -.endif ; .ifndef WDDE -.endif ; .ifndef WDCE - -.ifndef WDTCR -.equ WDTCR = WDTCSR -.endif ; .ifndef WDTCR - -.ifndef SPMCSR -.equ SPMCSR = SPMCR -.endif ; .ifndef SPMCSR - -.ifndef RWWSRE -.ifdef ASRE -.equ RWWSRE = ASRE -.endif ; .ifdef ASRE -.endif ; .ifndef RWWSRE - -.ifndef SPMEN -.equ SPMEN = SELFPRGEN -.endif ; .ifndef SPMEN - - -.ifndef EEMWE -.equ EEMWE = EEMPE -.endif ; .ifndef EEMWE - -.ifndef EEWE -.equ EEWE = EEPE -.endif ; .ifndef EEWE - -.ifndef EEARL -.equ EEARL = EEAR -.endif ; .ifndef EEARL - -; macros -.macro xout -.ifdef @0 -.if @0 > 0x3F - sts @0, @1 -.else - out @0, @1 -.endif -.endif -.endmacro - -.macro xin -.ifdef @1 -.if @1 > 0x3F - lds @0, @1 -.else - in @0, @1 -.endif -.endif -.endmacro - -.macro xwdr -.if UseWDR - wdr -.endif ; .if UseWDR -.endmacro - -.macro xlpm -.if BigMega - elpm @0, @1 -.else - lpm @0, @1 -.endif -.endmacro - -.macro jmpapp -.if BLS -#if defined(AQUASTAR) || defined(DLUX) - rjmp FLASHEND +1 ; run application -#else - jmp FLASHEND +1 ; run application -#endif -.elif BootStart - rjmp BootStart -1 ; run application -.else - rjmp BootStart ; dummy -.endif ; .if BLS -.endmacro - -.macro bjmp -.if @1 - rjmp @0 -.else - ret -.endif -.endmacro - -.macro rx_0 -.if UseUartInvert - sbic RX_PIN, RX -.else - sbis RX_PIN, RX -.endif ; .if UseUartInvert -.endmacro - -.macro rx_1 -.if UseUartInvert - sbis RX_PIN, RX -.else - sbic RX_PIN, RX -.endif ; .if UseUartInvert -.endmacro - - -.macro tx_1 - -.if (RX != TX) && (RX_PORT == TX_PORT) -.if UseUartInvert -.set tx1 = (1 << RX) -.else -.set tx1 = (1 << TX) | (1 << RX) -.endif ; .if UseUartInvert -.elif UseUartInvert && !Use1Wire -.set tx1 = 0 -.else -.set tx1 = (1 << TX) -.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) -.ifdef DE_PORT -.if !UseRS485Invert && (DE_PORT == TX_PORT) -.set tx1 = tx1 | (1 << DE) -.endif -.endif - ldi cnth, tx1 -.endmacro - -.macro tx_0 -.if (RX != TX) && (RX_PORT == TX_PORT) -.if UseUartInvert -.set tx0 = (1 << TX) | (1 << RX) -.else -.set tx0 = (1 << RX) -.endif ; .if UseUartInvert -.elif UseUartInvert && !Use1Wire -.set tx0 = (1 << TX) -.else -.set tx0 = 0 -.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) -.ifdef DE_PORT -.if !UseRS485Invert && (DE_PORT == TX_PORT) -.set tx0 = tx0 | (1 << DE) -.endif -.endif - ldi cnth, tx0 -.endmacro - - -.macro tx_out -.if Use1Wire - xout TX_DDR, cnth -.else - xout TX_PORT, cnth -.endif ; .if Use1Wire -.endmacro - -.macro de_0 -.if UseRS485 -.if UseRS485Invert - sbi DE_PORT, DE -.else - cbi DE_PORT, DE -.endif -.endif -.endmacro - -.macro de_1 -.if UseRS485 -.if UseRS485Invert - cbi DE_PORT, DE -.else - sbi DE_PORT, DE -.endif -.endif -.endmacro - diff --git a/AVRootloader/AVR/AvrBuild.bat b/AVRootloader/AVR/AvrBuild.bat deleted file mode 100644 index cdc98e0..0000000 --- a/AVRootloader/AVR/AvrBuild.bat +++ /dev/null @@ -1,15 +0,0 @@ -@ECHO OFF -set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler - -call :buildhex AQUASTAR -call :buildhex DLUX -call :buildhex TGY160A -call :buildhex RX3S_V1V2V3_AILR_OUT -call :buildhex MINI_MWC_A0 -goto :eof - -:buildhex -set OUT=default\AVRootloader_%~1 -echo %OUT% -"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" -goto :eof \ No newline at end of file diff --git a/AVRootloader/AVR/Crypt.inc b/AVRootloader/AVR/Crypt.inc deleted file mode 100644 index 74c73fd..0000000 --- a/AVRootloader/AVR/Crypt.inc +++ /dev/null @@ -1,259 +0,0 @@ -; copyright HR -; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code -.nolist - -.undef feedl -.undef feedh -.undef crcl -.undef crch -.undef paral -.undef parah -.undef polyl -.undef polyh -.undef zx -.undef cmdl -.undef cmdh -.undef cntl -.undef cnth - -.def a0 = r0 -.def a1 = r1 -.def a2 = r2 -.def a3 = r3 -.def b0 = r4 ; feedl -.def b1 = r5 ; feedh -.def b2 = r6 -.def b3 = r7 ; zx -.def t0 = r8 ; crcl -.def t1 = r9 ; crch -;.def zerol = r10 ; zerol -;.def zeroh = r11 ; zeroh -;.def baudl = r12 ; baudl -;.def baudh = r13 ; baudl -;.def sraml = r14 ; SRAM buffer start -;.def sramh = r15 -.def s0 = r16 ; paral -.def s1 = r17 ; parah -.def s2 = r18 ; polyl, restored -.def s3 = r19 ; polyh, restored -;.def cnt = r20 ; cnt -;.def flag = r21 ; flag -.def round = r22 ; cmdl -.def t4 = r23 ; cmdh -.def t2 = r24 ; cntl -.def t3 = r25 ; cnth -;.def XL = r26 ; buffer_endl -;.def XH = r27 ; buffer_endh -;.def YL = r28 ; unused -;.def YH = r29 ; unused -;.def ZL = r30 ; overwritten Address -;.def ZH = r31 ; -.list - - -; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup -; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback -; X points after buffer -; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption -; cycles: -; 698 * 8 Bytes -1 = 5583 one data block -; + 98 for CMDL=0xFE=init -; + 76 for CMDL=0xFF=data -; thus average throughput by 8Mhz is 11kByte/sec - -decrypt: - movw yl, sraml - sbiw yl, 16 - movw sraml, yl - sbiw xl, 16 -.if BigMega - ldi cnt, byte3(BootKey * 2) - xout RAMPZ, cnt -.endif ; .if BigMega - -tea1: ldi cnt, 8 - movw zl, zerol ; zerol, z points to register file r0-r7 = a,b -tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock - ldd t1, y +16 ; in next round buffer is feedback - eor t0, t1 - std y +8, t0 - st z+, t1 ; setup a,b = cipherblock - adiw yl, 1 - dec cnt - brne tea2 - - ldi s0, 0x20 ; sum = 32 * delta - ldi s1, 0x37 - ldi s2, 0xef - ldi s3, 0xc6 - - rcall teadec ; first 16 rounds - -tea3: ld t0, z ; ciphertext = ciphertext xor feedback - ld t1, y+ - eor t0, t1 - st z+, t0 - dec cnt - brne tea3 - - rcall teadec ; second 16 rounds - -tea4: ld t0, z+ ; plaintext = ciphertext xor feedback - ld t1, y - eor t0, t1 - st y+, t0 - dec cnt - brne tea4 - - cp yl, xl ; sram buffer end reached ? - cpc yh, xh - brlo tea1 - ldi s0, ERRORCRYPT - brcs tea7 ; overflow, datasize not a multiple of 8 - - sbiw yl, 8 ; points to signature + dummy + address - -.if UseVersioning - brts tea80 - - ldi zl, byte1(AppVerAddr) ; check version number - ldi zh, byte2(AppVerAddr) - ldi cnt, 4 - sbiw yl, 4 - ldi s2, 0xFF - ldi s3, 0xFF - -tea8: ld r0, y+ - xlpm r1, z+ - and s3, r1 - cpse r0, s2 - cpc r0, r1 - dec cnt - brne tea8 - - ldi s0, ERRORVERSION - cpse s3, s2 - brcs tea7 - ldi s0, ERRORCRYPT -tea80: -.endif ;.if UseVersioning - - ori flag, 0x02 ; success crypt - - ldi zl, byte1(BootKey * 2) - ldi zh, byte2(BootKey * 2) - movw xl, yl - ldi cnt, 4 ; check signature - brts tea5 - sbiw zl, 4 - ldi cnt, 8 ; check BootInfo and signature -tea5: ld r0, y+ - xlpm r1, z+ - cpse r0, r1 - clr flag ; signature don't match - dec cnt - brne tea5 - - movw b0, xl ; feedback - - brtc tea6 - ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data - sub xl, s1 - sbc xh, zerol - ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF - ldd zh, y +2 - ldd zl, y +3 - -tea6: sbrc flag, 1 - ldi s0, SUCCESS -tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom - ldi s3, byte2(POLYNOM) - rjmp mai1 - - -; plain XTEA decryption -teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext - movw t0, a0 - movw t2, a2 - -dec1: clr t4 ; t = (a shr 4) xor (a shl 5) - ldi cnt, 3 -dec2: lsl t0 - rol t1 - rol t2 - rol t3 - rol t4 - dec cnt - brne dec2 - - lsl t0 - eor t0, t1 - rol t1 - eor t1, t2 - rol t2 - eor t2, t3 - rol t3 - eor t3, t4 - - add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a - adc t1, a1 - adc t2, a2 - adc t3, a3 - - ldi zl, low(BootKey *2) - ldi zh, high(BootKey *2) - - sbrc round, 0 - rjmp dec3 - - sbrc s1, 3 ; k = key[(sum shr 11) and 3] - adiw zl, 4 - sbrc s1, 4 - adiw zl, 8 - - rjmp dec4 - -dec3: subi s0, 0xB9 ; sum = sum - delta - sbci s1, 0x79 - sbci s2, 0x37 - sbci s3, 0x9E - - sbrc s0, 0 ; k = key[sum and 3] - adiw zl, 4 - sbrc s0, 1 - adiw zl, 8 - -dec4: xlpm t4, z+ ; t = t xor (sum + k) - add t4, s0 - eor t0, t4 - xlpm t4, z+ - adc t4, s1 - eor t1, t4 - xlpm t4, z+ - adc t4, s2 - eor t2, t4 - xlpm t4, z+ - adc t4, s3 - eor t3, t4 - - sub b0, t0 ; b = b - t - sbc b1, t1 - sbc b2, t2 - sbc b3, t3 - - movw t0, b0 ; b = a, a = b - movw t2, b2 - movw b0, a0 - movw b2, a2 - movw a0, t0 - movw a2, t2 - - dec round - brne dec1 - - ldi cnt, 8 - movw zl, zerol - sbiw yl, 8 - - ret - diff --git a/AVRootloader/AVR/Special.inc b/AVRootloader/AVR/Special.inc deleted file mode 100644 index 6ba25f5..0000000 --- a/AVRootloader/AVR/Special.inc +++ /dev/null @@ -1,259 +0,0 @@ -.nolist -; copyright HR -; special functions to provide for application code access to FLASH -; can be expanded with own functions and place a rjmp vector at end of this file - -; First calculate size of code to align code at end of FLASH, better solution possible ? - -; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. -; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm -; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and -; thus the last FLASH page should be always unchanged. With a own application and help of -; dospm function can the remaining bootloader section repogrammed. Please remember that -; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own -; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) -; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function -; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider -; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits -; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. -; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to -; use SPM in application code. - - -.set SpecialSize = 0 - -.if UseSpecialWrite -.set SpecialSize = SpecialSize +48 -.if UseSpecialWriteBoot -.set SpecialSize = SpecialSize +5 -.endif -.if BigMega -.set SpecialSize = SpecialSize +4 -.endif -.if BLS -.set SpecialSize = SpecialSize +5 -.ifdef SPMSpecial -.set SpecialSize = SpecialSize +3 -.endif -.ifdef RWWSRE -.set SpecialSize = SpecialSize +2 -.endif -.else -.set SpecialSize = SpecialSize +8 -.endif -.if UseWDR -.set SpecialSize = SpecialSize +1 -.endif -.endif - -.if UseSpecialRead -.set SpecialSize = SpecialSize +9 -.if BigMega -.set SpecialSize = SpecialSize +1 -.endif -.endif - -.if UseSpecialMsg -.set SpecialSize = SpecialSize +5 -.endif - -; rjmp vector table -.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg -.set SpecialSize = SpecialSize +5 -.elif UseSpecialBootVect -.set SpecialSize = SpecialSize +1 -.if BLS -.set SpecialSize = SpecialSize +1 -.endif -.endif - -; dospm -.if SpecialSize > 0 -.if BLS -.set SpecialSize = SpecialSize +6 -.ifdef SPMSpecial -.set SpecialSize = SpecialSize +3 -.endif -.endif - -; align follow code at flash end -.if BootCodeSize -.org (FLASHEND +1) - SpecialSize -.endif -.endif ; .if SpecialSize > 0 - -; end of size calculation -.list - - -.if UseSpecialMsg -getbootmsg: -; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas - ldi r22, byte1(BootMsg * 2) - ldi r23, byte2(BootMsg * 2) - ldi r24, byte3(BootMsg * 2) - ldi r25, (BootInfo - BootMsg) * 2 - ret -.endif ;.if UseSpecialMsg - - -.if UseSpecialRead -readflash: -; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); -; r25:r24:r23:r22, r21:r20, r19:r18 -.if BigMega - xout RAMPZ, r24 -.endif - movw zl, r22 - movw xl, r18 - movw r24, r20 -rf1: sbiw r24, 1 - brcs rf2 - xlpm r23, z+ - st x+, r23 - rjmp rf1 -rf2: ret -.endif ;.if UseSpecialRead - - -.if UseSpecialWrite -writeflash: -; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); -; r25:r24:r23:r22, r21:r20, r19:r18 - -.if PageSize * 2 > 256 -.error "PageSize is greater as 256 bytes, check programing loops" -.endif - - movw zl, r22 ; address to r24:Z - movw xl, r18 ; SRAM buffer to X - movw r18, yl ; save Y to r18 - movw yl, r20 ; size to Y - movw r20, r16 ; save r17:r16 to r21:r20 - movw r16, r24 ; - xin r23, SREG ; save SREG to r23 - cli ; disable IRQs -.if UseSpecialWriteBoot - clt ; set T flag if MSB of address is a magic to deactivate - cpi r17, 0xAC ; write cheks to bootloader section - brne wf1 - set -.endif ; .if UseSpecialWriteBoot - -wf1: sbic EECR, EEWE ; wait for EEPROM - rjmp wf1 - - andi r22, PageSize *2 -1 ; align address - sub zl, r22 - -wf2: ldi r17, PageSize -.if UseSpecialWriteBoot - brts wf3 ; if T flag is set ignore sanity check -.endif - cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader - ldi r24, byte2(BootStart *2) - cpc zh, r24 -.if BigMega - ldi r24, byte3(BootStart * 2) - cpc r16, r24 -.endif - brsh wf8 - -wf3: ldi r24, (1 << SPMEN) -.if BigMega - xout RAMPZ, r16 -.endif -wf4: xlpm r0, z+ ; first load word from FLASH - xlpm r1, z - sbiw z, 1 - sbiw yl, 0 ; size = 0 ? - breq wf7 - cpi r22, 1 - brlo wf5 - breq wf6 - subi r22, 2 - rjmp wf7 -wf5: ld r0, x+ - sbiw yl, 1 - breq wf7 -wf6: ld r1, x+ - sbiw yl, 1 - clr r22 -wf7: xwdr -.if BLS - rcall dospm ; fill FLASH buffer -.else - xout SPMCSR, r24 - spm -.endif - adiw z, 2 - dec r17 ; PageSize - brne wf4 - - subi zl, byte1(PageSize *2) - sbci zh, byte2(PageSize *2) -.if BLS - ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page - rcall dospm - ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page - rcall dospm -.ifdef RWWSRE - ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page - rcall dospm -.endif -.else - ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page - xout SPMCSR, r24 - spm - ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page - xout SPMCSR, r24 - spm -.endif - subi zl, byte1(-PageSize *2) - sbci zh, byte2(-PageSize *2) -.if BigMega - sbci r16, byte3(-PageSize *2) -.endif - sbiw yl, 0 ; size = 0 ? - brne wf2 - -wf8: clr r1 ; restore r1=zero - movw yl, r18 ; restore Y - movw r16, r20 ; restore r17:r16 - xout SREG, r23 ; restore SREG - ret -.endif ;.if UseSpecialWrite - - -; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page -; r25=cnth destroyed, r24=cntl unchanged -.if BLS -dospm: xout SPMCSR, r24 - spm -.ifdef SPMspecial -.dw $FFFF - nop -.endif -dspm1: xin r25, SPMCSR - sbrc r25, SPMEN - rjmp dspm1 - ret -.endif ; .if BLS - - -.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg -; rjmp vectors for support from application code -; can be expanded with own vectors to own code, look into AVRootloader.h how to call -; please don't reorder this jump table, but you can expand it to own code -; if you expand it remember to update above SpecialSize calculation - bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret - bjmp readflash, UseSpecialRead - bjmp writeflash, UseSpecialWrite - bjmp dospm, BLS - rjmp bootstart -.elif UseSpecialBootVect -.if BLS - rjmp dospm -.endif - rjmp bootstart -.endif diff --git a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex deleted file mode 100644 index 0e6bcc3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:101E0000F894A895AA246FE56DBF64E06EBF68E101 -:101E10007FE0A4BE61BD71BD88989098BB2421E08D -:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 -:101E3000E501CC0FDD1FC50111976A098099E1F713 -:101E400089F021970296A8F1809BFBCFC595239737 -:101E50002696EC0170F74D9760F36C0111976A09B3 -:101E6000809BE1F731F111976A098099E1F709F157 -:101E700096D005900016C1F61A9581F789D0A1F683 -:101E800014E0059177D01A95E1F700E373D045018E -:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 -:101EA00077D002EC99F77E3F31F078F77A110CC0C9 -:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D -:101EC0002197E1F77395ECCF733060F570FB05EC6B -:101ED000E701E0301EE1F107D0F483E087D076F42B -:101EE00081E040E20990199081D032964A95D1F76D -:101EF000E054F040C054D04085E078D081E176D005 -:101F000040E400EC1FEF05900EF419911011BECFC4 -:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 -:101F2000B1F6B3CF61F400ECE70109901590011010 -:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 -:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 -:101F50006A95C1F703D099CF01EC98CF84010AD0DC -:101F6000012F802648E09694879410F493268226C9 -:101F70004A95C9F7A89529D028D04AE0009591BB89 -:101F800024D0069508F090E002D04A95C1F7089554 -:101F900001D0102FA895809BFECF8099FECF48E0FE -:101FA000C6019695879512D010D006958099006845 -:101FB00007FD82269694879408F4932608F48226D7 -:101FC0004A9591F7892489240895C6010497F0F76A -:101FD0008D3F18F011F08F3F01F091E00895424FCE -:101FE0004F544C4F414445529307060887BFE8952C -:081FF00097B790FDFDCF0895A5 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/AVRootloader/AVR/default/AVRootloader_DLUX.hex deleted file mode 100644 index 0e6bcc3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_DLUX.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:101E0000F894A895AA246FE56DBF64E06EBF68E101 -:101E10007FE0A4BE61BD71BD88989098BB2421E08D -:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 -:101E3000E501CC0FDD1FC50111976A098099E1F713 -:101E400089F021970296A8F1809BFBCFC595239737 -:101E50002696EC0170F74D9760F36C0111976A09B3 -:101E6000809BE1F731F111976A098099E1F709F157 -:101E700096D005900016C1F61A9581F789D0A1F683 -:101E800014E0059177D01A95E1F700E373D045018E -:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 -:101EA00077D002EC99F77E3F31F078F77A110CC0C9 -:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D -:101EC0002197E1F77395ECCF733060F570FB05EC6B -:101ED000E701E0301EE1F107D0F483E087D076F42B -:101EE00081E040E20990199081D032964A95D1F76D -:101EF000E054F040C054D04085E078D081E176D005 -:101F000040E400EC1FEF05900EF419911011BECFC4 -:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 -:101F2000B1F6B3CF61F400ECE70109901590011010 -:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 -:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 -:101F50006A95C1F703D099CF01EC98CF84010AD0DC -:101F6000012F802648E09694879410F493268226C9 -:101F70004A95C9F7A89529D028D04AE0009591BB89 -:101F800024D0069508F090E002D04A95C1F7089554 -:101F900001D0102FA895809BFECF8099FECF48E0FE -:101FA000C6019695879512D010D006958099006845 -:101FB00007FD82269694879408F4932608F48226D7 -:101FC0004A9591F7892489240895C6010497F0F76A -:101FD0008D3F18F011F08F3F01F091E00895424FCE -:101FE0004F544C4F414445529307060887BFE8952C -:081FF00097B790FDFDCF0895A5 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex b/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex deleted file mode 100644 index 905bb71..0000000 --- a/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:107E0000F894A895AA246FEF6DBF68E06EBF68E193 -:107E10007FE0A4BE60936000709360003898409843 -:107E2000BB2421E030EA64E1B8E5A5E545011AE0AC -:107E3000E4EEFFE7E501CC0FDD1FC50111976A09EC -:107E40003099E1F789F021970296A8F1309BFBCF9A -:107E5000C59523972696EC0170F74D9760F36C015A -:107E600011976A09309BE1F731F111976A0930994E -:107E7000E1F709F197D005900016C1F61A9581F740 -:107E80008AD0A1F614E0059178D01A95E1F700E3C5 -:107E900074D0450180D0B8017E3F20F07CD0E8014D -:107EA00070FDF80178D002EC99F77E3F39F078F751 -:107EB0007A110DC06A110C940040A2CFA0E1B1E08C -:107EC0007D016BD00D932197E1F77395EBCF733064 -:107ED00060F570FB05ECE701E0301EE7F107D0F438 -:107EE00083E087D076F481E040E40990199081D056 -:107EF00032964A95D1F7E058F040C058D04085E01E -:107F000078D081E176D040E800EC1FEF05900EF4C8 -:107F100019911011BDCF4A95C9F726F4CA17DB078E -:107F2000D8F2C1F76A95B1F6B2CF61F400ECE7017F -:107F3000099015900110ACCFCA17DB07C9F76A95F5 -:107F4000B1F7A5CF753059F050F4E1BDF2BD3196CF -:107F5000F89A00B509D06A95C1F703D098CF01EC23 -:107F600097CF84010AD0012F802648E09694879409 -:107F700010F4932682264A95C9F7A89529D028D0CF -:107F80004AE0009597B924D0069508F090E002D019 -:107F90004A95C1F7089501D0102FA895309BFECFC8 -:107FA0003099FECF48E0C6019695879512D010D043 -:107FB00006953099006807FD82269694879408F408 -:107FC000932608F482264A9591F7892489240895F6 -:107FD000C6010497F0F78D3F18F011F08F3F01F0C4 -:107FE00091E00895424F4F544C4F41444552950FF4 -:0E7FF000060487BFE89597B790FDFDCF089572 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex b/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex deleted file mode 100644 index f3fc8c1..0000000 --- a/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 -:103E10007FE0A4BE609360007093600057985F9845 -:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC -:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 -:103E40004F99E1F789F021970296A8F14F9BFBCF9C -:103E5000C59523972696EC0170F74D9760F36C019A -:103E600011976A094F9BE1F731F111976A094F9950 -:103E7000E1F709F197D005900016C1F61A9581F780 -:103E80008AD0A1F614E0059178D01A95E1F700E305 -:103E900074D0450180D0B8017E3F20F07CD0E8018D -:103EA00070FDF80178D002EC99F77E3F39F078F791 -:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC -:103EC0007D016BD00D932197E1F77395EBCF7330A4 -:103ED00060F570FB05ECE701E0301EE3F107D0F47C -:103EE00083E087D076F481E040E40990199081D096 -:103EF00032964A95D1F7E058F040C058D04085E05E -:103F000078D081E176D040E800EC1FEF05900EF408 -:103F100019911011BDCF4A95C9F726F4CA17DB07CE -:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF -:103F3000099015900110ACCFCA17DB07C9F76A9535 -:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F -:103F5000F89A00B509D06A95C1F703D098CF01EC63 -:103F600097CF84010AD0012F802648E09694879449 -:103F700010F4932682264A95C9F7A89529D028D00F -:103F80004AE000959AB924D0069508F090E002D056 -:103F90004A95C1F7089501D0102FA8954F9BFECFE9 -:103FA0004F99FECF48E0C6019695879512D010D064 -:103FB00006954F99006807FD82269694879408F429 -:103FC000932608F482264A9591F789248924089536 -:103FD000C6010497F0F78D3F18F011F08F3F01F004 -:103FE00090E80895424F4F544C4F41444552940B32 -:0E3FF000060487BFE89597B790FDFDCF0895B2 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_TGY160A.hex b/AVRootloader/AVR/default/AVRootloader_TGY160A.hex deleted file mode 100644 index c827fd3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_TGY160A.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 -:103E10007FE0A4BE60936000709360005098589853 -:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC -:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 -:103E40004899E1F789F021970296A8F1489BFBCFAA -:103E5000C59523972696EC0170F74D9760F36C019A -:103E600011976A09489BE1F731F111976A0948995E -:103E7000E1F709F197D005900016C1F61A9581F780 -:103E80008AD0A1F614E0059178D01A95E1F700E305 -:103E900074D0450180D0B8017E3F20F07CD0E8018D -:103EA00070FDF80178D002EC99F77E3F39F078F791 -:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC -:103EC0007D016BD00D932197E1F77395EBCF7330A4 -:103ED00060F570FB05ECE701E0301EE3F107D0F47C -:103EE00083E087D076F481E040E40990199081D096 -:103EF00032964A95D1F7E058F040C058D04085E05E -:103F000078D081E176D040E800EC1FEF05900EF408 -:103F100019911011BDCF4A95C9F726F4CA17DB07CE -:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF -:103F3000099015900110ACCFCA17DB07C9F76A9535 -:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F -:103F5000F89A00B509D06A95C1F703D098CF01EC63 -:103F600097CF84010AD0012F802648E09694879449 -:103F700010F4932682264A95C9F7A89529D028D00F -:103F80004AE000959AB924D0069508F090E002D056 -:103F90004A95C1F7089501D0102FA895489BFECFF0 -:103FA0004899FECF48E0C6019695879512D010D06B -:103FB00006954899006807FD82269694879408F430 -:103FC000932608F482264A9591F789248924089536 -:103FD000C6010497F0F78D3F18F011F08F3F01F004 -:103FE00091E00895424F4F544C4F41444552940B39 -:0E3FF000060487BFE89597B790FDFDCF0895B2 -:00000001FF diff --git a/AVRootloader/Windows/AVRootloader.dev b/AVRootloader/Windows/AVRootloader.dev deleted file mode 100644 index 90b3139..0000000 --- a/AVRootloader/Windows/AVRootloader.dev +++ /dev/null @@ -1,108 +0,0 @@ -ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 -9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 -9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 -9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 -9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 -9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 -9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 -9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 -9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 -9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 -930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 -9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 -9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 -9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 -9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 -9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 -9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 -9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 -9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 -9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 -9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 -9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 -9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 -958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 -9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 -9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 -9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 -9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 -9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 -9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 -9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 -9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/AVRootloader/Windows/AVRootloader.exe b/AVRootloader/Windows/AVRootloader.exe deleted file mode 100644 index 125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G zR?aG1R-CZ9Xw^eSiyujN#9gc=Jg_vO$h|Vby>iLYqJ%liR;Jw5B{p%?kCFX<>E?1O 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Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR. -; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen -; bis es wieder von vorne losgeht. - -[GUI] -Left=394 -Top=190 -Width=563 -Height=523 - -[Baudrates] -0=2400 -1=4800 -2=9600 -3=14400 -4=19200 -5=28800 -6=38400 -7=56000 -8=57600 -9=115200 -10=128000 -11=230400 -12=256000 -13=921600 - -[Signs] -0=BOOTLOADER -1=BOOT - -[FLASH] -0=C:\test\main.hex -1= - -[EEPROM] -0=C:\test\main.eep -1= diff --git a/AVRootloader/readme.txt b/AVRootloader/readme.txt deleted file mode 100644 index 643dd32..0000000 --- a/AVRootloader/readme.txt +++ /dev/null @@ -1,38 +0,0 @@ -changes for building avrootloader firmware for rx3s vs aquastar - -1. AVRootloader.asmproj -project/avrootloader properties/device/atmega168pa -vs -project/avrootloader properties/device/atmega8 - ---- - -2. AVR\AVRootloader.asm - -; RX3S -;.include "m168PAdef.inc" ; ATmega168PA -vs -; Aquastar -.include "m8Adef.inc" ; ATmega8A - -; RX3S -;.equ RX_PORT = PORTD ; Receive port and pin -;.equ RX = PD7 -;.equ TX_PORT = PORTD ; Transmit port and pin -;.equ TX = PD7 -vs -; Aquastar -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 - ---- - -3. AVR\AVRootloader.inc - -; RX3S -; jmp FLASHEND +1 ; run application -vs -; Aquastar - rjmp FLASHEND +1 ; run application \ No newline at end of file diff --git a/Builds/20150821_FLIP_1_5.hex b/Builds/20150821_FLIP_1_5.hex deleted file mode 100644 index a13c287..0000000 --- a/Builds/20150821_FLIP_1_5.hex +++ /dev/null @@ -1,819 +0,0 @@ -:100000000C9469000C9486000C9486000C949F0359 -:100010000C9486000C9429040C9486000C948600A1 -:100020000C9486000C9486000C9486000C94FD13AE -:100030000C9486000C9488000C9486000C94860026 -:100040000C940E170C9486000C9486000C94860079 -:100050000C9486000C94BE020C9486000C948600CE -:100060000C9486000C9486005E087D0836095E08B4 -:100070007D0836098609F0090000000024002700E9 -:100080002A0000000000250028002B0000000000CE -:1000900023002600290004040404040404040202CA -:1000A00002020202030303030303010204081020F7 -:1000B0004080010204081020010204081020000002 -:1000C0000007000201000003040600000000000019 -:1000D000000011241FBECFEFD8E0DEBFCDBF11E07E 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+:1038000006020C02040200000A0210020E0200006E +:1038100000010101020100000000000000000000A2 +:103820000000010200000000000002020000000091 +:10383000000000000000000000000302FE01FF0184 +:10384000000200000000000000000605FF04FF0762 +:10385000FFFFA40306050A04FF070B097889988770 +:1038600078899887FF00000000000003010002052E +:103870000407060200030004000500080006000714 +:10388000000200A0860100801A060005030503045B +:1038900002020201010101010101011202140216DA +:1038A0000218021C0200000000F01895198618B7D3 +:0638B000189718E0180053 :00000001FF diff --git a/Builds/20150821_TGY160A.hex b/Builds/20160209_TGY160A.hex similarity index 100% rename from Builds/20150821_TGY160A.hex rename to Builds/20160209_TGY160A.hex diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index b3a8cbb..5b820d8 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -470,7 +470,8 @@ bool ow_loop(); // OneWireSerial.ino // #define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // 2016-02-08 changed 2nd entry from &dummy_sw to NULL + // Removed long pulse on THR output at power on #define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // @@ -1446,7 +1447,11 @@ void init_digital_out() { for (int8_t i=0; i= 0) - pinMode(pwm_chan_pin[i], OUTPUT); + { + //jrb 2016-02-08 Force all Outputs Low before enabling pin as OUTPUT + digitalWrite(pwm_chan_pin[i], LOW); + pinMode(pwm_chan_pin[i], OUTPUT); + } } } From 0becc1117c05c8b5cf908dc7e7399a4f22e34c59 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Wed, 10 Feb 2016 14:29:11 -0500 Subject: [PATCH 23/29] NanoWii and Flip 1.5 Throttle pulse during power on. --- AVRootloader/Windows/AVRootloader.ini | 18 +- Builds/20150821_FLIP_1_5.hex | 819 --------------- Builds/20150821_FLIP_1_5_CPPM.hex | 798 -------------- Builds/20150821_FLIP_1_5_SBUS.hex | 904 ---------------- Builds/20150821_FLIP_1_5_SPEKTRUM.hex | 880 ---------------- Builds/20150821_FLIP_1_5_SRXLH.hex | 899 ---------------- Builds/20150821_MINI_MWC_SRXLM.hex | 899 ---------------- ...821_AQUASTAR.hex => 20160209_AQUASTAR.hex} | 0 .../{20150821_DLUX.hex => 20160209_DLUX.hex} | 0 ...GLE_A3PRO.hex => 20160209_EAGLE_A3PRO.hex} | 463 ++++---- ...> 20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 455 ++++---- Builds/20160209_FLIP_1_5.hex | 819 +++++++++++++++ Builds/20160209_FLIP_1_5_CPPM.hex | 798 ++++++++++++++ Builds/20160209_FLIP_1_5_SBUS.hex | 904 ++++++++++++++++ Builds/20160209_FLIP_1_5_SPEKTRUM.hex | 880 ++++++++++++++++ Builds/20160209_FLIP_1_5_SRXLH.hex | 899 ++++++++++++++++ Builds/20160209_FLIP_1_5_SRXLM.hex | 899 ++++++++++++++++ ...WC_CPPM.hex => 20160209_MINI_MWC_CPPM.hex} | 469 ++++----- ...=> 20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 463 ++++---- ...WC_SBUS.hex => 20160209_MINI_MWC_SBUS.hex} | 615 +++++------ ...RUM.hex => 20160209_MINI_MWC_SPEKTRUM.hex} | 613 +++++------ ..._SRXLH.hex => 20160209_MINI_MWC_SRXLH.hex} | 613 +++++------ ..._SRXLM.hex => 20160209_MINI_MWC_SRXLM.hex} | 613 +++++------ ...50821_NANOWII.hex => 20160209_NANOWII.hex} | 837 +++++++-------- ...WII_CPPM.hex => 20160209_NANOWII_CPPM.hex} | 845 +++++++-------- ...WII_SBUS.hex => 20160209_NANOWII_SBUS.hex} | 993 +++++++++--------- ...TRUM.hex => 20160209_NANOWII_SPEKTRUM.hex} | 991 ++++++++--------- ...I_SRXLH.hex => 20160209_NANOWII_SRXLH.hex} | 993 +++++++++--------- ...I_SRXLM.hex => 20160209_NANOWII_SRXLM.hex} | 993 +++++++++--------- ...{20150821_RX3SM.hex => 20160209_RX3SM.hex} | 473 ++++----- ...50821_RX3S_V1.hex => 20160209_RX3S_V1.hex} | 473 ++++----- ..._V1_CPPM.hex => 20160209_RX3S_V1_CPPM.hex} | 487 ++++----- ..._V1_SBUS.hex => 20160209_RX3S_V1_SBUS.hex} | 627 +++++------ ...TRUM.hex => 20160209_RX3S_V1_SPEKTRUM.hex} | 622 +++++------ ..._IN_ON_RUD_IN.hex => 20160209_RX3S_V2.hex} | 473 ++++----- ...=> 20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 473 ++++----- ..._V2_CPPM.hex => 20160209_RX3S_V2_CPPM.hex} | 498 ++++----- ..._V2_SBUS.hex => 20160209_RX3S_V2_SBUS.hex} | 633 +++++------ ...TRUM.hex => 20160209_RX3S_V2_SPEKTRUM.hex} | 629 +++++------ ...2_SRXLH.hex => 20160209_RX3S_V2_SRXLH.hex} | 633 +++++------ ...2_SRXLM.hex => 20160209_RX3S_V2_SRXLM.hex} | 633 +++++------ ...50821_TGY160A.hex => 20160209_TGY160A.hex} | 0 FlightStab/FlightStab.ino | 9 +- 43 files changed, 13537 insertions(+), 13498 deletions(-) delete mode 100644 Builds/20150821_FLIP_1_5.hex delete mode 100644 Builds/20150821_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20150821_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20150821_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20150821_FLIP_1_5_SRXLH.hex delete mode 100644 Builds/20150821_MINI_MWC_SRXLM.hex rename Builds/{20150821_AQUASTAR.hex => 20160209_AQUASTAR.hex} (100%) rename Builds/{20150821_DLUX.hex => 20160209_DLUX.hex} (100%) rename Builds/{20150821_EAGLE_A3PRO.hex => 20160209_EAGLE_A3PRO.hex} (71%) rename Builds/{20150821_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex} (69%) create mode 100644 Builds/20160209_FLIP_1_5.hex create mode 100644 Builds/20160209_FLIP_1_5_CPPM.hex create mode 100644 Builds/20160209_FLIP_1_5_SBUS.hex create mode 100644 Builds/20160209_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20160209_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20160209_FLIP_1_5_SRXLM.hex rename Builds/{20150821_MINI_MWC_CPPM.hex => 20160209_MINI_MWC_CPPM.hex} (70%) rename Builds/{20150821_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex} (70%) rename Builds/{20150821_MINI_MWC_SBUS.hex => 20160209_MINI_MWC_SBUS.hex} (66%) rename Builds/{20150821_MINI_MWC_SPEKTRUM.hex => 20160209_MINI_MWC_SPEKTRUM.hex} (65%) rename Builds/{20150821_MINI_MWC_SRXLH.hex => 20160209_MINI_MWC_SRXLH.hex} (66%) rename Builds/{20150821_FLIP_1_5_SRXLM.hex => 20160209_MINI_MWC_SRXLM.hex} (66%) rename Builds/{20150821_NANOWII.hex => 20160209_NANOWII.hex} (59%) rename Builds/{20150821_NANOWII_CPPM.hex => 20160209_NANOWII_CPPM.hex} (59%) rename Builds/{20150821_NANOWII_SBUS.hex => 20160209_NANOWII_SBUS.hex} (56%) rename Builds/{20150821_NANOWII_SPEKTRUM.hex => 20160209_NANOWII_SPEKTRUM.hex} (55%) rename Builds/{20150821_NANOWII_SRXLH.hex => 20160209_NANOWII_SRXLH.hex} (55%) rename Builds/{20150821_NANOWII_SRXLM.hex => 20160209_NANOWII_SRXLM.hex} (55%) rename Builds/{20150821_RX3SM.hex => 20160209_RX3SM.hex} (71%) rename Builds/{20150821_RX3S_V1.hex => 20160209_RX3S_V1.hex} (71%) rename Builds/{20150821_RX3S_V1_CPPM.hex => 20160209_RX3S_V1_CPPM.hex} (69%) rename Builds/{20150821_RX3S_V1_SBUS.hex => 20160209_RX3S_V1_SBUS.hex} (65%) rename Builds/{20150821_RX3S_V1_SPEKTRUM.hex => 20160209_RX3S_V1_SPEKTRUM.hex} (64%) rename Builds/{20150821_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20160209_RX3S_V2.hex} (71%) rename Builds/{20150821_RX3S_V2.hex => 20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (71%) rename Builds/{20150821_RX3S_V2_CPPM.hex => 20160209_RX3S_V2_CPPM.hex} (69%) rename Builds/{20150821_RX3S_V2_SBUS.hex => 20160209_RX3S_V2_SBUS.hex} (65%) rename Builds/{20150821_RX3S_V2_SPEKTRUM.hex => 20160209_RX3S_V2_SPEKTRUM.hex} (64%) rename Builds/{20150821_RX3S_V2_SRXLH.hex => 20160209_RX3S_V2_SRXLH.hex} (65%) rename Builds/{20150821_RX3S_V2_SRXLM.hex => 20160209_RX3S_V2_SRXLM.hex} (65%) rename Builds/{20150821_TGY160A.hex => 20160209_TGY160A.hex} (100%) diff --git a/AVRootloader/Windows/AVRootloader.ini b/AVRootloader/Windows/AVRootloader.ini index 5754038..edfce74 100644 --- a/AVRootloader/Windows/AVRootloader.ini +++ b/AVRootloader/Windows/AVRootloader.ini @@ -1,9 +1,9 @@ [System] Sign=BOOTLOADER -Port=AUTO +Port=COM8 Baudrate=115200 ConnectTrials=100 -FLASH=C:\test\main.hex +FLASH=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex EEPROM= ASMFile=AVRootloader.asm Erase=1 @@ -45,8 +45,8 @@ Options=0 ; bis es wieder von vorne losgeht. [GUI] -Left=394 -Top=190 +Left=477 +Top=140 Width=563 Height=523 @@ -71,8 +71,14 @@ Height=523 1=BOOT [FLASH] -0=C:\test\main.hex -1= +0=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex +1=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_FLIP_1_5_SBUS.hex +2=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_TGY160A.hex +3=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_DLUX.hex +4=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_RX3S_V2.hex +5=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_FLIP_1_5_SBUS.hex +6=C:\test\main.hex +7= [EEPROM] 0=C:\test\main.eep diff --git a/Builds/20150821_FLIP_1_5.hex b/Builds/20150821_FLIP_1_5.hex deleted file mode 100644 index a13c287..0000000 --- a/Builds/20150821_FLIP_1_5.hex +++ /dev/null @@ -1,819 +0,0 @@ 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+:1038000006020C02040200000A0210020E0200006E +:1038100000010101020100000000000000000000A2 +:103820000000010200000000000002020000000091 +:10383000000000000000000000000302FE01FF0184 +:10384000000200000000000000000605FF04FF0762 +:10385000FFFFA40306050A04FF070B097889988770 +:1038600078899887FF00000000000003010002052E +:103870000407060200030004000500080006000714 +:10388000000200A0860100801A060005030503045B +:1038900002020201010101010101011202140216DA +:1038A0000218021C0200000000F01895198618B7D3 +:0638B000189718E0180053 :00000001FF diff --git a/Builds/20150821_TGY160A.hex b/Builds/20160209_TGY160A.hex similarity index 100% rename from Builds/20150821_TGY160A.hex rename to Builds/20160209_TGY160A.hex diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index b3a8cbb..5b820d8 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -470,7 +470,8 @@ bool ow_loop(); // OneWireSerial.ino // #define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} -#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // 2016-02-08 changed 2nd entry from &dummy_sw to NULL + // Removed long pulse on THR output at power on #define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // @@ -1446,7 +1447,11 @@ void init_digital_out() { for (int8_t i=0; i= 0) - pinMode(pwm_chan_pin[i], OUTPUT); + { + //jrb 2016-02-08 Force all Outputs Low before enabling pin as OUTPUT + digitalWrite(pwm_chan_pin[i], LOW); + pinMode(pwm_chan_pin[i], OUTPUT); + } } } From 14821cd61ad4367e668e76bf65020c460c9237cc Mon Sep 17 00:00:00 2001 From: John Beidl Date: Wed, 10 Feb 2016 14:58:41 -0500 Subject: [PATCH 24/29] Replace missing files --- AVRootloader/AVR/AVRootloader.asm | 832 ++++++++++++++++ AVRootloader/AVR/AVRootloader.asmproj | 40 + AVRootloader/AVR/AVRootloader.atsln | 17 + AVRootloader/AVR/AVRootloader.inc | 394 ++++++++ AVRootloader/AVR/AvrBuild.bat | 15 + AVRootloader/AVR/Crypt.inc | 259 +++++ AVRootloader/AVR/Special.inc | 259 +++++ .../AVR/default/AVRootloader_AQUASTAR.hex | 35 + .../AVR/default/AVRootloader_DLUX.hex | 35 + .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 + .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 + .../AVR/default/AVRootloader_TGY160A.hex | 35 + AVRootloader/Windows/AVRootloader.dev | 108 +++ AVRootloader/Windows/AVRootloader.exe | Bin 0 -> 798208 bytes AVRootloader/readme.txt | 38 + Builds/20160209_MINI_MWC_SBUS.hex | 905 ++++++++++++++++++ 16 files changed, 3042 insertions(+) create mode 100644 AVRootloader/AVR/AVRootloader.asm create mode 100644 AVRootloader/AVR/AVRootloader.asmproj create mode 100644 AVRootloader/AVR/AVRootloader.atsln create mode 100644 AVRootloader/AVR/AVRootloader.inc create mode 100644 AVRootloader/AVR/AvrBuild.bat create mode 100644 AVRootloader/AVR/Crypt.inc create mode 100644 AVRootloader/AVR/Special.inc create mode 100644 AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_DLUX.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex create mode 100644 AVRootloader/AVR/default/AVRootloader_TGY160A.hex create mode 100644 AVRootloader/Windows/AVRootloader.dev create mode 100644 AVRootloader/Windows/AVRootloader.exe create mode 100644 AVRootloader/readme.txt create mode 100644 Builds/20160209_MINI_MWC_SBUS.hex diff --git a/AVRootloader/AVR/AVRootloader.asm b/AVRootloader/AVR/AVRootloader.asm new file mode 100644 index 0000000..136c814 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asm @@ -0,0 +1,832 @@ +; copyright HR + +.nolist + +#if defined(AQUASTAR) || defined(DLUX) +.include "m8def.inc" ; ATmega8 +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(TGY160A) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(RX3S_V1V2V3_AILR_OUT) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD7 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD7 +#endif + +#if defined(MINI_MWC_A0) +.include "m328Pdef.inc" ; ATmega328P +.equ RX_PORT = PORTC ; Receive port and pin +.equ RX = PC0 +.equ TX_PORT = PORTC ; Transmit port and pin +.equ TX = PC0 +#endif + +; supported devices +;.include "can128def.inc" ; AT90CAN128 +;.include "can32def.inc" ; AT90CAN32 +;.include "can64def.inc" ; AT90CAN64 +;.include "m1280def.inc" ; ATmega1280 +;.include "m1281def.inc" ; ATmega1281 +;.include "m1284Pdef.inc" ; ATmega1284P +;.include "m128Adef.inc" ; ATmega128A +;.include "m128def.inc" ; ATmega128 +;.include "m161def.inc" ; ATmega161 +;.include "m162def.inc" ; ATmega162 +;.include "m163def.inc" ; ATmega163 +;.include "m164PAdef.inc" ; ATmega164PA +;.include "m164Pdef.inc" ; ATmega164P +;.include "m165def.inc" ; ATmega165 +;.include "m165Pdef.inc" ; ATmega165P +;.include "m168def.inc" ; ATmega168 +;.include "m168PAdef.inc" ; ATmega168PA +;.include "m168Pdef.inc" ; ATmega168P +;.include "m169def.inc" ; ATmega169 +;.include "m169Pdef.inc" ; ATmega169P +;.include "m16Adef.inc" ; ATmega16A +;.include "m16def.inc" ; ATmega16 +;.include "m16HVAdef.inc" ; ATmega16HVA +;.include "m16M1def.inc" ; ATmega16M1 +;.include "m16U2def.inc" ; ATmega16U2 +;.include "m16U4def.inc" ; ATmega16U4 +;.include "m2560def.inc" ; ATmega2560 +;.include "m2561def.inc" ; ATmega2561 +;.include "m323def.inc" ; ATmega323 +;.include "m324PAdef.inc" ; ATmega324PA +;.include "m324Pdef.inc" ; ATmega324P +;.include "m3250def.inc" ; ATmega3250 +;.include "m3250Pdef.inc" ; ATmega3250P +;.include "m325def.inc" ; ATmega325 +;.include "m325Pdef.inc" ; ATmega325P +;.include "m328Pdef.inc" ; ATmega328P +;.include "m3290def.inc" ; ATmega3290 +;.include "m3290Pdef.inc" ; ATmega3290P +;.include "m329def.inc" ; ATmega329 +;.include "m329Pdef.inc" ; ATmega329P +;.include "m32Adef.inc" ; ATmega32A +;.include "m32C1def.inc" ; ATmega32C1 +;.include "m32def.inc" ; ATmega32 +;.include "m32HVBdef.inc" ; ATmega32HVB +;.include "m32M1def.inc" ; ATmega32M1 +;.include "m32U2def.inc" ; ATmega32U2 +;.include "m32U4def.inc" ; ATmega32U4 +;.include "m32U6def.inc" ; ATmega32U6 +;.include "m406def.inc" ; ATmega406 +;.include "m48def.inc" ; ATmega48 +;.include "m48PAdef.inc" ; ATmega48PA +;.include "m48Pdef.inc" ; ATmega48P +;.include "m640def.inc" ; ATmega640 +;.include "m644def.inc" ; ATmega644 +;.include "m644Pdef.inc" ; ATmega644P +;.include "m6450def.inc" ; ATmega6450 +;.include "m645def.inc" ; ATmega645 +;.include "m6490def.inc" ; ATmega6490 +;.include "m649def.inc" ; ATmega649 +;.include "m64Adef.inc" ; ATmega64A +;.include "m64C1def.inc" ; ATmega64C1 +;.include "m64def.inc" ; ATmega64 +;.include "m64M1def.inc" ; ATmega64M1 +;.include "m8515def.inc" ; ATmega8515 +;.include "m8535def.inc" ; ATmega8535 +;.include "m88def.inc" ; ATmega88 +;.include "m88PAdef.inc" ; ATmega88PA +;.include "m88Pdef.inc" ; ATmega88P +;.include "m8Adef.inc" ; ATmega8A +;.include "m8def.inc" ; ATmega8 +;.include "m8HVAdef.inc" ; ATmega8HVA +;.include "pwm216def.inc" ; AT90PWM216 +;.include "pwm2Bdef.inc" ; AT90PWM2B +;.include "pwm2def.inc" ; AT90PWM2 +;.include "pwm316def.inc" ; AT90PWM316 +;.include "pwm324def.inc" ; AT90PWM324 +;.include "pwm3Bdef.inc" ; AT90PWM3B +;.include "pwm3def.inc" ; AT90PWM3 +;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used +;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used +;.include "tn167def.inc" ; ATtiny167 +;.include "tn2313def.inc" ; ATtiny2313 +;.include "tn24Adef.inc" ; ATtiny24A +;.include "tn24def.inc" ; ATtiny24 +;.include "tn25def.inc" ; ATtiny25 +;.include "tn261def.inc" ; ATtiny261 +;.include "tn43Udef.inc" ; ATtiny43U +;.include "tn44Adef.inc" ; ATtiny44A +;.include "tn44def.inc" ; ATtiny44 +;.include "tn45def.inc" ; ATtiny45 +;.include "tn461def.inc" ; ATtiny461 +;.include "tn48def.inc" ; ATtiny48 +;.include "tn84def.inc" ; ATtiny84 +;.include "tn85def.inc" ; ATtiny85 +;.include "tn861def.inc" ; ATtiny861 +;.include "tn87def.inc" ; ATtiny87 +;.include "tn88def.inc" ; ATtiny88 +;.include "usb1286def.inc" ; AT90USB1286 +;.include "usb1287def.inc" ; AT90USB1287 +;.include "usb162def.inc" ; AT90USB162 +;.include "usb646def.inc" ; AT90USB646 +;.include "usb647def.inc" ; AT90USB647 +;.include "usb82def.inc" ; AT90USB82 + +; unsupported devices, no self programming or sram to small +;.include "1200def.inc" ; AT90S1200 +;.include "2313def.inc" ; AT90S2313 +;.include "2323def.inc" ; AT90S2323 +;.include "2343def.inc" ; AT90S2343 +;.include "4414def.inc" ; AT90S4414 +;.include "4433def.inc" ; AT90S4433 +;.include "4434def.inc" ; AT90S4434 +;.include "8515def.inc" ; AT90S8515 +;.include "8535def.inc" ; AT90S8535 +;.include "AT86RF401def.inc" ; AT86RF401 +;.include "ATxmega128A1def.inc" ; ATxmega128A1 +;.include "ATxmega128A3def.inc" ; ATxmega128A3 +;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B +;.include "ATxmega256A3def.inc" ; ATxmega256A3 +;.include "ATxmega16A4def.inc" ; ATxmega16A4 +;.include "ATxmega32A4def.inc" ; ATxmega32A4 +;.include "ATxmega64A1def.inc" ; ATxmega64A1 +;.include "ATxmega64A3def.inc" ; ATxmega64A3 +;.include "m103def.inc" ; ATmega103 +;.include "tn10def.inc" ; ATtiny10 +;.include "tn11def.inc" ; ATtiny11 +;.include "tn12def.inc" ; ATtiny12 +;.include "tn15def.inc" ; ATtiny15 +;.include "tn22def.inc" ; ATtiny22 +;.include "tn26def.inc" ; ATtiny26 +;.include "tn28def.inc" ; ATtiny28 + + +.ifndef PageSize +.error "Device don't support Bootloader !" +.else + +#message "compile for" __PART_NAME__ + + +; set follow equ to 0/1 to de/activate.... +.equ UseBootMode = 0 ; 0 = start bootloader always + ; 1 = start on power up reset or by call from application + ; 2 = start on external reset or by call from application + ; 3 = start on watchdog reset or by call from application + ; 4 = start on USB reset or by call from application (only USB Devices) + ; 5 = start only by call from application (not recommended) + ; with these bootmodes you can shorten startup time for application + +.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) +.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) + +.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) +.equ UseE2Read = 1 ; EEPROM read command + +.equ UseCrypt = 0 ; cryptography (crypt.inc) +.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH +.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM + +.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) +.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) +.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) + +.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code +.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH +.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS +.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH +.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg + ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs + +.equ UseAutobaud = 1 ; Baudrate detection +.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. + ; First after BootDelay milliseconds inactivity the application is called. + ; Otherwise the timeout BootDelay defines an overall timeout for connection. + +.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) +.equ UseRS485 = 0 ; activate RS-485 Data Enable pin +.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) + +;;.equ RX_PORT = PORTD ; Receive port and pin +;;.equ RX = PD7 +;;.equ TX_PORT = PORTD ; Transmit port and pin +;;.equ TX = PD7 + +.if UseRS485 +.equ DE_PORT = PORTB ; DE enable pin of RS-485 +.equ DE = PB2 ; must be only set if RS485 DE is used +.endif + +.set XTAL = 16000000 ; +.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) +.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important +.set BootVersion = 6 ; Version 6 (must be not changed) +.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again + ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) + +;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode + +; now scroll down at end of source to configure BootSign and BootMsg + +.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) +.message "WARNING: actual settings compromise security !" +.endif + + +.include "AVRootloader.inc" +;.listmac +.list + +.org BootStart +init: cli + xwdr + clr zerol + + ldi cmdl, byte1(RamEnd) + xout SPL, cmdl +.ifdef SPH + ldi cmdl, byte2(RamEnd) + xout SPH, cmdl +.endif ; .if SPH + +.if UseSaveMCUSR || UseBootMode + xin paral, MCUSR +.if UseSaveMCUSR + push paral ; save old MCUSR ontop of stack +.endif ; .if UseSaveMCUSR +.endif ; .if UseSaveMCUSR || UseBootMode + +.if UseWDR +; xin cmdl, WDTCR +; ori cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) + xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT + xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout + xout WDTCR, cmdh +.elif UseBootMode + xout MCUSR, zerol +.endif ; .if UseWDR + +.if UseBootMode + andi paral, ResetFlags + breq bm1 +.ifdef BootModeFlag + sbrs paral, BootModeFlag +.endif + jmpapp +bm1: +.endif ; .if UseBootMode + +; initialize ports + cbi RX_DDR, RX +.if UseUartInvert && Use1Wire + cbi RX_PORT, RX +.else + sbi RX_PORT, RX +.endif ; .if UseUartInvert && Use1Wire +.if !Use1Wire +.if UseUartInvert + sbi TX_PORT, TX +.else + cbi TX_PORT, TX +.endif ; .if UseUartInvert + sbi TX_DDR, TX +.endif ; .if !Use11Wire + +.if UseRS485 + sbi DE_DDR, DE + de_0 +.endif ; .if UseRS485 + +; initialize crc polynom and RAMPZ + clr zeroh + ldi polyl, byte1(POLYNOM) + ldi polyh, byte2(POLYNOM) +.if BigMega + ldi cmdl, byte3(BootSign *2) + xout RAMPZ, cmdl +.else + xout RAMPZ, zerol +.endif ; .if BigMega + + +; baudrate and identifier scanning +.if UseResetDelay +abd: +.endif + ldi cmdl, byte3(BootDelay / 6) + ldi xh, byte2(BootDelay / 6) + ldi xl, byte1(BootDelay / 6) +.if !UseResetDelay +abd: +.endif + movw crcl, zerol + ldi parah, (BootMsg - BootSign) * 2 + ldi zl, byte1(BootSign * 2) + ldi zh, byte2(BootSign * 2) + +.if UseAutobaud +; baudrate detection +; autobaud based on P.Dannegger with some optimization +; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 + movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low +ab1: add yl, yl + adc yh, yh + movw cntl, zerol +ab2: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne ab2 + breq id2 ; exit +ab3: sbiw yl, 1 + adiw cntl, 2 + brcs exit + rx_1 + rjmp ab3 + asr yl + sbiw yl, BaudTolerance + adiw yl, BaudTolerance * 2 + movw yl, cntl + brcc ab1 + sbiw cntl, UartLoop + brcs ab1 + movw baudl, cntl +.else +; fixed baudrate + ldi yl, byte1(Baudrate) + ldi yh, byte2(Baudrate) + movw baudl, yl +.endif ; .if UseAutobaud + +; identifier (BootSign) scanning with timeout and checksum + +id1: sbiw xl, 1 ; UART getc with timeouts + sbc cmdl, zerol + rx_1 + brne id1 +id2: breq exit +id3: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne id3 + breq exit + rcall getx + xlpm r0, z+ + cp r0, paral + brne abd + dec parah + brne id1 + rcall getw + brne abd + +; send info about chip/bootloader (BootMsg + BootInfo) +info: ldi parah, (BootInfo - BootMsg) * 2 +4 +in1: xlpm paral, z+ + rcall putc + dec parah + brne in1 + +.if UseVersioning +;send application software version (AppVersion) +vers: ldi parah, 4 + ldi zl, byte1(AppVerAddr) + ldi zh, byte2(AppVerAddr) +ve1: xlpm paral, z+ + rcall putc + dec parah + brne ve1 +.endif ; .if UseVersioning + + +; main commandloop +; 0=run/restart +; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM +; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive +main: ldi paral, SUCCESS +mai1: rcall putc + movw crcl, zerol + rcall getw + movw cmdl, paral + cpi cmdh, 0xFE + brlo mai2 + rcall getw + movw yl, paral + sbrc cmdh, 0 + movw zl, paral +.if BigMega + sbrc cmdh, 0 + mov zx, cmdl +.endif ; .if BigMega + +mai2: rcall getw +mai3: ldi paral, ERRORCRC + brne mai1 + cpi cmdh, 0xFE + breq setbuf + brsh main + cpse cmdh, zerol + rjmp mai4 +; run application/restart bootloader + cpse cmdl, zerol +exit: jmpapp + rjmp init + +; set buffer +setbuf: +.if UseCrypt + clr flag + cpi cmdl, 0xFE + brlo set3 + bst cmdl, 0 + ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 + ldi zl, byte1(SRAM_START) + ldi zh, byte2(SRAM_START) + movw xl, feedl + adiw xl, 8 ; last feedback + clr r0 +set1: brtc set2 + ld r0, x+ +set2: st z+, r0 + dec cnt + brne set1 +.endif ; .if UseCrypt + +set3: ldi xl, byte1(SRAM_START + 16) + ldi xh, byte2(SRAM_START + 16) + movw sraml, xl +.if UseSRAM + cpi cmdl, 1 + brne set4 + movw xl, zl +.endif ; .if UseSRAM + +set4: rcall getc + st x+, paral + sbiw yl, 1 + brne set4 +.if !UseCrypt + inc cmdh + rjmp mai2 +.else + rcall getw + brne mai3 + ori flag, 0x01 +set5: + cpi cmdl, 0xFE + brlo proB ; rjmp main + rjmp decrypt +.endif ; .if !UseCrypt + +mai4: cpi cmdh, 3 + brsh mai5 +; program/erase + bst cmdh, 0 +prog: ldi paral, ERRORPROG +.if UseCrypt + brtc pro1 +.if UseCryptFLASH + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptFLASH + brlo pro8 +.endif ; .if UseCrypt + +pro1: movw yl, sraml +pro2: cpi zl, byte1(BootStart *2) + ldi parah, byte2(BootStart *2) + cpc zh, parah +.if BigMega + xout RAMPZ, zx + ldi parah, byte3(BootStart *2) + cpc zx, parah +.endif ; .if BigMega + brsh pro8 + + ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + brtc pro5 + + ldi cntl, (1 << SPMEN) + ldi cnt, pagesize +pro4: ld r0, y+ + ld r1, y+ +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + adiw zl, 2 + dec cnt + brne pro4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) + subi yl, byte1(PageSize *2) + sbci yh, byte2(PageSize *2) + + ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + +pro5: +.if BLS +.ifdef RWWSRE + ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section + rcall dospm +.endif ; .if RWWSRE +.endif ; .if BLS + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + ldi cnt, byte1(pagesize * 2) + ldi paral, ERRORVERIFY + ldi parah, 0xFF +pro6: xlpm r0, z+ + brtc pro7 + ld parah, y+ +pro7: cpse parah, r0 +pro8: rjmp mai1 + dec cnt + brne pro6 + +.if BigMega + cp zl, zerol + cpc zh, zeroh + brne pro9 + inc zx +.endif ; .if BigMega + +pro9: brtc proA + cp yl, xl + cpc yh, xh + brlo pro2 + brne pro8 +proA: dec cmdl + brne prog +proB: rjmp main + +mai5: +.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) + breq mai8 +.elif UseVerify + brne mai6 +veri: ldi paral, ERRORVERIFY +ver1: movw yl, sraml +ver2: ld r0, y+ +.if BigMega + xout RAMPZ, zx + xlpm r1, z + adiw z, 1 + adc zx, zerol +.else + xlpm r1, z+ +.endif ; .if BigMega + cpse r0, r1 + rjmp mai1 + cp yl, xl + cpc yh, xh + brne ver2 + dec cmdl + brne ver1 + rjmp main +.endif ; .if UseVerify + +mai6: +.if UseE2Read && UseE2Write + cpi cmdh, 6 + brsh mai7 + bst cmdh, 0 +.if UseCrypt + brtc ee1 + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + brts ee3 + sbi EECR, EERE + in paral, EEDR + rcall putp + rjmp ee5 +ee3: ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee4: xwdr + sbic EECR, EEWE + rjmp ee4 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 +ee5: dec cmdl + brne ee1 + brts ee6 + rcall putw +ee6: rjmp main +.elif UseE2Read + cpi cmdh, 5 + breq maiY + brsh mai7 +ee1: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + sbi EECR, EERE + in paral, EEDR + rcall putp + dec cmdl + brne ee1 + rcall putw + rjmp main +.elif UseE2Write + cpi cmdh, 5 + brlo maiY + brne mai7 +.if UseCrypt + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee3: xwdr + sbic EECR, EEWE + rjmp ee3 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 + dec cmdl + brne ee1 + rjmp main +.endif ;.elif UseE2Write + +mai7: +.if UseSRAM +.if !UseE2Read || !UseE2Write + cpi cmdh, 6 +.endif ; .if !UseE2Read || !UseE2Write + + brne mai8 +sram: ld paral, z+ + rcall putp + dec cmdl + brne sram + rcall putw + rjmp main +.endif ; .if UseSRAM + +mai8: +; here new command #7 + +maiY: ldi paral, ERRORCOMMAND +maiZ: rjmp mai1 + + +; send char with crc +.if UseE2Read || UseSRAM +putw: movw paral, crcl + rcall putc + mov paral, parah +putp: eor crcl, paral + ldi cnt, 8 +put1: lsr crch + ror crcl + brcc put2 + eor crch, polyh + eor crcl, polyl +put2: dec cnt + brne put1 +.endif ; .if UseE2Read || UseSRAM + +; send char +putc: xwdr + de_1 + rcall waitf + rcall waitf + ldi cnt, 10 + com paral +put3: tx_out ; 1 + rcall waitf ; 15 + lsr paral ; 1 + brcs put4 ; 1 + tx_0 ; 1 +put4: rcall put5 ; 7 + dec cnt ; 1 + brne put3 ; 2 = 29 + baud +put5: ret + +; receive char/word +getw: rcall getc +getm: mov parah, paral +getc: xwdr + de_0 +get5: rx_1 + rjmp get5 +get1: rx_0 + rjmp get1 +getx: ldi cnt, 8 + movw cntl, baudl + lsr cnth + ror cntl + rcall waith +get2: rcall waitf ; 15 + baud + lsr paral ; 1 + rx_0 ; 1 + ori paral, 0x80 ; 1 + sbrc paral, 7 ; 1 + eor crcl, polyl ; 1 + lsr crch ; 1 + ror crcl ; 1 + brcc get3 ; 1 + eor crch, polyh ; 1 +get3: brcc get4 ; 1 + eor crcl, polyl ; 1 +get4: dec cnt ; 1 + brne get2 ; 2 = 29 + baud + eor crcl, crch + eor crcl, crch + ret + +; UART delays ; by P.Dannegger +waitf: movw cntl, baudl ; 1 +waith: sbiw cntl, 4 ; 2 + brcc waith ; 2/1 + cpi cntl, 0xFD ; 1 + brcs wait1 ; 2/1 (2) + breq wait1 ; 2/1 (3) + cpi cntl, 0xFF ; 1 + breq wait1 ; 2/1 (4/5) +wait1: tx_1 ; 1 + ret ; 4 + 3 (rcall) = 15 + +.if UseCrypt +.include "Crypt.inc" +.endif ; .if UseCrypt + + +BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini +BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars +BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed + +.if UseCrypt +; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature +BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC +.endif ; .if UseCrypt + + +.include "Special.inc" + +.endif ; .ifndef PageSize -> end of source + + diff --git a/AVRootloader/AVR/AVRootloader.asmproj b/AVRootloader/AVR/AVRootloader.asmproj new file mode 100644 index 0000000..6676d6b --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.asmproj @@ -0,0 +1,40 @@ + + + + 2.0 + 6.0 + com.Atmel.AVRAssembler + 52202416-41a7-4c61-892b-f36132641d3c + none + ATmega168PA + AVRootloader + .obj + $(MSBuildProjectDirectory)\$(Configuration) + ASSEMBLY + Executable + Native + + true + false + + 0 + $(MSBuildProjectDirectory)\AVRootloader.asm + 3.5.0 + + + bin\default\ + + + True + Error + ($IncludeFile) + + + + + + + compile + + + \ No newline at end of file diff --git a/AVRootloader/AVR/AVRootloader.atsln b/AVRootloader/AVR/AVRootloader.atsln new file mode 100644 index 0000000..4b6a147 --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.atsln @@ -0,0 +1,17 @@ + +Microsoft Visual Studio Solution File, Format Version 11.00 +# Atmel Studio Solution File, Format Version 11.00 +Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + default|AVR = default|AVR + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/AVRootloader/AVR/AVRootloader.inc b/AVRootloader/AVR/AVRootloader.inc new file mode 100644 index 0000000..70a8bee --- /dev/null +++ b/AVRootloader/AVR/AVRootloader.inc @@ -0,0 +1,394 @@ +; copyright HR + +.equ RX_DDR = RX_PORT -1 +.equ RX_PIN = RX_PORT -2 +.equ TX_DDR = TX_PORT -1 +.equ TX_PIN = TX_PORT -2 + +.if UseRS485 +.equ DE_DDR = DE_PORT -1 +.endif + +.if RX_PORT == TX_PORT && RX == TX +.set Use1Wire = 1 +.else +.set Use1Wire = 0 +.endif ; .if RX_PORT == TX_PORT && RX == TX + +.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed +.equ BaudTolerance = 3 + +.if !UseAutobaud +.set Baudrate = XTAL / BootBaudrate - UartLoop +.endif ; .if !UseAutobaud + +.set SUCCESS = 0x30 +.set ERRORVERIFY = 0xC0 +.set ERRORCOMMAND = 0xC1 +.set ERRORCRC = 0xC2 +.set ERRORBOUNDS = 0xC3 +.set ERRORCRYPT = 0xC4 +.set ERRORPROG = 0xC5 +.set ERRORVERSION = 0xC6 + +.if UseCrypt +.set SUCCESS = SUCCESS | 0x01 +.if UseCryptFLASH +.set SUCCESS = SUCCESS | 0x02 +.endif ; .if UseCryptFLASH +.if UseCryptE2 +.set SUCCESS = SUCCESS | 0x04 +.endif ; .if UseCryptE2 +.endif ; .if UseCrypt +.if UseVersioning +.set SUCCESS = SUCCESS | 0x08 +.endif ; .if UseVersioning + +.equ POLYNOM = 0xA001 ; CRC Polynom + +.def feedl = r4 ; feedback pointer +.def feedh = r5 +.def zx = r7 ; RAMPZ +.def crcl = r8 ; CRC 16Bit +.def crch = r9 +.def zerol = r10 ; zero +.def zeroh = r11 +.def baudl = r12 ; baudrate +.def baudh = r13 +.def sraml = r14 ; SRAM buffer start +.def sramh = r15 +.def paral = r16 ; params for UART +.def parah = r17 +.def polyl = r18 ; Polynom CRC +.def polyh = r19 +.def cnt = r20 ; counter in UART loops +.def flag = r21 ; flag for crypto +.def cmdl = r22 ; commands +.def cmdh = r23 +.def cntl = r24 ; temp/baudrate +.def cnth = r25 + +.if FlashEnd > 0x7FFF +.set BigMega = 1 ; ATMega with big FLASH +.else +.set BigMega = 0 +.endif ; .if FlashEnd > 0x7FFF + +.ifdef FirstBootStart +.set BLS = 1 ; Bootloader Section supported +.else +.set BLS = 0 +.endif ; .ifdef FirstBootStart + +; calculate Bootloader start address +.ifdef FirstBootStart +.set FirstBoot = FirstBootStart +.else +.set FirstBoot = FlashEnd +1 +.endif ; .ifdef FirstBootStart + +.ifdef SecondBootStart +.set SecondBoot = SecondBootStart +.else +.set SecondBoot = FlashEnd +1 +.endif ; .ifdef SecondBootStart + +.ifdef ThirdBootStart +.set ThirdBoot = ThirdBootStart +.else +.set ThirdBoot = FlashEnd +1 +.endif ; .ifdef ThirdBootStart + +.ifdef FourthBootStart +.set FourthBoot = FourthBootStart +.else +.set FourthBoot = FlashEnd +1 +.endif ; .ifdef FourthBootStart + +.if BootCodeSize +.if BLS +.set FlashSize = FlashEnd +1 +.if FlashSize - FirstBoot >= BootCodeSize >> 1 +.equ BootStart = FirstBoot +.message "Please program Boot Fuse to First Boot Start !" +.elif FlashSize - SecondBoot >= BootCodeSize >> 1 +.equ BootStart = SecondBoot +.message "Please program Boot Fuse to Second Boot Start !" +.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 +.equ BootStart = ThirdBoot +.message "Please program Boot Fuse to Third Boot Start !" +.elif FlashSize - FourthBoot >= BootCodeSize >> 1 +.equ BootStart = FourthBoot +.message "Please program Boot Fuse to Fourth Boot Start !" +.else +.equ BootStart = 0 +.error "BootStart is undefinied !" +.endif ; .if FlashSize ... +.else +.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 +.equ BootStart = FlashSize - FlashSize % PageSize +.message "Compile Bootloader without Boot Section !" +.endif ; .if BLS +.else +.if (FLASHEND > 1023) +.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 +.else +.equ BootStart = 0 +.endif +.message "Please set used CSEG to BootSize !" +.endif ; .if BootCodeSize + +; fix bug with parsing HEX files in AVRStudio 4.16 +.if BootCodeSize +.org 0 +.db 0xFF, 0xFF +.endif + +.set BootPages = (FlashEnd +1 - BootStart) / PageSize + +.if UseVersioning +.if BLS +.set AppVerAddr = BootStart * 2 - 4 +.else +.set AppVerAddr = BootStart * 2 - 6 +.endif ; .if BLS +.endif ; .if UseVersioning + +; examine special handling for SPM +.if BLS && (SIGNATURE_000 == 0x1e) +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 +.set SPMspecial = 1 +.endif +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 +.set SPMspecial = 2 +.endif +.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 +.set SPMspecial = 3 +.endif +.endif + +; BootMode flags +.if UseBootMode == 1 +.set BootModeFlag = PORF +.elif UseBootMode == 2 +.set BootModeFlag = EXTRF +.elif UseBootMode == 3 +.set BootModeFlag = WDRF +.elif UseBootMode == 4 +.ifndef USBRF +.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" +.else +.set BootModeFlag = USBRF +.endif +.endif + +.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) +.ifdef BORF +.set ResetFlags = ResetFlags | (1 << BORF) +.endif +.ifdef JTRF +.set ResetFlags = ResetFlags | (1 << JTRF) +.endif +.ifdef BODRF +.set ResetFlags = ResetFlags | (1 << BODRF) +.endif +.ifdef OCDRF +.set ResetFlags = ResetFlags | (1 << OCDRF) +.endif +.ifdef USBRF +.set ResetFlags = ResetFlags | (1 << USBRF) +.endif + + +; some redefinition of register names or bits +.ifndef MCUSR +.ifndef MCUCSR +.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" +.else +.equ MCUSR = MCUCSR +.endif +.endif ; .ifndef MCUCSR + +.ifndef WDCE +.ifndef WDDE +.equ WDCE = WDTOE +.else +.equ WDCE = WDDE +.endif ; .ifndef WDDE +.endif ; .ifndef WDCE + +.ifndef WDTCR +.equ WDTCR = WDTCSR +.endif ; .ifndef WDTCR + +.ifndef SPMCSR +.equ SPMCSR = SPMCR +.endif ; .ifndef SPMCSR + +.ifndef RWWSRE +.ifdef ASRE +.equ RWWSRE = ASRE +.endif ; .ifdef ASRE +.endif ; .ifndef RWWSRE + +.ifndef SPMEN +.equ SPMEN = SELFPRGEN +.endif ; .ifndef SPMEN + + +.ifndef EEMWE +.equ EEMWE = EEMPE +.endif ; .ifndef EEMWE + +.ifndef EEWE +.equ EEWE = EEPE +.endif ; .ifndef EEWE + +.ifndef EEARL +.equ EEARL = EEAR +.endif ; .ifndef EEARL + +; macros +.macro xout +.ifdef @0 +.if @0 > 0x3F + sts @0, @1 +.else + out @0, @1 +.endif +.endif +.endmacro + +.macro xin +.ifdef @1 +.if @1 > 0x3F + lds @0, @1 +.else + in @0, @1 +.endif +.endif +.endmacro + +.macro xwdr +.if UseWDR + wdr +.endif ; .if UseWDR +.endmacro + +.macro xlpm +.if BigMega + elpm @0, @1 +.else + lpm @0, @1 +.endif +.endmacro + +.macro jmpapp +.if BLS +#if defined(AQUASTAR) || defined(DLUX) + rjmp FLASHEND +1 ; run application +#else + jmp FLASHEND +1 ; run application +#endif +.elif BootStart + rjmp BootStart -1 ; run application +.else + rjmp BootStart ; dummy +.endif ; .if BLS +.endmacro + +.macro bjmp +.if @1 + rjmp @0 +.else + ret +.endif +.endmacro + +.macro rx_0 +.if UseUartInvert + sbic RX_PIN, RX +.else + sbis RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + +.macro rx_1 +.if UseUartInvert + sbis RX_PIN, RX +.else + sbic RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + + +.macro tx_1 + +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx1 = (1 << RX) +.else +.set tx1 = (1 << TX) | (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx1 = 0 +.else +.set tx1 = (1 << TX) +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx1 = tx1 | (1 << DE) +.endif +.endif + ldi cnth, tx1 +.endmacro + +.macro tx_0 +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx0 = (1 << TX) | (1 << RX) +.else +.set tx0 = (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx0 = (1 << TX) +.else +.set tx0 = 0 +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx0 = tx0 | (1 << DE) +.endif +.endif + ldi cnth, tx0 +.endmacro + + +.macro tx_out +.if Use1Wire + xout TX_DDR, cnth +.else + xout TX_PORT, cnth +.endif ; .if Use1Wire +.endmacro + +.macro de_0 +.if UseRS485 +.if UseRS485Invert + sbi DE_PORT, DE +.else + cbi DE_PORT, DE +.endif +.endif +.endmacro + +.macro de_1 +.if UseRS485 +.if UseRS485Invert + cbi DE_PORT, DE +.else + sbi DE_PORT, DE +.endif +.endif +.endmacro + diff --git a/AVRootloader/AVR/AvrBuild.bat b/AVRootloader/AVR/AvrBuild.bat new file mode 100644 index 0000000..cdc98e0 --- /dev/null +++ b/AVRootloader/AVR/AvrBuild.bat @@ -0,0 +1,15 @@ +@ECHO OFF +set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler + +call :buildhex AQUASTAR +call :buildhex DLUX +call :buildhex TGY160A +call :buildhex RX3S_V1V2V3_AILR_OUT +call :buildhex MINI_MWC_A0 +goto :eof + +:buildhex +set OUT=default\AVRootloader_%~1 +echo %OUT% +"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" +goto :eof \ No newline at end of file diff --git a/AVRootloader/AVR/Crypt.inc b/AVRootloader/AVR/Crypt.inc new file mode 100644 index 0000000..74c73fd --- /dev/null +++ b/AVRootloader/AVR/Crypt.inc @@ -0,0 +1,259 @@ +; copyright HR +; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code +.nolist + +.undef feedl +.undef feedh +.undef crcl +.undef crch +.undef paral +.undef parah +.undef polyl +.undef polyh +.undef zx +.undef cmdl +.undef cmdh +.undef cntl +.undef cnth + +.def a0 = r0 +.def a1 = r1 +.def a2 = r2 +.def a3 = r3 +.def b0 = r4 ; feedl +.def b1 = r5 ; feedh +.def b2 = r6 +.def b3 = r7 ; zx +.def t0 = r8 ; crcl +.def t1 = r9 ; crch +;.def zerol = r10 ; zerol +;.def zeroh = r11 ; zeroh +;.def baudl = r12 ; baudl +;.def baudh = r13 ; baudl +;.def sraml = r14 ; SRAM buffer start +;.def sramh = r15 +.def s0 = r16 ; paral +.def s1 = r17 ; parah +.def s2 = r18 ; polyl, restored +.def s3 = r19 ; polyh, restored +;.def cnt = r20 ; cnt +;.def flag = r21 ; flag +.def round = r22 ; cmdl +.def t4 = r23 ; cmdh +.def t2 = r24 ; cntl +.def t3 = r25 ; cnth +;.def XL = r26 ; buffer_endl +;.def XH = r27 ; buffer_endh +;.def YL = r28 ; unused +;.def YH = r29 ; unused +;.def ZL = r30 ; overwritten Address +;.def ZH = r31 ; +.list + + +; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup +; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback +; X points after buffer +; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption +; cycles: +; 698 * 8 Bytes -1 = 5583 one data block +; + 98 for CMDL=0xFE=init +; + 76 for CMDL=0xFF=data +; thus average throughput by 8Mhz is 11kByte/sec + +decrypt: + movw yl, sraml + sbiw yl, 16 + movw sraml, yl + sbiw xl, 16 +.if BigMega + ldi cnt, byte3(BootKey * 2) + xout RAMPZ, cnt +.endif ; .if BigMega + +tea1: ldi cnt, 8 + movw zl, zerol ; zerol, z points to register file r0-r7 = a,b +tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock + ldd t1, y +16 ; in next round buffer is feedback + eor t0, t1 + std y +8, t0 + st z+, t1 ; setup a,b = cipherblock + adiw yl, 1 + dec cnt + brne tea2 + + ldi s0, 0x20 ; sum = 32 * delta + ldi s1, 0x37 + ldi s2, 0xef + ldi s3, 0xc6 + + rcall teadec ; first 16 rounds + +tea3: ld t0, z ; ciphertext = ciphertext xor feedback + ld t1, y+ + eor t0, t1 + st z+, t0 + dec cnt + brne tea3 + + rcall teadec ; second 16 rounds + +tea4: ld t0, z+ ; plaintext = ciphertext xor feedback + ld t1, y + eor t0, t1 + st y+, t0 + dec cnt + brne tea4 + + cp yl, xl ; sram buffer end reached ? + cpc yh, xh + brlo tea1 + ldi s0, ERRORCRYPT + brcs tea7 ; overflow, datasize not a multiple of 8 + + sbiw yl, 8 ; points to signature + dummy + address + +.if UseVersioning + brts tea80 + + ldi zl, byte1(AppVerAddr) ; check version number + ldi zh, byte2(AppVerAddr) + ldi cnt, 4 + sbiw yl, 4 + ldi s2, 0xFF + ldi s3, 0xFF + +tea8: ld r0, y+ + xlpm r1, z+ + and s3, r1 + cpse r0, s2 + cpc r0, r1 + dec cnt + brne tea8 + + ldi s0, ERRORVERSION + cpse s3, s2 + brcs tea7 + ldi s0, ERRORCRYPT +tea80: +.endif ;.if UseVersioning + + ori flag, 0x02 ; success crypt + + ldi zl, byte1(BootKey * 2) + ldi zh, byte2(BootKey * 2) + movw xl, yl + ldi cnt, 4 ; check signature + brts tea5 + sbiw zl, 4 + ldi cnt, 8 ; check BootInfo and signature +tea5: ld r0, y+ + xlpm r1, z+ + cpse r0, r1 + clr flag ; signature don't match + dec cnt + brne tea5 + + movw b0, xl ; feedback + + brtc tea6 + ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data + sub xl, s1 + sbc xh, zerol + ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF + ldd zh, y +2 + ldd zl, y +3 + +tea6: sbrc flag, 1 + ldi s0, SUCCESS +tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom + ldi s3, byte2(POLYNOM) + rjmp mai1 + + +; plain XTEA decryption +teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext + movw t0, a0 + movw t2, a2 + +dec1: clr t4 ; t = (a shr 4) xor (a shl 5) + ldi cnt, 3 +dec2: lsl t0 + rol t1 + rol t2 + rol t3 + rol t4 + dec cnt + brne dec2 + + lsl t0 + eor t0, t1 + rol t1 + eor t1, t2 + rol t2 + eor t2, t3 + rol t3 + eor t3, t4 + + add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a + adc t1, a1 + adc t2, a2 + adc t3, a3 + + ldi zl, low(BootKey *2) + ldi zh, high(BootKey *2) + + sbrc round, 0 + rjmp dec3 + + sbrc s1, 3 ; k = key[(sum shr 11) and 3] + adiw zl, 4 + sbrc s1, 4 + adiw zl, 8 + + rjmp dec4 + +dec3: subi s0, 0xB9 ; sum = sum - delta + sbci s1, 0x79 + sbci s2, 0x37 + sbci s3, 0x9E + + sbrc s0, 0 ; k = key[sum and 3] + adiw zl, 4 + sbrc s0, 1 + adiw zl, 8 + +dec4: xlpm t4, z+ ; t = t xor (sum + k) + add t4, s0 + eor t0, t4 + xlpm t4, z+ + adc t4, s1 + eor t1, t4 + xlpm t4, z+ + adc t4, s2 + eor t2, t4 + xlpm t4, z+ + adc t4, s3 + eor t3, t4 + + sub b0, t0 ; b = b - t + sbc b1, t1 + sbc b2, t2 + sbc b3, t3 + + movw t0, b0 ; b = a, a = b + movw t2, b2 + movw b0, a0 + movw b2, a2 + movw a0, t0 + movw a2, t2 + + dec round + brne dec1 + + ldi cnt, 8 + movw zl, zerol + sbiw yl, 8 + + ret + diff --git a/AVRootloader/AVR/Special.inc b/AVRootloader/AVR/Special.inc new file mode 100644 index 0000000..6ba25f5 --- /dev/null +++ b/AVRootloader/AVR/Special.inc @@ -0,0 +1,259 @@ +.nolist +; copyright HR +; special functions to provide for application code access to FLASH +; can be expanded with own functions and place a rjmp vector at end of this file + +; First calculate size of code to align code at end of FLASH, better solution possible ? + +; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. +; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm +; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and +; thus the last FLASH page should be always unchanged. With a own application and help of +; dospm function can the remaining bootloader section repogrammed. Please remember that +; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own +; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) +; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function +; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider +; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits +; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. +; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to +; use SPM in application code. + + +.set SpecialSize = 0 + +.if UseSpecialWrite +.set SpecialSize = SpecialSize +48 +.if UseSpecialWriteBoot +.set SpecialSize = SpecialSize +5 +.endif +.if BigMega +.set SpecialSize = SpecialSize +4 +.endif +.if BLS +.set SpecialSize = SpecialSize +5 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.ifdef RWWSRE +.set SpecialSize = SpecialSize +2 +.endif +.else +.set SpecialSize = SpecialSize +8 +.endif +.if UseWDR +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialRead +.set SpecialSize = SpecialSize +9 +.if BigMega +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.endif + +; rjmp vector table +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.elif UseSpecialBootVect +.set SpecialSize = SpecialSize +1 +.if BLS +.set SpecialSize = SpecialSize +1 +.endif +.endif + +; dospm +.if SpecialSize > 0 +.if BLS +.set SpecialSize = SpecialSize +6 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.endif + +; align follow code at flash end +.if BootCodeSize +.org (FLASHEND +1) - SpecialSize +.endif +.endif ; .if SpecialSize > 0 + +; end of size calculation +.list + + +.if UseSpecialMsg +getbootmsg: +; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas + ldi r22, byte1(BootMsg * 2) + ldi r23, byte2(BootMsg * 2) + ldi r24, byte3(BootMsg * 2) + ldi r25, (BootInfo - BootMsg) * 2 + ret +.endif ;.if UseSpecialMsg + + +.if UseSpecialRead +readflash: +; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 +.if BigMega + xout RAMPZ, r24 +.endif + movw zl, r22 + movw xl, r18 + movw r24, r20 +rf1: sbiw r24, 1 + brcs rf2 + xlpm r23, z+ + st x+, r23 + rjmp rf1 +rf2: ret +.endif ;.if UseSpecialRead + + +.if UseSpecialWrite +writeflash: +; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + movw zl, r22 ; address to r24:Z + movw xl, r18 ; SRAM buffer to X + movw r18, yl ; save Y to r18 + movw yl, r20 ; size to Y + movw r20, r16 ; save r17:r16 to r21:r20 + movw r16, r24 ; + xin r23, SREG ; save SREG to r23 + cli ; disable IRQs +.if UseSpecialWriteBoot + clt ; set T flag if MSB of address is a magic to deactivate + cpi r17, 0xAC ; write cheks to bootloader section + brne wf1 + set +.endif ; .if UseSpecialWriteBoot + +wf1: sbic EECR, EEWE ; wait for EEPROM + rjmp wf1 + + andi r22, PageSize *2 -1 ; align address + sub zl, r22 + +wf2: ldi r17, PageSize +.if UseSpecialWriteBoot + brts wf3 ; if T flag is set ignore sanity check +.endif + cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader + ldi r24, byte2(BootStart *2) + cpc zh, r24 +.if BigMega + ldi r24, byte3(BootStart * 2) + cpc r16, r24 +.endif + brsh wf8 + +wf3: ldi r24, (1 << SPMEN) +.if BigMega + xout RAMPZ, r16 +.endif +wf4: xlpm r0, z+ ; first load word from FLASH + xlpm r1, z + sbiw z, 1 + sbiw yl, 0 ; size = 0 ? + breq wf7 + cpi r22, 1 + brlo wf5 + breq wf6 + subi r22, 2 + rjmp wf7 +wf5: ld r0, x+ + sbiw yl, 1 + breq wf7 +wf6: ld r1, x+ + sbiw yl, 1 + clr r22 +wf7: xwdr +.if BLS + rcall dospm ; fill FLASH buffer +.else + xout SPMCSR, r24 + spm +.endif + adiw z, 2 + dec r17 ; PageSize + brne wf4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) +.if BLS + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + rcall dospm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + rcall dospm +.ifdef RWWSRE + ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page + rcall dospm +.endif +.else + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + xout SPMCSR, r24 + spm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + xout SPMCSR, r24 + spm +.endif + subi zl, byte1(-PageSize *2) + sbci zh, byte2(-PageSize *2) +.if BigMega + sbci r16, byte3(-PageSize *2) +.endif + sbiw yl, 0 ; size = 0 ? + brne wf2 + +wf8: clr r1 ; restore r1=zero + movw yl, r18 ; restore Y + movw r16, r20 ; restore r17:r16 + xout SREG, r23 ; restore SREG + ret +.endif ;.if UseSpecialWrite + + +; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page +; r25=cnth destroyed, r24=cntl unchanged +.if BLS +dospm: xout SPMCSR, r24 + spm +.ifdef SPMspecial +.dw $FFFF + nop +.endif +dspm1: xin r25, SPMCSR + sbrc r25, SPMEN + rjmp dspm1 + ret +.endif ; .if BLS + + +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +; rjmp vectors for support from application code +; can be expanded with own vectors to own code, look into AVRootloader.h how to call +; please don't reorder this jump table, but you can expand it to own code +; if you expand it remember to update above SpecialSize calculation + bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret + bjmp readflash, UseSpecialRead + bjmp writeflash, UseSpecialWrite + bjmp dospm, BLS + rjmp bootstart +.elif UseSpecialBootVect +.if BLS + rjmp dospm +.endif + rjmp bootstart +.endif diff --git a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/AVRootloader/AVR/default/AVRootloader_DLUX.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/AVRootloader/AVR/default/AVRootloader_DLUX.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 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+:103E80008AD0A1F614E0059178D01A95E1F700E305 +:103E900074D0450180D0B8017E3F20F07CD0E8018D +:103EA00070FDF80178D002EC99F77E3F39F078F791 +:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC +:103EC0007D016BD00D932197E1F77395EBCF7330A4 +:103ED00060F570FB05ECE701E0301EE3F107D0F47C +:103EE00083E087D076F481E040E40990199081D096 +:103EF00032964A95D1F7E058F040C058D04085E05E +:103F000078D081E176D040E800EC1FEF05900EF408 +:103F100019911011BDCF4A95C9F726F4CA17DB07CE +:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF +:103F3000099015900110ACCFCA17DB07C9F76A9535 +:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F +:103F5000F89A00B509D06A95C1F703D098CF01EC63 +:103F600097CF84010AD0012F802648E09694879449 +:103F700010F4932682264A95C9F7A89529D028D00F +:103F80004AE000959AB924D0069508F090E002D056 +:103F90004A95C1F7089501D0102FA895489BFECFF0 +:103FA0004899FECF48E0C6019695879512D010D06B +:103FB00006954899006807FD82269694879408F430 +:103FC000932608F482264A9591F789248924089536 +:103FD000C6010497F0F78D3F18F011F08F3F01F004 +:103FE00091E00895424F4F544C4F41444552940B39 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/AVRootloader/Windows/AVRootloader.dev b/AVRootloader/Windows/AVRootloader.dev new file mode 100644 index 0000000..90b3139 --- /dev/null +++ b/AVRootloader/Windows/AVRootloader.dev @@ -0,0 +1,108 @@ +ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 +9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 +9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 +9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 +930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 +9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 +9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 +9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 +9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 +9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 +9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 +9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 +9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 +9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 +9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 +9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 +9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 +9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/AVRootloader/Windows/AVRootloader.exe b/AVRootloader/Windows/AVRootloader.exe new file mode 100644 index 0000000000000000000000000000000000000000..125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8 GIT binary patch literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G zR?aG1R-CZ9Xw^eSiyujN#9gc=Jg_vO$h|Vby>iLYqJ%liR;Jw5B{p%?kCFX<>E?1O z$~1#T>ANuPj!3*GlwX#1HW>RV-&z!9m`PZ>teq6a4x=52+!1DE9I`Q1`1GZ5ai&qpcHP0$?FRgGW!(d}Hrxz|R67G-`N~HsK220K(i&v~z 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z82H?ejEiq1jEfl$M?NkD;>m-8cRJ6S(s#j#5R%e|1Mk3~Kuq4Wr&o@Fa95Zy90j2b zoNg>P4F@w>HwQ<-pivL<+##cW!LxIL5_kZmFV3!u-w2IesoCuI3;Ao^LU-q{x2$>(0)*O6!A}J4ee`qUD37?TGKYQtGHjo>ng(R`p)EA zx4G_2HoN%ySNIL&@l^lTd;2157Ua2_qjfb)+l92QW@-i`TiT9>BYEvUFV7|IQSFlU zOZa~jIxvkEv?8>tBTrA;*L37Rf;Kwt3?@{&0!`WV5OPfjxywlHYb~$7ebn1UdCSYk zUM^{sNZu!q*Fo+u&lj|d$P@f)+Gjl3Ojp;-YoUH~KnqR#vNnrc>qy`AQklm4(3Q1# zSL>jpracIaK8G>z2&7-qei Date: Sun, 28 Feb 2016 11:40:43 -0500 Subject: [PATCH 25/29] Fix Stick Configuration - Mixer EPA Mode --- Builds/{20160209_AQUASTAR.hex => 20160228_AQUASTAR.hex} | 0 Builds/{20160209_DLUX.hex => 20160228_DLUX.hex} | 0 Builds/{20160209_EAGLE_A3PRO.hex => 20160228_EAGLE_A3PRO.hex} | 2 +- ..._STICKCONFIG.hex => 20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex} | 0 Builds/{20160209_FLIP_1_5.hex => 20160228_FLIP_1_5.hex} | 2 +- .../{20160209_FLIP_1_5_CPPM.hex => 20160228_FLIP_1_5_CPPM.hex} | 2 +- .../{20160209_FLIP_1_5_SBUS.hex => 20160228_FLIP_1_5_SBUS.hex} | 2 +- ...209_FLIP_1_5_SPEKTRUM.hex => 20160228_FLIP_1_5_SPEKTRUM.hex} | 2 +- ...{20160209_FLIP_1_5_SRXLH.hex => 20160228_FLIP_1_5_SRXLH.hex} | 2 +- ...{20160209_FLIP_1_5_SRXLM.hex => 20160228_FLIP_1_5_SRXLM.hex} | 2 +- .../{20160209_MINI_MWC_CPPM.hex => 20160228_MINI_MWC_CPPM.hex} | 2 +- ...M_EXTERNAL_RX.hex => 20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex} | 2 +- .../{20160209_MINI_MWC_SBUS.hex => 20160228_MINI_MWC_SBUS.hex} | 2 +- ...209_MINI_MWC_SPEKTRUM.hex => 20160228_MINI_MWC_SPEKTRUM.hex} | 2 +- ...{20160209_MINI_MWC_SRXLH.hex => 20160228_MINI_MWC_SRXLH.hex} | 2 +- ...{20160209_MINI_MWC_SRXLM.hex => 20160228_MINI_MWC_SRXLM.hex} | 2 +- Builds/{20160209_NANOWII.hex => 20160228_NANOWII.hex} | 2 +- Builds/{20160209_NANOWII_CPPM.hex => 20160228_NANOWII_CPPM.hex} | 2 +- Builds/{20160209_NANOWII_SBUS.hex => 20160228_NANOWII_SBUS.hex} | 2 +- ...60209_NANOWII_SPEKTRUM.hex => 20160228_NANOWII_SPEKTRUM.hex} | 2 +- .../{20160209_NANOWII_SRXLH.hex => 20160228_NANOWII_SRXLH.hex} | 2 +- .../{20160209_NANOWII_SRXLM.hex => 20160228_NANOWII_SRXLM.hex} | 2 +- Builds/{20160209_RX3SM.hex => 20160228_RX3SM.hex} | 2 +- Builds/{20160209_RX3S_V1.hex => 20160228_RX3S_V1.hex} | 2 +- Builds/{20160209_RX3S_V1_CPPM.hex => 20160228_RX3S_V1_CPPM.hex} | 2 +- Builds/{20160209_RX3S_V1_SBUS.hex => 20160228_RX3S_V1_SBUS.hex} | 2 +- ...60209_RX3S_V1_SPEKTRUM.hex => 20160228_RX3S_V1_SPEKTRUM.hex} | 2 +- Builds/{20160209_RX3S_V2.hex => 20160228_RX3S_V2.hex} | 2 +- ..._IN_ON_RUD_IN.hex => 20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex} | 2 +- Builds/{20160209_RX3S_V2_CPPM.hex => 20160228_RX3S_V2_CPPM.hex} | 2 +- Builds/{20160209_RX3S_V2_SBUS.hex => 20160228_RX3S_V2_SBUS.hex} | 2 +- ...60209_RX3S_V2_SPEKTRUM.hex => 20160228_RX3S_V2_SPEKTRUM.hex} | 2 +- .../{20160209_RX3S_V2_SRXLH.hex => 20160228_RX3S_V2_SRXLH.hex} | 2 +- .../{20160209_RX3S_V2_SRXLM.hex => 20160228_RX3S_V2_SRXLM.hex} | 2 +- Builds/{20160209_TGY160A.hex => 20160228_TGY160A.hex} | 0 FlightStab/FlightStab.ino | 2 +- 36 files changed, 32 insertions(+), 32 deletions(-) rename Builds/{20160209_AQUASTAR.hex => 20160228_AQUASTAR.hex} (100%) rename Builds/{20160209_DLUX.hex => 20160228_DLUX.hex} (100%) rename Builds/{20160209_EAGLE_A3PRO.hex => 20160228_EAGLE_A3PRO.hex} (99%) rename Builds/{20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex => 20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex} (100%) rename Builds/{20160209_FLIP_1_5.hex => 20160228_FLIP_1_5.hex} (99%) rename Builds/{20160209_FLIP_1_5_CPPM.hex => 20160228_FLIP_1_5_CPPM.hex} (99%) rename Builds/{20160209_FLIP_1_5_SBUS.hex => 20160228_FLIP_1_5_SBUS.hex} (99%) rename Builds/{20160209_FLIP_1_5_SPEKTRUM.hex => 20160228_FLIP_1_5_SPEKTRUM.hex} (99%) rename Builds/{20160209_FLIP_1_5_SRXLH.hex => 20160228_FLIP_1_5_SRXLH.hex} (99%) rename Builds/{20160209_FLIP_1_5_SRXLM.hex => 20160228_FLIP_1_5_SRXLM.hex} (99%) rename Builds/{20160209_MINI_MWC_CPPM.hex => 20160228_MINI_MWC_CPPM.hex} (99%) rename Builds/{20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex => 20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex} (99%) rename Builds/{20160209_MINI_MWC_SBUS.hex => 20160228_MINI_MWC_SBUS.hex} (99%) rename Builds/{20160209_MINI_MWC_SPEKTRUM.hex => 20160228_MINI_MWC_SPEKTRUM.hex} (99%) rename Builds/{20160209_MINI_MWC_SRXLH.hex => 20160228_MINI_MWC_SRXLH.hex} (99%) rename Builds/{20160209_MINI_MWC_SRXLM.hex => 20160228_MINI_MWC_SRXLM.hex} (99%) rename Builds/{20160209_NANOWII.hex => 20160228_NANOWII.hex} (99%) rename Builds/{20160209_NANOWII_CPPM.hex => 20160228_NANOWII_CPPM.hex} (99%) rename Builds/{20160209_NANOWII_SBUS.hex => 20160228_NANOWII_SBUS.hex} (99%) rename Builds/{20160209_NANOWII_SPEKTRUM.hex => 20160228_NANOWII_SPEKTRUM.hex} (99%) rename Builds/{20160209_NANOWII_SRXLH.hex => 20160228_NANOWII_SRXLH.hex} (99%) rename Builds/{20160209_NANOWII_SRXLM.hex => 20160228_NANOWII_SRXLM.hex} (99%) rename Builds/{20160209_RX3SM.hex => 20160228_RX3SM.hex} (99%) rename Builds/{20160209_RX3S_V1.hex => 20160228_RX3S_V1.hex} (99%) rename Builds/{20160209_RX3S_V1_CPPM.hex => 20160228_RX3S_V1_CPPM.hex} (99%) rename Builds/{20160209_RX3S_V1_SBUS.hex => 20160228_RX3S_V1_SBUS.hex} (99%) rename Builds/{20160209_RX3S_V1_SPEKTRUM.hex => 20160228_RX3S_V1_SPEKTRUM.hex} (99%) rename Builds/{20160209_RX3S_V2.hex => 20160228_RX3S_V2.hex} (99%) rename Builds/{20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex => 20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex} (99%) rename Builds/{20160209_RX3S_V2_CPPM.hex => 20160228_RX3S_V2_CPPM.hex} (99%) rename Builds/{20160209_RX3S_V2_SBUS.hex => 20160228_RX3S_V2_SBUS.hex} (99%) rename Builds/{20160209_RX3S_V2_SPEKTRUM.hex => 20160228_RX3S_V2_SPEKTRUM.hex} (99%) rename Builds/{20160209_RX3S_V2_SRXLH.hex => 20160228_RX3S_V2_SRXLH.hex} (99%) rename Builds/{20160209_RX3S_V2_SRXLM.hex => 20160228_RX3S_V2_SRXLM.hex} (99%) rename Builds/{20160209_TGY160A.hex => 20160228_TGY160A.hex} (100%) diff --git a/Builds/20160209_AQUASTAR.hex b/Builds/20160228_AQUASTAR.hex similarity index 100% rename from Builds/20160209_AQUASTAR.hex rename to Builds/20160228_AQUASTAR.hex diff --git a/Builds/20160209_DLUX.hex b/Builds/20160228_DLUX.hex similarity index 100% rename from Builds/20160209_DLUX.hex rename to Builds/20160228_DLUX.hex diff --git a/Builds/20160209_EAGLE_A3PRO.hex b/Builds/20160228_EAGLE_A3PRO.hex similarity index 99% rename from Builds/20160209_EAGLE_A3PRO.hex rename to Builds/20160228_EAGLE_A3PRO.hex index 5161e0f..b0ec1cc 100644 --- a/Builds/20160209_EAGLE_A3PRO.hex +++ b/Builds/20160228_EAGLE_A3PRO.hex @@ -820,6 +820,6 @@ :10332800FFFF7889988778899887FF000000000058 :10333800000001020304050607020003000400055B :10334800000800060007000200A0860100801A0697 -:103358000005030503040202020101010101010144 +:103358000005040503040202020101010101010143 :0C33680001D501D701D901DB01DF010014 :00000001FF diff --git a/Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex similarity index 100% rename from Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex rename to Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex diff --git a/Builds/20160209_FLIP_1_5.hex b/Builds/20160228_FLIP_1_5.hex similarity index 99% rename from Builds/20160209_FLIP_1_5.hex rename to Builds/20160228_FLIP_1_5.hex index 1a1bb51..c073cc7 100644 --- a/Builds/20160209_FLIP_1_5.hex +++ b/Builds/20160228_FLIP_1_5.hex @@ -814,6 +814,6 @@ :1032CC0000000000000003010701050109010309CA :1032DC000F0AFF0B0C107889988778899887FF0064 :1032EC0000000000000001020304050607A086018F -:1032FC0000801A0600050305030402020201010105 +:1032FC0000801A0600050405030402020201010104 :10330C000101010101B601B801BA01BC01C0010003 :00000001FF diff --git a/Builds/20160209_FLIP_1_5_CPPM.hex b/Builds/20160228_FLIP_1_5_CPPM.hex similarity index 99% rename from Builds/20160209_FLIP_1_5_CPPM.hex rename to Builds/20160228_FLIP_1_5_CPPM.hex index b0a0b9d..9de9374 100644 --- a/Builds/20160209_FLIP_1_5_CPPM.hex +++ b/Builds/20160228_FLIP_1_5_CPPM.hex @@ -792,7 +792,7 @@ :10316600A201A801A0010000A601AC01AA01030961 :103176000F0AFF0B0C1003090F0AFF0B0C107889BE 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Builds/20160209_FLIP_1_5_SPEKTRUM.hex rename to Builds/20160228_FLIP_1_5_SPEKTRUM.hex index 7c9d192..4c0d410 100644 --- a/Builds/20160209_FLIP_1_5_SPEKTRUM.hex +++ b/Builds/20160228_FLIP_1_5_SPEKTRUM.hex @@ -874,7 +874,7 @@ :103686000F0AFF0B0C107A0303090F0AFF0B0C102D :103696007889988778899887FF00000000000002E3 :1036A60003010004050607A0860100801A0600052E -:1036B600030503040202020101010101010101C027 +:1036B600040503040202020101010101010101C026 :1036C60001C201C401C601CA01000000002B18D0C6 :0A36D60018C117F217D2171B1800D5 :00000001FF diff --git a/Builds/20160209_FLIP_1_5_SRXLH.hex b/Builds/20160228_FLIP_1_5_SRXLH.hex similarity index 99% rename from Builds/20160209_FLIP_1_5_SRXLH.hex rename to Builds/20160228_FLIP_1_5_SRXLH.hex index e9f77bf..0c4a6f0 100644 --- a/Builds/20160209_FLIP_1_5_SRXLH.hex +++ b/Builds/20160228_FLIP_1_5_SRXLH.hex @@ -893,7 +893,7 @@ :1037BE000F0AFF0B0C108E0303090F0AFF0B0C10E0 :1037CE007889988778899887FF00000000000002AA :1037DE0003010005040706A0860100801A060005F5 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Builds/20160228_MINI_MWC_SPEKTRUM.hex index 889af9a..81029ce 100644 --- a/Builds/20160209_MINI_MWC_SPEKTRUM.hex +++ b/Builds/20160228_MINI_MWC_SPEKTRUM.hex @@ -875,7 +875,7 @@ :10369600030AFF0B10097B030605030AFF0B10093B :1036A6007889988778899887FF00000000000002D3 :1036B60003010004050607A0860100801A0600051E -:1036C600030503040202020101010101010101D106 +:1036C600040503040202020101010101010101D105 :1036D60001D301D501D701DB01000000002B18D072 :0A36E60018C117F217D2171B1800C5 :00000001FF diff --git a/Builds/20160209_MINI_MWC_SRXLH.hex b/Builds/20160228_MINI_MWC_SRXLH.hex similarity index 99% rename from Builds/20160209_MINI_MWC_SRXLH.hex rename to Builds/20160228_MINI_MWC_SRXLH.hex index 62ba64b..17c672e 100644 --- a/Builds/20160209_MINI_MWC_SRXLH.hex +++ b/Builds/20160228_MINI_MWC_SRXLH.hex @@ -894,7 +894,7 @@ :1037CE00030AFF0B10098F030605030AFF0B1009EE :1037DE007889988778899887FF000000000000029A :1037EE0003010005040706A0860100801A060005E5 -:1037FE00030503040202020101010101010101D1CD 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a/Builds/20160209_NANOWII.hex +++ b/Builds/20160228_NANOWII.hex @@ -1024,7 +1024,7 @@ :103FE600FF09FF0DFFFF00E10000000000000101D6 :103FF6007889988778899887FF000000000000007C :1040060001020304050607A0860100801A060005C2 -:10401600030503040202020101010101010101D0AD +:10401600040503040202020101010101010101D0AC :1040260001D201D401D601DA0100000000FF1CEC28 :104036001E9E1CC51CAC1C241D281D00000000CCA7 :0A4046001DEC1E671E241E171E004D diff --git a/Builds/20160209_NANOWII_CPPM.hex b/Builds/20160228_NANOWII_CPPM.hex similarity index 99% rename from Builds/20160209_NANOWII_CPPM.hex rename to Builds/20160228_NANOWII_CPPM.hex index f357c20..8a32718 100644 --- a/Builds/20160209_NANOWII_CPPM.hex +++ b/Builds/20160228_NANOWII_CPPM.hex @@ -1014,7 +1014,7 @@ :103F4C00FF09FF0DFFFF0B0A0509FF0DFF0600E13E :103F5C000000000000000101788998877889988713 :103F6C00FF0000000000000001020304050607A08A -:103F7C00860100801A0600050305030402020201F3 +:103F7C00860100801A0600050405030402020201F2 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from Builds/20160209_RX3SM.hex rename to Builds/20160228_RX3SM.hex index e271d67..f013e29 100644 --- a/Builds/20160209_RX3SM.hex +++ b/Builds/20160228_RX3SM.hex @@ -823,6 +823,6 @@ :10336000FFFF7889988778899887FF000000000020 :103370000000010203040506070200030004000523 :10338000000800060007000200A0860100801A065F -:10339000000503050304020202010101010101010C +:10339000000504050304020202010101010101010B :0C33A00001F801FA01FC01FE010202002C :00000001FF diff --git a/Builds/20160209_RX3S_V1.hex b/Builds/20160228_RX3S_V1.hex similarity index 99% rename from Builds/20160209_RX3S_V1.hex rename to Builds/20160228_RX3S_V1.hex index 053397c..5fb2557 100644 --- a/Builds/20160209_RX3S_V1.hex +++ b/Builds/20160228_RX3S_V1.hex @@ -823,6 +823,6 @@ :10335800FFFF7889988778899887FF000000000028 :10336800000001020304050607020003000400052B :10337800000800060007000200A0860100801A0667 -:103388000005030503040202020101010101010114 +:103388000005040503040202020101010101010113 :0C33980001D501D701D901DB01DF0100E4 :00000001FF diff --git a/Builds/20160209_RX3S_V1_CPPM.hex b/Builds/20160228_RX3S_V1_CPPM.hex similarity index 99% rename from Builds/20160209_RX3S_V1_CPPM.hex rename to Builds/20160228_RX3S_V1_CPPM.hex index 2b63fb0..e2d1c79 100644 --- a/Builds/20160209_RX3S_V1_CPPM.hex +++ b/Builds/20160228_RX3S_V1_CPPM.hex @@ -794,7 +794,7 @@ :10318C00FFFF06050A04FF07FF09788998877889ED :10319C009887FF00000000000000010203040506F0 :1031AC0007020003000400050008000600070002E7 -:1031BC0000A0860100801A06000503050304020224 +:1031BC0000A0860100801A06000504050304020223 :1031CC00020101010101010101DD01DF01E101E366 :0431DC0001E7010006 :00000001FF diff --git a/Builds/20160209_RX3S_V1_SBUS.hex b/Builds/20160228_RX3S_V1_SBUS.hex similarity index 99% rename from Builds/20160209_RX3S_V1_SBUS.hex rename to Builds/20160228_RX3S_V1_SBUS.hex index 9362c9c..840c612 100644 --- a/Builds/20160209_RX3S_V1_SBUS.hex +++ b/Builds/20160228_RX3S_V1_SBUS.hex @@ -904,7 +904,7 @@ :10386400FFFF950306050A04FF07FF097889988777 :1038740078899887FF00000000000003010200041B :1038840005060702000300040005000800060007FF -:10389400000200A0860100801A0600050305030447 +:10389400000200A0860100801A0600050405030446 :1038A4000202020101010101010101EF01F101F331 :1038B40001F501F901000000000A19AF19A018D19F :0638C40018B118FA18000B diff --git a/Builds/20160209_RX3S_V1_SPEKTRUM.hex b/Builds/20160228_RX3S_V1_SPEKTRUM.hex similarity index 99% rename from Builds/20160209_RX3S_V1_SPEKTRUM.hex rename to Builds/20160228_RX3S_V1_SPEKTRUM.hex index 468fd22..5b9cba7 100644 --- a/Builds/20160209_RX3S_V1_SPEKTRUM.hex +++ b/Builds/20160228_RX3S_V1_SPEKTRUM.hex @@ -880,7 +880,7 @@ :1036E200FFFF8D0306050A04FF07FF097889988703 :1036F20078899887FF00000000000002030100049F :103702000506070200030004000500080006000782 -:10371200000200A0860100801A06000503050304CA +:10371200000200A0860100801A06000504050304C9 :103722000202020101010101010101EF01F101F3B4 :1037320001F501F901000000004918EE18DF171029 :0637420018F01739180011 diff --git a/Builds/20160209_RX3S_V2.hex b/Builds/20160228_RX3S_V2.hex similarity index 99% rename from Builds/20160209_RX3S_V2.hex rename to Builds/20160228_RX3S_V2.hex index 4d85ff1..1aa9962 100644 --- a/Builds/20160209_RX3S_V2.hex +++ b/Builds/20160228_RX3S_V2.hex @@ -825,6 +825,6 @@ :10338000FFFF7889988778899887FF000000000000 :103390000000010203040506070200030004000503 :1033A000000800060007000200A0860100801A063F -:1033B00000050305030402020201010101010101EC +:1033B00000050405030402020201010101010101EB :0C33C00001F801FA01FC01FE010202000C :00000001FF diff --git a/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex similarity index 99% rename from Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex rename to Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex index 57d0ab6..d1b02c7 100644 --- a/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex +++ b/Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex @@ -825,6 +825,6 @@ :10338000FFFF7889988778899887FF000000000000 :103390000000010203040506070200030004000503 :1033A000000800060007000200A0860100801A063F -:1033B00000050305030402020201010101010101EC +:1033B00000050405030402020201010101010101EB :0C33C00001F801FA01FC01FE010202000C :00000001FF diff --git a/Builds/20160209_RX3S_V2_CPPM.hex b/Builds/20160228_RX3S_V2_CPPM.hex similarity index 99% rename from Builds/20160209_RX3S_V2_CPPM.hex rename to Builds/20160228_RX3S_V2_CPPM.hex index 3b18f0a..281a903 100644 --- a/Builds/20160209_RX3S_V2_CPPM.hex +++ b/Builds/20160228_RX3S_V2_CPPM.hex @@ -798,7 +798,7 @@ :1031C200FFFF06050A04FF070B09788998877889AB :1031D2009887FF00000000000000010203040506BA :1031E20007020003000400050008000600070002B1 -:1031F20000A0860100801A060005030503040202EE +:1031F20000A0860100801A060005040503040202ED :1032020002010101010101010100020202040206A0 :04321200020A0200AA :00000001FF diff --git a/Builds/20160209_RX3S_V2_SBUS.hex b/Builds/20160228_RX3S_V2_SBUS.hex similarity index 99% rename from Builds/20160209_RX3S_V2_SBUS.hex rename to Builds/20160228_RX3S_V2_SBUS.hex index 80eb8e6..39177a3 100644 --- a/Builds/20160209_RX3S_V2_SBUS.hex +++ b/Builds/20160228_RX3S_V2_SBUS.hex @@ -907,7 +907,7 @@ :10389A00FFFF980306050A04FF070B097889988732 :1038AA0078899887FF0000000000000301020004E5 :1038BA0005060702000300040005000800060007C9 -:1038CA00000200A0860100801A0600050305030411 +:1038CA00000200A0860100801A0600050405030410 :1038DA000202020101010101010101120214021690 :1038EA000218021C02000000001519BA19AB18DCF4 :0638FA0018BC18051900BE diff --git a/Builds/20160209_RX3S_V2_SPEKTRUM.hex b/Builds/20160228_RX3S_V2_SPEKTRUM.hex similarity index 99% rename from Builds/20160209_RX3S_V2_SPEKTRUM.hex rename to Builds/20160228_RX3S_V2_SPEKTRUM.hex index 90e2375..bf2acdf 100644 --- a/Builds/20160209_RX3S_V2_SPEKTRUM.hex +++ b/Builds/20160228_RX3S_V2_SPEKTRUM.hex @@ -883,7 +883,7 @@ :10371800FFFF900306050A04FF070B0978899887BD :1037280078899887FF000000000000020301000468 :10373800050607020003000400050008000600074C -:10374800000200A0860100801A0600050305030494 +:10374800000200A0860100801A0600050405030493 :103758000202020101010101010101120214021613 :103768000218021C02000000005418F918EA171B7E :0637780018FB17441800C5 diff --git a/Builds/20160209_RX3S_V2_SRXLH.hex b/Builds/20160228_RX3S_V2_SRXLH.hex similarity index 99% rename from Builds/20160209_RX3S_V2_SRXLH.hex rename to Builds/20160228_RX3S_V2_SRXLH.hex index ad39218..d59632f 100644 --- a/Builds/20160209_RX3S_V2_SRXLH.hex +++ b/Builds/20160228_RX3S_V2_SRXLH.hex @@ -902,7 +902,7 @@ :10385000FFFFA40306050A04FF070B097889988770 :1038600078899887FF00000000000002030100052E :103870000407060200030004000500080006000714 -:10388000000200A0860100801A060005030503045B +:10388000000200A0860100801A060005040503045A :1038900002020201010101010101011202140216DA :1038A0000218021C0200000000F01895198618B7D3 :0638B000189718E0180053 diff --git a/Builds/20160209_RX3S_V2_SRXLM.hex b/Builds/20160228_RX3S_V2_SRXLM.hex similarity index 99% rename from Builds/20160209_RX3S_V2_SRXLM.hex rename to Builds/20160228_RX3S_V2_SRXLM.hex index 22fa474..75270cf 100644 --- a/Builds/20160209_RX3S_V2_SRXLM.hex +++ b/Builds/20160228_RX3S_V2_SRXLM.hex @@ -902,7 +902,7 @@ :10385000FFFFA40306050A04FF070B097889988770 :1038600078899887FF00000000000003010002052E :103870000407060200030004000500080006000714 -:10388000000200A0860100801A060005030503045B +:10388000000200A0860100801A060005040503045A :1038900002020201010101010101011202140216DA :1038A0000218021C0200000000F01895198618B7D3 :0638B000189718E0180053 diff --git a/Builds/20160209_TGY160A.hex b/Builds/20160228_TGY160A.hex similarity index 100% rename from Builds/20160209_TGY160A.hex rename to Builds/20160228_TGY160A.hex diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino index 5b820d8..3dc3984 100644 --- a/FlightStab/FlightStab.ino +++ b/FlightStab/FlightStab.ino @@ -2196,7 +2196,7 @@ void stick_config(struct _stick_zone *psz) }; const int8_t param_ymax[] = { WING_RUDELE_2AIL, - MIXER_EPA_TRACK, + MIXER_EPA_MAX, // jrb 2016-02-28 MIXER_EPA_TRACK, MOUNT_ROTATE_90_RIGHT, STICK_GAIN_THROW_QUARTER, MAX_ROTATE_HIGH, From 7f01008bcfb79370fddbcbb88903c7b903a5e7f9 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Sun, 28 Feb 2016 11:55:46 -0500 Subject: [PATCH 26/29] Fix Stick Configuration - Mixer EPA Mode --- ...-08-21 Change Log.txt => 2016-02-28 Change Log.txt} | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) rename Docs/{2015-08-21 Change Log.txt => 2016-02-28 Change Log.txt} (94%) diff --git a/Docs/2015-08-21 Change Log.txt b/Docs/2016-02-28 Change Log.txt similarity index 94% rename from Docs/2015-08-21 Change Log.txt rename to Docs/2016-02-28 Change Log.txt index af3dd46..eefaa44 100644 --- a/Docs/2015-08-21 Change Log.txt +++ b/Docs/2016-02-28 Change Log.txt @@ -1,4 +1,12 @@ -2015-08-21 FlightStab Change Log +2016-02-28 FlightStab Change Log + +2016-02-28 +Fixed problem with Stick Configuration not being able to select MAX. + + +2016-02-09 +Throttle Channel had Wide Positive Pulse during initialization. + 2015-08-21 A problem was discovered with the 2015-08-18 release. An error in subtraction From 9ee2bca1907667235aa1c646f933a23c59c9070a Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 28 Aug 2017 09:18:02 -0400 Subject: [PATCH 27/29] Bug Fix SRXLH & SRXLM Firmware --- Aquastar/AVRootloader/AVR/AVRootloader.asm | 832 +++++ .../AVRootloader/AVR/AVRootloader.asmproj | 40 + Aquastar/AVRootloader/AVR/AVRootloader.atsln | 17 + Aquastar/AVRootloader/AVR/AVRootloader.inc | 394 +++ Aquastar/AVRootloader/AVR/AvrBuild.bat | 15 + Aquastar/AVRootloader/AVR/Crypt.inc | 259 ++ Aquastar/AVRootloader/AVR/Special.inc | 259 ++ .../AVR/default/AVRootloader_AQUASTAR.hex | 35 + .../AVR/default/AVRootloader_DLUX.hex | 35 + .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 + .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 + .../AVR/default/AVRootloader_TGY160A.hex | 35 + .../AVRootloader/Windows/AVRootloader.dev | 108 + .../AVRootloader/Windows/AVRootloader.exe | Bin 0 -> 798208 bytes .../AVRootloader/Windows/AVRootloader.ini | 85 + Aquastar/AVRootloader/readme.txt | 38 + Aquastar/Aquastar/Aquastar.ino | 868 +++++ Aquastar/Aquastar/FlightStab.h | 83 + .../Builds/20160209_AQUASTAR.hex | 0 .../Builds/20160209_DLUX.hex | 0 Aquastar/Builds/20160209_EAGLE_A3PRO.hex | 825 +++++ .../20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex | 0 Aquastar/Builds/20160209_FLIP_1_5.hex | 819 +++++ Aquastar/Builds/20160209_FLIP_1_5_CPPM.hex | 798 +++++ Aquastar/Builds/20160209_FLIP_1_5_SBUS.hex | 904 ++++++ .../Builds/20160209_FLIP_1_5_SPEKTRUM.hex | 880 +++++ Aquastar/Builds/20160209_FLIP_1_5_SRXLH.hex | 899 +++++ Aquastar/Builds/20160209_FLIP_1_5_SRXLM.hex | 899 +++++ Aquastar/Builds/20160209_MINI_MWC_CPPM.hex | 799 +++++ .../20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex | 794 +++++ Aquastar/Builds/20160209_MINI_MWC_SBUS.hex | 905 ++++++ .../Builds/20160209_MINI_MWC_SPEKTRUM.hex | 881 +++++ Aquastar/Builds/20160209_MINI_MWC_SRXLH.hex | 900 ++++++ Aquastar/Builds/20160209_MINI_MWC_SRXLM.hex | 900 ++++++ Aquastar/Builds/20160209_NANOWII.hex | 1031 ++++++ Aquastar/Builds/20160209_NANOWII_CPPM.hex | 1022 ++++++ Aquastar/Builds/20160209_NANOWII_SBUS.hex | 1123 +++++++ Aquastar/Builds/20160209_NANOWII_SPEKTRUM.hex | 1099 +++++++ Aquastar/Builds/20160209_NANOWII_SRXLH.hex | 1118 +++++++ Aquastar/Builds/20160209_NANOWII_SRXLM.hex | 1118 +++++++ Aquastar/Builds/20160209_RX3SM.hex | 828 +++++ Aquastar/Builds/20160209_RX3S_V1.hex | 828 +++++ Aquastar/Builds/20160209_RX3S_V1_CPPM.hex | 800 +++++ Aquastar/Builds/20160209_RX3S_V1_SBUS.hex | 911 ++++++ Aquastar/Builds/20160209_RX3S_V1_SPEKTRUM.hex | 887 +++++ Aquastar/Builds/20160209_RX3S_V2.hex | 830 +++++ .../20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 830 +++++ Aquastar/Builds/20160209_RX3S_V2_CPPM.hex | 804 +++++ Aquastar/Builds/20160209_RX3S_V2_SBUS.hex | 914 ++++++ Aquastar/Builds/20160209_RX3S_V2_SPEKTRUM.hex | 890 +++++ Aquastar/Builds/20160209_RX3S_V2_SRXLH.hex | 909 ++++++ Aquastar/Builds/20160209_RX3S_V2_SRXLM.hex | 909 ++++++ .../Builds/20160209_TGY160A.hex | 0 Aquastar/Builds/20160228_AQUASTAR.hex | 410 +++ Aquastar/Builds/20160228_DLUX.hex | 410 +++ .../Builds}/20160228_EAGLE_A3PRO.hex | 0 .../20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex | 751 +++++ .../Builds}/20160228_FLIP_1_5.hex | 0 .../Builds}/20160228_FLIP_1_5_CPPM.hex | 0 .../Builds}/20160228_FLIP_1_5_SBUS.hex | 0 .../Builds}/20160228_FLIP_1_5_SPEKTRUM.hex | 0 .../Builds}/20160228_FLIP_1_5_SRXLH.hex | 0 .../Builds}/20160228_FLIP_1_5_SRXLM.hex | 0 .../Builds}/20160228_MINI_MWC_CPPM.hex | 0 .../20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex | 0 .../Builds}/20160228_MINI_MWC_SBUS.hex | 0 .../Builds}/20160228_MINI_MWC_SPEKTRUM.hex | 0 .../Builds}/20160228_MINI_MWC_SRXLH.hex | 0 .../Builds}/20160228_MINI_MWC_SRXLM.hex | 0 .../Builds}/20160228_NANOWII.hex | 0 .../Builds}/20160228_NANOWII_CPPM.hex | 0 .../Builds}/20160228_NANOWII_SBUS.hex | 0 .../Builds}/20160228_NANOWII_SPEKTRUM.hex | 0 .../Builds}/20160228_NANOWII_SRXLH.hex | 0 .../Builds}/20160228_NANOWII_SRXLM.hex | 0 .../Builds}/20160228_RX3SM.hex | 0 .../Builds}/20160228_RX3S_V1.hex | 0 .../Builds}/20160228_RX3S_V1_CPPM.hex | 0 .../Builds}/20160228_RX3S_V1_SBUS.hex | 0 .../Builds}/20160228_RX3S_V1_SPEKTRUM.hex | 0 .../Builds}/20160228_RX3S_V2.hex | 0 .../20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 0 .../Builds}/20160228_RX3S_V2_CPPM.hex | 0 .../Builds}/20160228_RX3S_V2_SBUS.hex | 0 .../Builds}/20160228_RX3S_V2_SPEKTRUM.hex | 0 .../Builds}/20160228_RX3S_V2_SRXLH.hex | 0 .../Builds}/20160228_RX3S_V2_SRXLM.hex | 0 Aquastar/Builds/20160228_TGY160A.hex | 508 +++ Aquastar/CMakeLists.txt | 134 + Aquastar/FlightStab/FlightStab.h | 83 + Aquastar/FlightStab/FlightStab.ino | 2877 +++++++++++++++++ Aquastar/FlightStab/OneWireSerial.ino | 213 ++ Aquastar/FlightStab/SerialRX.ino | 346 ++ Aquastar/FlightStabGUI/FlightStabGUI.pde | 512 +++ Aquastar/cmake/ArduinoToolchain.cmake | 76 + Aquastar/cmake/Platform/Arduino.cmake | 2195 +++++++++++++ Builds/20170823_AQUASTAR.hex | 410 +++ Builds/20170823_DLUX.hex | 410 +++ Builds/20170823_EAGLE_A3PRO.hex | 825 +++++ .../20170823_EAGLE_A3PRO_NO_STICKCONFIG.hex | 751 +++++ Builds/20170823_FLIP_1_5.hex | 819 +++++ Builds/20170823_FLIP_1_5_CPPM.hex | 798 +++++ Builds/20170823_FLIP_1_5_SBUS.hex | 904 ++++++ Builds/20170823_FLIP_1_5_SPEKTRUM.hex | 880 +++++ Builds/20170823_FLIP_1_5_SRXLH.hex | 900 ++++++ Builds/20170823_FLIP_1_5_SRXLM.hex | 900 ++++++ Builds/20170823_MINI_MWC_CPPM.hex | 799 +++++ Builds/20170823_MINI_MWC_CPPM_EXTERNAL_RX.hex | 794 +++++ Builds/20170823_MINI_MWC_SBUS.hex | 905 ++++++ Builds/20170823_MINI_MWC_SPEKTRUM.hex | 881 +++++ Builds/20170823_MINI_MWC_SRXLH.hex | 901 ++++++ Builds/20170823_MINI_MWC_SRXLM.hex | 901 ++++++ Builds/20170823_NANOWII.hex | 1031 ++++++ Builds/20170823_NANOWII_CPPM.hex | 1022 ++++++ Builds/20170823_NANOWII_SBUS.hex | 1123 +++++++ Builds/20170823_NANOWII_SPEKTRUM.hex | 1099 +++++++ Builds/20170823_NANOWII_SRXLH.hex | 1119 +++++++ Builds/20170823_NANOWII_SRXLM.hex | 1119 +++++++ Builds/20170823_RX3SM.hex | 828 +++++ Builds/20170823_RX3S_V1.hex | 828 +++++ Builds/20170823_RX3S_V1_CPPM.hex | 800 +++++ Builds/20170823_RX3S_V1_SBUS.hex | 911 ++++++ Builds/20170823_RX3S_V1_SPEKTRUM.hex | 887 +++++ Builds/20170823_RX3S_V2.hex | 830 +++++ Builds/20170823_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 830 +++++ Builds/20170823_RX3S_V2_CPPM.hex | 804 +++++ Builds/20170823_RX3S_V2_SBUS.hex | 914 ++++++ Builds/20170823_RX3S_V2_SPEKTRUM.hex | 890 +++++ Builds/20170823_RX3S_V2_SRXLH.hex | 910 ++++++ Builds/20170823_RX3S_V2_SRXLM.hex | 910 ++++++ Builds/20170823_TGY160A.hex | 508 +++ Docs/2015-08-21 Change Log.txt | 104 + FlightStab/SerialRX.ino | 2 + README.md | 21 + 134 files changed, 70010 insertions(+) create mode 100644 Aquastar/AVRootloader/AVR/AVRootloader.asm create mode 100644 Aquastar/AVRootloader/AVR/AVRootloader.asmproj create mode 100644 Aquastar/AVRootloader/AVR/AVRootloader.atsln create mode 100644 Aquastar/AVRootloader/AVR/AVRootloader.inc create mode 100644 Aquastar/AVRootloader/AVR/AvrBuild.bat create mode 100644 Aquastar/AVRootloader/AVR/Crypt.inc create mode 100644 Aquastar/AVRootloader/AVR/Special.inc create mode 100644 Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex create mode 100644 Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex create mode 100644 Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex create mode 100644 Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex create mode 100644 Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex create mode 100644 Aquastar/AVRootloader/Windows/AVRootloader.dev create mode 100644 Aquastar/AVRootloader/Windows/AVRootloader.exe create mode 100644 Aquastar/AVRootloader/Windows/AVRootloader.ini create mode 100644 Aquastar/AVRootloader/readme.txt create mode 100644 Aquastar/Aquastar/Aquastar.ino create mode 100644 Aquastar/Aquastar/FlightStab.h rename Builds/20160228_AQUASTAR.hex => Aquastar/Builds/20160209_AQUASTAR.hex (100%) rename Builds/20160228_DLUX.hex => Aquastar/Builds/20160209_DLUX.hex (100%) create mode 100644 Aquastar/Builds/20160209_EAGLE_A3PRO.hex rename Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex => Aquastar/Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex (100%) create mode 100644 Aquastar/Builds/20160209_FLIP_1_5.hex create mode 100644 Aquastar/Builds/20160209_FLIP_1_5_CPPM.hex create mode 100644 Aquastar/Builds/20160209_FLIP_1_5_SBUS.hex create mode 100644 Aquastar/Builds/20160209_FLIP_1_5_SPEKTRUM.hex create mode 100644 Aquastar/Builds/20160209_FLIP_1_5_SRXLH.hex create mode 100644 Aquastar/Builds/20160209_FLIP_1_5_SRXLM.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_CPPM.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_SBUS.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_SPEKTRUM.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_SRXLH.hex create mode 100644 Aquastar/Builds/20160209_MINI_MWC_SRXLM.hex create mode 100644 Aquastar/Builds/20160209_NANOWII.hex create mode 100644 Aquastar/Builds/20160209_NANOWII_CPPM.hex create mode 100644 Aquastar/Builds/20160209_NANOWII_SBUS.hex create mode 100644 Aquastar/Builds/20160209_NANOWII_SPEKTRUM.hex create mode 100644 Aquastar/Builds/20160209_NANOWII_SRXLH.hex create mode 100644 Aquastar/Builds/20160209_NANOWII_SRXLM.hex create mode 100644 Aquastar/Builds/20160209_RX3SM.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V1.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V1_CPPM.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V1_SBUS.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V1_SPEKTRUM.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_CPPM.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_SBUS.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_SPEKTRUM.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_SRXLH.hex create mode 100644 Aquastar/Builds/20160209_RX3S_V2_SRXLM.hex rename Builds/20160228_TGY160A.hex => Aquastar/Builds/20160209_TGY160A.hex (100%) create mode 100644 Aquastar/Builds/20160228_AQUASTAR.hex create mode 100644 Aquastar/Builds/20160228_DLUX.hex rename {Builds => Aquastar/Builds}/20160228_EAGLE_A3PRO.hex (100%) create mode 100644 Aquastar/Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5.hex (100%) rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5_CPPM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5_SBUS.hex (100%) rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5_SPEKTRUM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5_SRXLH.hex (100%) rename {Builds => Aquastar/Builds}/20160228_FLIP_1_5_SRXLM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_CPPM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_SBUS.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_SPEKTRUM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_SRXLH.hex (100%) rename {Builds => Aquastar/Builds}/20160228_MINI_MWC_SRXLM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII_CPPM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII_SBUS.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII_SPEKTRUM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII_SRXLH.hex (100%) rename {Builds => Aquastar/Builds}/20160228_NANOWII_SRXLM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_RX3SM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_RX3S_V1.hex (100%) rename {Builds => Aquastar/Builds}/20160228_RX3S_V1_CPPM.hex (100%) rename {Builds => Aquastar/Builds}/20160228_RX3S_V1_SBUS.hex (100%) rename {Builds => 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Aquastar/cmake/Platform/Arduino.cmake create mode 100644 Builds/20170823_AQUASTAR.hex create mode 100644 Builds/20170823_DLUX.hex create mode 100644 Builds/20170823_EAGLE_A3PRO.hex create mode 100644 Builds/20170823_EAGLE_A3PRO_NO_STICKCONFIG.hex create mode 100644 Builds/20170823_FLIP_1_5.hex create mode 100644 Builds/20170823_FLIP_1_5_CPPM.hex create mode 100644 Builds/20170823_FLIP_1_5_SBUS.hex create mode 100644 Builds/20170823_FLIP_1_5_SPEKTRUM.hex create mode 100644 Builds/20170823_FLIP_1_5_SRXLH.hex create mode 100644 Builds/20170823_FLIP_1_5_SRXLM.hex create mode 100644 Builds/20170823_MINI_MWC_CPPM.hex create mode 100644 Builds/20170823_MINI_MWC_CPPM_EXTERNAL_RX.hex create mode 100644 Builds/20170823_MINI_MWC_SBUS.hex create mode 100644 Builds/20170823_MINI_MWC_SPEKTRUM.hex create mode 100644 Builds/20170823_MINI_MWC_SRXLH.hex create mode 100644 Builds/20170823_MINI_MWC_SRXLM.hex create mode 100644 Builds/20170823_NANOWII.hex create mode 100644 Builds/20170823_NANOWII_CPPM.hex create mode 100644 Builds/20170823_NANOWII_SBUS.hex create mode 100644 Builds/20170823_NANOWII_SPEKTRUM.hex create mode 100644 Builds/20170823_NANOWII_SRXLH.hex create mode 100644 Builds/20170823_NANOWII_SRXLM.hex create mode 100644 Builds/20170823_RX3SM.hex create mode 100644 Builds/20170823_RX3S_V1.hex create mode 100644 Builds/20170823_RX3S_V1_CPPM.hex create mode 100644 Builds/20170823_RX3S_V1_SBUS.hex create mode 100644 Builds/20170823_RX3S_V1_SPEKTRUM.hex create mode 100644 Builds/20170823_RX3S_V2.hex create mode 100644 Builds/20170823_RX3S_V2_AILR_IN_ON_RUD_IN.hex create mode 100644 Builds/20170823_RX3S_V2_CPPM.hex create mode 100644 Builds/20170823_RX3S_V2_SBUS.hex create mode 100644 Builds/20170823_RX3S_V2_SPEKTRUM.hex create mode 100644 Builds/20170823_RX3S_V2_SRXLH.hex create mode 100644 Builds/20170823_RX3S_V2_SRXLM.hex create mode 100644 Builds/20170823_TGY160A.hex create mode 100644 Docs/2015-08-21 Change Log.txt create mode 100644 README.md diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.asm b/Aquastar/AVRootloader/AVR/AVRootloader.asm new file mode 100644 index 0000000..136c814 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/AVRootloader.asm @@ -0,0 +1,832 @@ +; copyright HR + +.nolist + +#if defined(AQUASTAR) || defined(DLUX) +.include "m8def.inc" ; ATmega8 +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(TGY160A) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 +#endif + +#if defined(RX3S_V1V2V3_AILR_OUT) +.include "m168PAdef.inc" ; ATmega168PA +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD7 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD7 +#endif + +#if defined(MINI_MWC_A0) +.include "m328Pdef.inc" ; ATmega328P +.equ RX_PORT = PORTC ; Receive port and pin +.equ RX = PC0 +.equ TX_PORT = PORTC ; Transmit port and pin +.equ TX = PC0 +#endif + +; supported devices +;.include "can128def.inc" ; AT90CAN128 +;.include "can32def.inc" ; AT90CAN32 +;.include "can64def.inc" ; AT90CAN64 +;.include "m1280def.inc" ; ATmega1280 +;.include "m1281def.inc" ; ATmega1281 +;.include "m1284Pdef.inc" ; ATmega1284P +;.include "m128Adef.inc" ; ATmega128A +;.include "m128def.inc" ; ATmega128 +;.include "m161def.inc" ; ATmega161 +;.include "m162def.inc" ; ATmega162 +;.include "m163def.inc" ; ATmega163 +;.include "m164PAdef.inc" ; ATmega164PA +;.include "m164Pdef.inc" ; ATmega164P +;.include "m165def.inc" ; ATmega165 +;.include "m165Pdef.inc" ; ATmega165P +;.include "m168def.inc" ; ATmega168 +;.include "m168PAdef.inc" ; ATmega168PA +;.include "m168Pdef.inc" ; ATmega168P +;.include "m169def.inc" ; ATmega169 +;.include "m169Pdef.inc" ; ATmega169P +;.include "m16Adef.inc" ; ATmega16A +;.include "m16def.inc" ; ATmega16 +;.include "m16HVAdef.inc" ; ATmega16HVA +;.include "m16M1def.inc" ; ATmega16M1 +;.include "m16U2def.inc" ; ATmega16U2 +;.include "m16U4def.inc" ; ATmega16U4 +;.include "m2560def.inc" ; ATmega2560 +;.include "m2561def.inc" ; ATmega2561 +;.include "m323def.inc" ; ATmega323 +;.include "m324PAdef.inc" ; ATmega324PA +;.include "m324Pdef.inc" ; ATmega324P +;.include "m3250def.inc" ; ATmega3250 +;.include "m3250Pdef.inc" ; ATmega3250P +;.include "m325def.inc" ; ATmega325 +;.include "m325Pdef.inc" ; ATmega325P +;.include "m328Pdef.inc" ; ATmega328P +;.include "m3290def.inc" ; ATmega3290 +;.include "m3290Pdef.inc" ; ATmega3290P +;.include "m329def.inc" ; ATmega329 +;.include "m329Pdef.inc" ; ATmega329P +;.include "m32Adef.inc" ; ATmega32A +;.include "m32C1def.inc" ; ATmega32C1 +;.include "m32def.inc" ; ATmega32 +;.include "m32HVBdef.inc" ; ATmega32HVB +;.include "m32M1def.inc" ; ATmega32M1 +;.include "m32U2def.inc" ; ATmega32U2 +;.include "m32U4def.inc" ; ATmega32U4 +;.include "m32U6def.inc" ; ATmega32U6 +;.include "m406def.inc" ; ATmega406 +;.include "m48def.inc" ; ATmega48 +;.include "m48PAdef.inc" ; ATmega48PA +;.include "m48Pdef.inc" ; ATmega48P +;.include "m640def.inc" ; ATmega640 +;.include "m644def.inc" ; ATmega644 +;.include "m644Pdef.inc" ; ATmega644P +;.include "m6450def.inc" ; ATmega6450 +;.include "m645def.inc" ; ATmega645 +;.include "m6490def.inc" ; ATmega6490 +;.include "m649def.inc" ; ATmega649 +;.include "m64Adef.inc" ; ATmega64A +;.include "m64C1def.inc" ; ATmega64C1 +;.include "m64def.inc" ; ATmega64 +;.include "m64M1def.inc" ; ATmega64M1 +;.include "m8515def.inc" ; ATmega8515 +;.include "m8535def.inc" ; ATmega8535 +;.include "m88def.inc" ; ATmega88 +;.include "m88PAdef.inc" ; ATmega88PA +;.include "m88Pdef.inc" ; ATmega88P +;.include "m8Adef.inc" ; ATmega8A +;.include "m8def.inc" ; ATmega8 +;.include "m8HVAdef.inc" ; ATmega8HVA +;.include "pwm216def.inc" ; AT90PWM216 +;.include "pwm2Bdef.inc" ; AT90PWM2B +;.include "pwm2def.inc" ; AT90PWM2 +;.include "pwm316def.inc" ; AT90PWM316 +;.include "pwm324def.inc" ; AT90PWM324 +;.include "pwm3Bdef.inc" ; AT90PWM3B +;.include "pwm3def.inc" ; AT90PWM3 +;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used +;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used +;.include "tn167def.inc" ; ATtiny167 +;.include "tn2313def.inc" ; ATtiny2313 +;.include "tn24Adef.inc" ; ATtiny24A +;.include "tn24def.inc" ; ATtiny24 +;.include "tn25def.inc" ; ATtiny25 +;.include "tn261def.inc" ; ATtiny261 +;.include "tn43Udef.inc" ; ATtiny43U +;.include "tn44Adef.inc" ; ATtiny44A +;.include "tn44def.inc" ; ATtiny44 +;.include "tn45def.inc" ; ATtiny45 +;.include "tn461def.inc" ; ATtiny461 +;.include "tn48def.inc" ; ATtiny48 +;.include "tn84def.inc" ; ATtiny84 +;.include "tn85def.inc" ; ATtiny85 +;.include "tn861def.inc" ; ATtiny861 +;.include "tn87def.inc" ; ATtiny87 +;.include "tn88def.inc" ; ATtiny88 +;.include "usb1286def.inc" ; AT90USB1286 +;.include "usb1287def.inc" ; AT90USB1287 +;.include "usb162def.inc" ; AT90USB162 +;.include "usb646def.inc" ; AT90USB646 +;.include "usb647def.inc" ; AT90USB647 +;.include "usb82def.inc" ; AT90USB82 + +; unsupported devices, no self programming or sram to small +;.include "1200def.inc" ; AT90S1200 +;.include "2313def.inc" ; AT90S2313 +;.include "2323def.inc" ; AT90S2323 +;.include "2343def.inc" ; AT90S2343 +;.include "4414def.inc" ; AT90S4414 +;.include "4433def.inc" ; AT90S4433 +;.include "4434def.inc" ; AT90S4434 +;.include "8515def.inc" ; AT90S8515 +;.include "8535def.inc" ; AT90S8535 +;.include "AT86RF401def.inc" ; AT86RF401 +;.include "ATxmega128A1def.inc" ; ATxmega128A1 +;.include "ATxmega128A3def.inc" ; ATxmega128A3 +;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B +;.include "ATxmega256A3def.inc" ; ATxmega256A3 +;.include "ATxmega16A4def.inc" ; ATxmega16A4 +;.include "ATxmega32A4def.inc" ; ATxmega32A4 +;.include "ATxmega64A1def.inc" ; ATxmega64A1 +;.include "ATxmega64A3def.inc" ; ATxmega64A3 +;.include "m103def.inc" ; ATmega103 +;.include "tn10def.inc" ; ATtiny10 +;.include "tn11def.inc" ; ATtiny11 +;.include "tn12def.inc" ; ATtiny12 +;.include "tn15def.inc" ; ATtiny15 +;.include "tn22def.inc" ; ATtiny22 +;.include "tn26def.inc" ; ATtiny26 +;.include "tn28def.inc" ; ATtiny28 + + +.ifndef PageSize +.error "Device don't support Bootloader !" +.else + +#message "compile for" __PART_NAME__ + + +; set follow equ to 0/1 to de/activate.... +.equ UseBootMode = 0 ; 0 = start bootloader always + ; 1 = start on power up reset or by call from application + ; 2 = start on external reset or by call from application + ; 3 = start on watchdog reset or by call from application + ; 4 = start on USB reset or by call from application (only USB Devices) + ; 5 = start only by call from application (not recommended) + ; with these bootmodes you can shorten startup time for application + +.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) +.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) + +.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) +.equ UseE2Read = 1 ; EEPROM read command + +.equ UseCrypt = 0 ; cryptography (crypt.inc) +.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH +.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM + +.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) +.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) +.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) + +.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code +.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH +.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS +.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH +.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg + ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs + +.equ UseAutobaud = 1 ; Baudrate detection +.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. + ; First after BootDelay milliseconds inactivity the application is called. + ; Otherwise the timeout BootDelay defines an overall timeout for connection. + +.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) +.equ UseRS485 = 0 ; activate RS-485 Data Enable pin +.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) + +;;.equ RX_PORT = PORTD ; Receive port and pin +;;.equ RX = PD7 +;;.equ TX_PORT = PORTD ; Transmit port and pin +;;.equ TX = PD7 + +.if UseRS485 +.equ DE_PORT = PORTB ; DE enable pin of RS-485 +.equ DE = PB2 ; must be only set if RS485 DE is used +.endif + +.set XTAL = 16000000 ; +.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) +.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important +.set BootVersion = 6 ; Version 6 (must be not changed) +.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again + ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) + +;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode + +; now scroll down at end of source to configure BootSign and BootMsg + +.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) +.message "WARNING: actual settings compromise security !" +.endif + + +.include "AVRootloader.inc" +;.listmac +.list + +.org BootStart +init: cli + xwdr + clr zerol + + ldi cmdl, byte1(RamEnd) + xout SPL, cmdl +.ifdef SPH + ldi cmdl, byte2(RamEnd) + xout SPH, cmdl +.endif ; .if SPH + +.if UseSaveMCUSR || UseBootMode + xin paral, MCUSR +.if UseSaveMCUSR + push paral ; save old MCUSR ontop of stack +.endif ; .if UseSaveMCUSR +.endif ; .if UseSaveMCUSR || UseBootMode + +.if UseWDR +; xin cmdl, WDTCR +; ori cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdl, (1 << WDE) | (1 << WDCE) + ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) + xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT + xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout + xout WDTCR, cmdh +.elif UseBootMode + xout MCUSR, zerol +.endif ; .if UseWDR + +.if UseBootMode + andi paral, ResetFlags + breq bm1 +.ifdef BootModeFlag + sbrs paral, BootModeFlag +.endif + jmpapp +bm1: +.endif ; .if UseBootMode + +; initialize ports + cbi RX_DDR, RX +.if UseUartInvert && Use1Wire + cbi RX_PORT, RX +.else + sbi RX_PORT, RX +.endif ; .if UseUartInvert && Use1Wire +.if !Use1Wire +.if UseUartInvert + sbi TX_PORT, TX +.else + cbi TX_PORT, TX +.endif ; .if UseUartInvert + sbi TX_DDR, TX +.endif ; .if !Use11Wire + +.if UseRS485 + sbi DE_DDR, DE + de_0 +.endif ; .if UseRS485 + +; initialize crc polynom and RAMPZ + clr zeroh + ldi polyl, byte1(POLYNOM) + ldi polyh, byte2(POLYNOM) +.if BigMega + ldi cmdl, byte3(BootSign *2) + xout RAMPZ, cmdl +.else + xout RAMPZ, zerol +.endif ; .if BigMega + + +; baudrate and identifier scanning +.if UseResetDelay +abd: +.endif + ldi cmdl, byte3(BootDelay / 6) + ldi xh, byte2(BootDelay / 6) + ldi xl, byte1(BootDelay / 6) +.if !UseResetDelay +abd: +.endif + movw crcl, zerol + ldi parah, (BootMsg - BootSign) * 2 + ldi zl, byte1(BootSign * 2) + ldi zh, byte2(BootSign * 2) + +.if UseAutobaud +; baudrate detection +; autobaud based on P.Dannegger with some optimization +; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 + movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low +ab1: add yl, yl + adc yh, yh + movw cntl, zerol +ab2: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne ab2 + breq id2 ; exit +ab3: sbiw yl, 1 + adiw cntl, 2 + brcs exit + rx_1 + rjmp ab3 + asr yl + sbiw yl, BaudTolerance + adiw yl, BaudTolerance * 2 + movw yl, cntl + brcc ab1 + sbiw cntl, UartLoop + brcs ab1 + movw baudl, cntl +.else +; fixed baudrate + ldi yl, byte1(Baudrate) + ldi yh, byte2(Baudrate) + movw baudl, yl +.endif ; .if UseAutobaud + +; identifier (BootSign) scanning with timeout and checksum + +id1: sbiw xl, 1 ; UART getc with timeouts + sbc cmdl, zerol + rx_1 + brne id1 +id2: breq exit +id3: sbiw xl, 1 + sbc cmdl, zerol + rx_0 + brne id3 + breq exit + rcall getx + xlpm r0, z+ + cp r0, paral + brne abd + dec parah + brne id1 + rcall getw + brne abd + +; send info about chip/bootloader (BootMsg + BootInfo) +info: ldi parah, (BootInfo - BootMsg) * 2 +4 +in1: xlpm paral, z+ + rcall putc + dec parah + brne in1 + +.if UseVersioning +;send application software version (AppVersion) +vers: ldi parah, 4 + ldi zl, byte1(AppVerAddr) + ldi zh, byte2(AppVerAddr) +ve1: xlpm paral, z+ + rcall putc + dec parah + brne ve1 +.endif ; .if UseVersioning + + +; main commandloop +; 0=run/restart +; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM +; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive +main: ldi paral, SUCCESS +mai1: rcall putc + movw crcl, zerol + rcall getw + movw cmdl, paral + cpi cmdh, 0xFE + brlo mai2 + rcall getw + movw yl, paral + sbrc cmdh, 0 + movw zl, paral +.if BigMega + sbrc cmdh, 0 + mov zx, cmdl +.endif ; .if BigMega + +mai2: rcall getw +mai3: ldi paral, ERRORCRC + brne mai1 + cpi cmdh, 0xFE + breq setbuf + brsh main + cpse cmdh, zerol + rjmp mai4 +; run application/restart bootloader + cpse cmdl, zerol +exit: jmpapp + rjmp init + +; set buffer +setbuf: +.if UseCrypt + clr flag + cpi cmdl, 0xFE + brlo set3 + bst cmdl, 0 + ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 + ldi zl, byte1(SRAM_START) + ldi zh, byte2(SRAM_START) + movw xl, feedl + adiw xl, 8 ; last feedback + clr r0 +set1: brtc set2 + ld r0, x+ +set2: st z+, r0 + dec cnt + brne set1 +.endif ; .if UseCrypt + +set3: ldi xl, byte1(SRAM_START + 16) + ldi xh, byte2(SRAM_START + 16) + movw sraml, xl +.if UseSRAM + cpi cmdl, 1 + brne set4 + movw xl, zl +.endif ; .if UseSRAM + +set4: rcall getc + st x+, paral + sbiw yl, 1 + brne set4 +.if !UseCrypt + inc cmdh + rjmp mai2 +.else + rcall getw + brne mai3 + ori flag, 0x01 +set5: + cpi cmdl, 0xFE + brlo proB ; rjmp main + rjmp decrypt +.endif ; .if !UseCrypt + +mai4: cpi cmdh, 3 + brsh mai5 +; program/erase + bst cmdh, 0 +prog: ldi paral, ERRORPROG +.if UseCrypt + brtc pro1 +.if UseCryptFLASH + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptFLASH + brlo pro8 +.endif ; .if UseCrypt + +pro1: movw yl, sraml +pro2: cpi zl, byte1(BootStart *2) + ldi parah, byte2(BootStart *2) + cpc zh, parah +.if BigMega + xout RAMPZ, zx + ldi parah, byte3(BootStart *2) + cpc zx, parah +.endif ; .if BigMega + brsh pro8 + + ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + brtc pro5 + + ldi cntl, (1 << SPMEN) + ldi cnt, pagesize +pro4: ld r0, y+ + ld r1, y+ +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + + adiw zl, 2 + dec cnt + brne pro4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) + subi yl, byte1(PageSize *2) + sbci yh, byte2(PageSize *2) + + ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page +.if BLS + rcall dospm +.else + xout SPMCSR, cntl + spm +.endif ; .if BLS + +pro5: +.if BLS +.ifdef RWWSRE + ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section + rcall dospm +.endif ; .if RWWSRE +.endif ; .if BLS + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + ldi cnt, byte1(pagesize * 2) + ldi paral, ERRORVERIFY + ldi parah, 0xFF +pro6: xlpm r0, z+ + brtc pro7 + ld parah, y+ +pro7: cpse parah, r0 +pro8: rjmp mai1 + dec cnt + brne pro6 + +.if BigMega + cp zl, zerol + cpc zh, zeroh + brne pro9 + inc zx +.endif ; .if BigMega + +pro9: brtc proA + cp yl, xl + cpc yh, xh + brlo pro2 + brne pro8 +proA: dec cmdl + brne prog +proB: rjmp main + +mai5: +.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) + breq mai8 +.elif UseVerify + brne mai6 +veri: ldi paral, ERRORVERIFY +ver1: movw yl, sraml +ver2: ld r0, y+ +.if BigMega + xout RAMPZ, zx + xlpm r1, z + adiw z, 1 + adc zx, zerol +.else + xlpm r1, z+ +.endif ; .if BigMega + cpse r0, r1 + rjmp mai1 + cp yl, xl + cpc yh, xh + brne ver2 + dec cmdl + brne ver1 + rjmp main +.endif ; .if UseVerify + +mai6: +.if UseE2Read && UseE2Write + cpi cmdh, 6 + brsh mai7 + bst cmdh, 0 +.if UseCrypt + brtc ee1 + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + brts ee3 + sbi EECR, EERE + in paral, EEDR + rcall putp + rjmp ee5 +ee3: ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee4: xwdr + sbic EECR, EEWE + rjmp ee4 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 +ee5: dec cmdl + brne ee1 + brts ee6 + rcall putw +ee6: rjmp main +.elif UseE2Read + cpi cmdh, 5 + breq maiY + brsh mai7 +ee1: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + sbi EECR, EERE + in paral, EEDR + rcall putp + dec cmdl + brne ee1 + rcall putw + rjmp main +.elif UseE2Write + cpi cmdh, 5 + brlo maiY + brne mai7 +.if UseCrypt + ldi paral, ERRORPROG +.if UseCryptE2 + cpi flag, 3 +.else + cpi flag, 1 +.endif ; .if UseCryptE2 + brlo maiZ +.endif ; .if UseCrypt + +ee1: ldi paral, ERRORVERIFY + movw yl, sraml +ee2: xout EEARL, zl + xout EEARH, zh + adiw zl, 1 + ld r0, y+ + xout EEDR, r0 + sbi EECR, EEMWE + sbi EECR, EEWE +ee3: xwdr + sbic EECR, EEWE + rjmp ee3 + sbi EECR, EERE + in r1, EEDR + cpse r1, r0 + rjmp maiZ + cp yl, xl + cpc yh, xh + brne ee2 + dec cmdl + brne ee1 + rjmp main +.endif ;.elif UseE2Write + +mai7: +.if UseSRAM +.if !UseE2Read || !UseE2Write + cpi cmdh, 6 +.endif ; .if !UseE2Read || !UseE2Write + + brne mai8 +sram: ld paral, z+ + rcall putp + dec cmdl + brne sram + rcall putw + rjmp main +.endif ; .if UseSRAM + +mai8: +; here new command #7 + +maiY: ldi paral, ERRORCOMMAND +maiZ: rjmp mai1 + + +; send char with crc +.if UseE2Read || UseSRAM +putw: movw paral, crcl + rcall putc + mov paral, parah +putp: eor crcl, paral + ldi cnt, 8 +put1: lsr crch + ror crcl + brcc put2 + eor crch, polyh + eor crcl, polyl +put2: dec cnt + brne put1 +.endif ; .if UseE2Read || UseSRAM + +; send char +putc: xwdr + de_1 + rcall waitf + rcall waitf + ldi cnt, 10 + com paral +put3: tx_out ; 1 + rcall waitf ; 15 + lsr paral ; 1 + brcs put4 ; 1 + tx_0 ; 1 +put4: rcall put5 ; 7 + dec cnt ; 1 + brne put3 ; 2 = 29 + baud +put5: ret + +; receive char/word +getw: rcall getc +getm: mov parah, paral +getc: xwdr + de_0 +get5: rx_1 + rjmp get5 +get1: rx_0 + rjmp get1 +getx: ldi cnt, 8 + movw cntl, baudl + lsr cnth + ror cntl + rcall waith +get2: rcall waitf ; 15 + baud + lsr paral ; 1 + rx_0 ; 1 + ori paral, 0x80 ; 1 + sbrc paral, 7 ; 1 + eor crcl, polyl ; 1 + lsr crch ; 1 + ror crcl ; 1 + brcc get3 ; 1 + eor crch, polyh ; 1 +get3: brcc get4 ; 1 + eor crcl, polyl ; 1 +get4: dec cnt ; 1 + brne get2 ; 2 = 29 + baud + eor crcl, crch + eor crcl, crch + ret + +; UART delays ; by P.Dannegger +waitf: movw cntl, baudl ; 1 +waith: sbiw cntl, 4 ; 2 + brcc waith ; 2/1 + cpi cntl, 0xFD ; 1 + brcs wait1 ; 2/1 (2) + breq wait1 ; 2/1 (3) + cpi cntl, 0xFF ; 1 + breq wait1 ; 2/1 (4/5) +wait1: tx_1 ; 1 + ret ; 4 + 3 (rcall) = 15 + +.if UseCrypt +.include "Crypt.inc" +.endif ; .if UseCrypt + + +BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini +BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars +BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed + +.if UseCrypt +; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature +BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC +.endif ; .if UseCrypt + + +.include "Special.inc" + +.endif ; .ifndef PageSize -> end of source + + diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.asmproj b/Aquastar/AVRootloader/AVR/AVRootloader.asmproj new file mode 100644 index 0000000..6676d6b --- /dev/null +++ b/Aquastar/AVRootloader/AVR/AVRootloader.asmproj @@ -0,0 +1,40 @@ + + + + 2.0 + 6.0 + com.Atmel.AVRAssembler + 52202416-41a7-4c61-892b-f36132641d3c + none + ATmega168PA + AVRootloader + .obj + $(MSBuildProjectDirectory)\$(Configuration) + ASSEMBLY + Executable + Native + + true + false + + 0 + $(MSBuildProjectDirectory)\AVRootloader.asm + 3.5.0 + + + bin\default\ + + + True + Error + ($IncludeFile) + + + + + + + compile + + + \ No newline at end of file diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.atsln b/Aquastar/AVRootloader/AVR/AVRootloader.atsln new file mode 100644 index 0000000..4b6a147 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/AVRootloader.atsln @@ -0,0 +1,17 @@ + +Microsoft Visual Studio Solution File, Format Version 11.00 +# Atmel Studio Solution File, Format Version 11.00 +Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + default|AVR = default|AVR + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR + {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.inc b/Aquastar/AVRootloader/AVR/AVRootloader.inc new file mode 100644 index 0000000..70a8bee --- /dev/null +++ b/Aquastar/AVRootloader/AVR/AVRootloader.inc @@ -0,0 +1,394 @@ +; copyright HR + +.equ RX_DDR = RX_PORT -1 +.equ RX_PIN = RX_PORT -2 +.equ TX_DDR = TX_PORT -1 +.equ TX_PIN = TX_PORT -2 + +.if UseRS485 +.equ DE_DDR = DE_PORT -1 +.endif + +.if RX_PORT == TX_PORT && RX == TX +.set Use1Wire = 1 +.else +.set Use1Wire = 0 +.endif ; .if RX_PORT == TX_PORT && RX == TX + +.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed +.equ BaudTolerance = 3 + +.if !UseAutobaud +.set Baudrate = XTAL / BootBaudrate - UartLoop +.endif ; .if !UseAutobaud + +.set SUCCESS = 0x30 +.set ERRORVERIFY = 0xC0 +.set ERRORCOMMAND = 0xC1 +.set ERRORCRC = 0xC2 +.set ERRORBOUNDS = 0xC3 +.set ERRORCRYPT = 0xC4 +.set ERRORPROG = 0xC5 +.set ERRORVERSION = 0xC6 + +.if UseCrypt +.set SUCCESS = SUCCESS | 0x01 +.if UseCryptFLASH +.set SUCCESS = SUCCESS | 0x02 +.endif ; .if UseCryptFLASH +.if UseCryptE2 +.set SUCCESS = SUCCESS | 0x04 +.endif ; .if UseCryptE2 +.endif ; .if UseCrypt +.if UseVersioning +.set SUCCESS = SUCCESS | 0x08 +.endif ; .if UseVersioning + +.equ POLYNOM = 0xA001 ; CRC Polynom + +.def feedl = r4 ; feedback pointer +.def feedh = r5 +.def zx = r7 ; RAMPZ +.def crcl = r8 ; CRC 16Bit +.def crch = r9 +.def zerol = r10 ; zero +.def zeroh = r11 +.def baudl = r12 ; baudrate +.def baudh = r13 +.def sraml = r14 ; SRAM buffer start +.def sramh = r15 +.def paral = r16 ; params for UART +.def parah = r17 +.def polyl = r18 ; Polynom CRC +.def polyh = r19 +.def cnt = r20 ; counter in UART loops +.def flag = r21 ; flag for crypto +.def cmdl = r22 ; commands +.def cmdh = r23 +.def cntl = r24 ; temp/baudrate +.def cnth = r25 + +.if FlashEnd > 0x7FFF +.set BigMega = 1 ; ATMega with big FLASH +.else +.set BigMega = 0 +.endif ; .if FlashEnd > 0x7FFF + +.ifdef FirstBootStart +.set BLS = 1 ; Bootloader Section supported +.else +.set BLS = 0 +.endif ; .ifdef FirstBootStart + +; calculate Bootloader start address +.ifdef FirstBootStart +.set FirstBoot = FirstBootStart +.else +.set FirstBoot = FlashEnd +1 +.endif ; .ifdef FirstBootStart + +.ifdef SecondBootStart +.set SecondBoot = SecondBootStart +.else +.set SecondBoot = FlashEnd +1 +.endif ; .ifdef SecondBootStart + +.ifdef ThirdBootStart +.set ThirdBoot = ThirdBootStart +.else +.set ThirdBoot = FlashEnd +1 +.endif ; .ifdef ThirdBootStart + +.ifdef FourthBootStart +.set FourthBoot = FourthBootStart +.else +.set FourthBoot = FlashEnd +1 +.endif ; .ifdef FourthBootStart + +.if BootCodeSize +.if BLS +.set FlashSize = FlashEnd +1 +.if FlashSize - FirstBoot >= BootCodeSize >> 1 +.equ BootStart = FirstBoot +.message "Please program Boot Fuse to First Boot Start !" +.elif FlashSize - SecondBoot >= BootCodeSize >> 1 +.equ BootStart = SecondBoot +.message "Please program Boot Fuse to Second Boot Start !" +.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 +.equ BootStart = ThirdBoot +.message "Please program Boot Fuse to Third Boot Start !" +.elif FlashSize - FourthBoot >= BootCodeSize >> 1 +.equ BootStart = FourthBoot +.message "Please program Boot Fuse to Fourth Boot Start !" +.else +.equ BootStart = 0 +.error "BootStart is undefinied !" +.endif ; .if FlashSize ... +.else +.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 +.equ BootStart = FlashSize - FlashSize % PageSize +.message "Compile Bootloader without Boot Section !" +.endif ; .if BLS +.else +.if (FLASHEND > 1023) +.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 +.else +.equ BootStart = 0 +.endif +.message "Please set used CSEG to BootSize !" +.endif ; .if BootCodeSize + +; fix bug with parsing HEX files in AVRStudio 4.16 +.if BootCodeSize +.org 0 +.db 0xFF, 0xFF +.endif + +.set BootPages = (FlashEnd +1 - BootStart) / PageSize + +.if UseVersioning +.if BLS +.set AppVerAddr = BootStart * 2 - 4 +.else +.set AppVerAddr = BootStart * 2 - 6 +.endif ; .if BLS +.endif ; .if UseVersioning + +; examine special handling for SPM +.if BLS && (SIGNATURE_000 == 0x1e) +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 +.set SPMspecial = 1 +.endif +.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 +.set SPMspecial = 2 +.endif +.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 +.set SPMspecial = 3 +.endif +.endif + +; BootMode flags +.if UseBootMode == 1 +.set BootModeFlag = PORF +.elif UseBootMode == 2 +.set BootModeFlag = EXTRF +.elif UseBootMode == 3 +.set BootModeFlag = WDRF +.elif UseBootMode == 4 +.ifndef USBRF +.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" +.else +.set BootModeFlag = USBRF +.endif +.endif + +.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) +.ifdef BORF +.set ResetFlags = ResetFlags | (1 << BORF) +.endif +.ifdef JTRF +.set ResetFlags = ResetFlags | (1 << JTRF) +.endif +.ifdef BODRF +.set ResetFlags = ResetFlags | (1 << BODRF) +.endif +.ifdef OCDRF +.set ResetFlags = ResetFlags | (1 << OCDRF) +.endif +.ifdef USBRF +.set ResetFlags = ResetFlags | (1 << USBRF) +.endif + + +; some redefinition of register names or bits +.ifndef MCUSR +.ifndef MCUCSR +.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" +.else +.equ MCUSR = MCUCSR +.endif +.endif ; .ifndef MCUCSR + +.ifndef WDCE +.ifndef WDDE +.equ WDCE = WDTOE +.else +.equ WDCE = WDDE +.endif ; .ifndef WDDE +.endif ; .ifndef WDCE + +.ifndef WDTCR +.equ WDTCR = WDTCSR +.endif ; .ifndef WDTCR + +.ifndef SPMCSR +.equ SPMCSR = SPMCR +.endif ; .ifndef SPMCSR + +.ifndef RWWSRE +.ifdef ASRE +.equ RWWSRE = ASRE +.endif ; .ifdef ASRE +.endif ; .ifndef RWWSRE + +.ifndef SPMEN +.equ SPMEN = SELFPRGEN +.endif ; .ifndef SPMEN + + +.ifndef EEMWE +.equ EEMWE = EEMPE +.endif ; .ifndef EEMWE + +.ifndef EEWE +.equ EEWE = EEPE +.endif ; .ifndef EEWE + +.ifndef EEARL +.equ EEARL = EEAR +.endif ; .ifndef EEARL + +; macros +.macro xout +.ifdef @0 +.if @0 > 0x3F + sts @0, @1 +.else + out @0, @1 +.endif +.endif +.endmacro + +.macro xin +.ifdef @1 +.if @1 > 0x3F + lds @0, @1 +.else + in @0, @1 +.endif +.endif +.endmacro + +.macro xwdr +.if UseWDR + wdr +.endif ; .if UseWDR +.endmacro + +.macro xlpm +.if BigMega + elpm @0, @1 +.else + lpm @0, @1 +.endif +.endmacro + +.macro jmpapp +.if BLS +#if defined(AQUASTAR) || defined(DLUX) + rjmp FLASHEND +1 ; run application +#else + jmp FLASHEND +1 ; run application +#endif +.elif BootStart + rjmp BootStart -1 ; run application +.else + rjmp BootStart ; dummy +.endif ; .if BLS +.endmacro + +.macro bjmp +.if @1 + rjmp @0 +.else + ret +.endif +.endmacro + +.macro rx_0 +.if UseUartInvert + sbic RX_PIN, RX +.else + sbis RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + +.macro rx_1 +.if UseUartInvert + sbis RX_PIN, RX +.else + sbic RX_PIN, RX +.endif ; .if UseUartInvert +.endmacro + + +.macro tx_1 + +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx1 = (1 << RX) +.else +.set tx1 = (1 << TX) | (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx1 = 0 +.else +.set tx1 = (1 << TX) +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx1 = tx1 | (1 << DE) +.endif +.endif + ldi cnth, tx1 +.endmacro + +.macro tx_0 +.if (RX != TX) && (RX_PORT == TX_PORT) +.if UseUartInvert +.set tx0 = (1 << TX) | (1 << RX) +.else +.set tx0 = (1 << RX) +.endif ; .if UseUartInvert +.elif UseUartInvert && !Use1Wire +.set tx0 = (1 << TX) +.else +.set tx0 = 0 +.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) +.ifdef DE_PORT +.if !UseRS485Invert && (DE_PORT == TX_PORT) +.set tx0 = tx0 | (1 << DE) +.endif +.endif + ldi cnth, tx0 +.endmacro + + +.macro tx_out +.if Use1Wire + xout TX_DDR, cnth +.else + xout TX_PORT, cnth +.endif ; .if Use1Wire +.endmacro + +.macro de_0 +.if UseRS485 +.if UseRS485Invert + sbi DE_PORT, DE +.else + cbi DE_PORT, DE +.endif +.endif +.endmacro + +.macro de_1 +.if UseRS485 +.if UseRS485Invert + cbi DE_PORT, DE +.else + sbi DE_PORT, DE +.endif +.endif +.endmacro + diff --git a/Aquastar/AVRootloader/AVR/AvrBuild.bat b/Aquastar/AVRootloader/AVR/AvrBuild.bat new file mode 100644 index 0000000..cdc98e0 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/AvrBuild.bat @@ -0,0 +1,15 @@ +@ECHO OFF +set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler + +call :buildhex AQUASTAR +call :buildhex DLUX +call :buildhex TGY160A +call :buildhex RX3S_V1V2V3_AILR_OUT +call :buildhex MINI_MWC_A0 +goto :eof + +:buildhex +set OUT=default\AVRootloader_%~1 +echo %OUT% +"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" +goto :eof \ No newline at end of file diff --git a/Aquastar/AVRootloader/AVR/Crypt.inc b/Aquastar/AVRootloader/AVR/Crypt.inc new file mode 100644 index 0000000..74c73fd --- /dev/null +++ b/Aquastar/AVRootloader/AVR/Crypt.inc @@ -0,0 +1,259 @@ +; copyright HR +; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code +.nolist + +.undef feedl +.undef feedh +.undef crcl +.undef crch +.undef paral +.undef parah +.undef polyl +.undef polyh +.undef zx +.undef cmdl +.undef cmdh +.undef cntl +.undef cnth + +.def a0 = r0 +.def a1 = r1 +.def a2 = r2 +.def a3 = r3 +.def b0 = r4 ; feedl +.def b1 = r5 ; feedh +.def b2 = r6 +.def b3 = r7 ; zx +.def t0 = r8 ; crcl +.def t1 = r9 ; crch +;.def zerol = r10 ; zerol +;.def zeroh = r11 ; zeroh +;.def baudl = r12 ; baudl +;.def baudh = r13 ; baudl +;.def sraml = r14 ; SRAM buffer start +;.def sramh = r15 +.def s0 = r16 ; paral +.def s1 = r17 ; parah +.def s2 = r18 ; polyl, restored +.def s3 = r19 ; polyh, restored +;.def cnt = r20 ; cnt +;.def flag = r21 ; flag +.def round = r22 ; cmdl +.def t4 = r23 ; cmdh +.def t2 = r24 ; cntl +.def t3 = r25 ; cnth +;.def XL = r26 ; buffer_endl +;.def XH = r27 ; buffer_endh +;.def YL = r28 ; unused +;.def YH = r29 ; unused +;.def ZL = r30 ; overwritten Address +;.def ZH = r31 ; +.list + + +; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup +; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback +; X points after buffer +; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption +; cycles: +; 698 * 8 Bytes -1 = 5583 one data block +; + 98 for CMDL=0xFE=init +; + 76 for CMDL=0xFF=data +; thus average throughput by 8Mhz is 11kByte/sec + +decrypt: + movw yl, sraml + sbiw yl, 16 + movw sraml, yl + sbiw xl, 16 +.if BigMega + ldi cnt, byte3(BootKey * 2) + xout RAMPZ, cnt +.endif ; .if BigMega + +tea1: ldi cnt, 8 + movw zl, zerol ; zerol, z points to register file r0-r7 = a,b +tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock + ldd t1, y +16 ; in next round buffer is feedback + eor t0, t1 + std y +8, t0 + st z+, t1 ; setup a,b = cipherblock + adiw yl, 1 + dec cnt + brne tea2 + + ldi s0, 0x20 ; sum = 32 * delta + ldi s1, 0x37 + ldi s2, 0xef + ldi s3, 0xc6 + + rcall teadec ; first 16 rounds + +tea3: ld t0, z ; ciphertext = ciphertext xor feedback + ld t1, y+ + eor t0, t1 + st z+, t0 + dec cnt + brne tea3 + + rcall teadec ; second 16 rounds + +tea4: ld t0, z+ ; plaintext = ciphertext xor feedback + ld t1, y + eor t0, t1 + st y+, t0 + dec cnt + brne tea4 + + cp yl, xl ; sram buffer end reached ? + cpc yh, xh + brlo tea1 + ldi s0, ERRORCRYPT + brcs tea7 ; overflow, datasize not a multiple of 8 + + sbiw yl, 8 ; points to signature + dummy + address + +.if UseVersioning + brts tea80 + + ldi zl, byte1(AppVerAddr) ; check version number + ldi zh, byte2(AppVerAddr) + ldi cnt, 4 + sbiw yl, 4 + ldi s2, 0xFF + ldi s3, 0xFF + +tea8: ld r0, y+ + xlpm r1, z+ + and s3, r1 + cpse r0, s2 + cpc r0, r1 + dec cnt + brne tea8 + + ldi s0, ERRORVERSION + cpse s3, s2 + brcs tea7 + ldi s0, ERRORCRYPT +tea80: +.endif ;.if UseVersioning + + ori flag, 0x02 ; success crypt + + ldi zl, byte1(BootKey * 2) + ldi zh, byte2(BootKey * 2) + movw xl, yl + ldi cnt, 4 ; check signature + brts tea5 + sbiw zl, 4 + ldi cnt, 8 ; check BootInfo and signature +tea5: ld r0, y+ + xlpm r1, z+ + cpse r0, r1 + clr flag ; signature don't match + dec cnt + brne tea5 + + movw b0, xl ; feedback + + brtc tea6 + ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data + sub xl, s1 + sbc xh, zerol + ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF + ldd zh, y +2 + ldd zl, y +3 + +tea6: sbrc flag, 1 + ldi s0, SUCCESS +tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom + ldi s3, byte2(POLYNOM) + rjmp mai1 + + +; plain XTEA decryption +teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext + movw t0, a0 + movw t2, a2 + +dec1: clr t4 ; t = (a shr 4) xor (a shl 5) + ldi cnt, 3 +dec2: lsl t0 + rol t1 + rol t2 + rol t3 + rol t4 + dec cnt + brne dec2 + + lsl t0 + eor t0, t1 + rol t1 + eor t1, t2 + rol t2 + eor t2, t3 + rol t3 + eor t3, t4 + + add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a + adc t1, a1 + adc t2, a2 + adc t3, a3 + + ldi zl, low(BootKey *2) + ldi zh, high(BootKey *2) + + sbrc round, 0 + rjmp dec3 + + sbrc s1, 3 ; k = key[(sum shr 11) and 3] + adiw zl, 4 + sbrc s1, 4 + adiw zl, 8 + + rjmp dec4 + +dec3: subi s0, 0xB9 ; sum = sum - delta + sbci s1, 0x79 + sbci s2, 0x37 + sbci s3, 0x9E + + sbrc s0, 0 ; k = key[sum and 3] + adiw zl, 4 + sbrc s0, 1 + adiw zl, 8 + +dec4: xlpm t4, z+ ; t = t xor (sum + k) + add t4, s0 + eor t0, t4 + xlpm t4, z+ + adc t4, s1 + eor t1, t4 + xlpm t4, z+ + adc t4, s2 + eor t2, t4 + xlpm t4, z+ + adc t4, s3 + eor t3, t4 + + sub b0, t0 ; b = b - t + sbc b1, t1 + sbc b2, t2 + sbc b3, t3 + + movw t0, b0 ; b = a, a = b + movw t2, b2 + movw b0, a0 + movw b2, a2 + movw a0, t0 + movw a2, t2 + + dec round + brne dec1 + + ldi cnt, 8 + movw zl, zerol + sbiw yl, 8 + + ret + diff --git a/Aquastar/AVRootloader/AVR/Special.inc b/Aquastar/AVRootloader/AVR/Special.inc new file mode 100644 index 0000000..6ba25f5 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/Special.inc @@ -0,0 +1,259 @@ +.nolist +; copyright HR +; special functions to provide for application code access to FLASH +; can be expanded with own functions and place a rjmp vector at end of this file + +; First calculate size of code to align code at end of FLASH, better solution possible ? + +; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. +; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm +; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and +; thus the last FLASH page should be always unchanged. With a own application and help of +; dospm function can the remaining bootloader section repogrammed. Please remember that +; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own +; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) +; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function +; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider +; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits +; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. +; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to +; use SPM in application code. + + +.set SpecialSize = 0 + +.if UseSpecialWrite +.set SpecialSize = SpecialSize +48 +.if UseSpecialWriteBoot +.set SpecialSize = SpecialSize +5 +.endif +.if BigMega +.set SpecialSize = SpecialSize +4 +.endif +.if BLS +.set SpecialSize = SpecialSize +5 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.ifdef RWWSRE +.set SpecialSize = SpecialSize +2 +.endif +.else +.set SpecialSize = SpecialSize +8 +.endif +.if UseWDR +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialRead +.set SpecialSize = SpecialSize +9 +.if BigMega +.set SpecialSize = SpecialSize +1 +.endif +.endif + +.if UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.endif + +; rjmp vector table +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +.set SpecialSize = SpecialSize +5 +.elif UseSpecialBootVect +.set SpecialSize = SpecialSize +1 +.if BLS +.set SpecialSize = SpecialSize +1 +.endif +.endif + +; dospm +.if SpecialSize > 0 +.if BLS +.set SpecialSize = SpecialSize +6 +.ifdef SPMSpecial +.set SpecialSize = SpecialSize +3 +.endif +.endif + +; align follow code at flash end +.if BootCodeSize +.org (FLASHEND +1) - SpecialSize +.endif +.endif ; .if SpecialSize > 0 + +; end of size calculation +.list + + +.if UseSpecialMsg +getbootmsg: +; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas + ldi r22, byte1(BootMsg * 2) + ldi r23, byte2(BootMsg * 2) + ldi r24, byte3(BootMsg * 2) + ldi r25, (BootInfo - BootMsg) * 2 + ret +.endif ;.if UseSpecialMsg + + +.if UseSpecialRead +readflash: +; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 +.if BigMega + xout RAMPZ, r24 +.endif + movw zl, r22 + movw xl, r18 + movw r24, r20 +rf1: sbiw r24, 1 + brcs rf2 + xlpm r23, z+ + st x+, r23 + rjmp rf1 +rf2: ret +.endif ;.if UseSpecialRead + + +.if UseSpecialWrite +writeflash: +; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); +; r25:r24:r23:r22, r21:r20, r19:r18 + +.if PageSize * 2 > 256 +.error "PageSize is greater as 256 bytes, check programing loops" +.endif + + movw zl, r22 ; address to r24:Z + movw xl, r18 ; SRAM buffer to X + movw r18, yl ; save Y to r18 + movw yl, r20 ; size to Y + movw r20, r16 ; save r17:r16 to r21:r20 + movw r16, r24 ; + xin r23, SREG ; save SREG to r23 + cli ; disable IRQs +.if UseSpecialWriteBoot + clt ; set T flag if MSB of address is a magic to deactivate + cpi r17, 0xAC ; write cheks to bootloader section + brne wf1 + set +.endif ; .if UseSpecialWriteBoot + +wf1: sbic EECR, EEWE ; wait for EEPROM + rjmp wf1 + + andi r22, PageSize *2 -1 ; align address + sub zl, r22 + +wf2: ldi r17, PageSize +.if UseSpecialWriteBoot + brts wf3 ; if T flag is set ignore sanity check +.endif + cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader + ldi r24, byte2(BootStart *2) + cpc zh, r24 +.if BigMega + ldi r24, byte3(BootStart * 2) + cpc r16, r24 +.endif + brsh wf8 + +wf3: ldi r24, (1 << SPMEN) +.if BigMega + xout RAMPZ, r16 +.endif +wf4: xlpm r0, z+ ; first load word from FLASH + xlpm r1, z + sbiw z, 1 + sbiw yl, 0 ; size = 0 ? + breq wf7 + cpi r22, 1 + brlo wf5 + breq wf6 + subi r22, 2 + rjmp wf7 +wf5: ld r0, x+ + sbiw yl, 1 + breq wf7 +wf6: ld r1, x+ + sbiw yl, 1 + clr r22 +wf7: xwdr +.if BLS + rcall dospm ; fill FLASH buffer +.else + xout SPMCSR, r24 + spm +.endif + adiw z, 2 + dec r17 ; PageSize + brne wf4 + + subi zl, byte1(PageSize *2) + sbci zh, byte2(PageSize *2) +.if BLS + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + rcall dospm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + rcall dospm +.ifdef RWWSRE + ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page + rcall dospm +.endif +.else + ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page + xout SPMCSR, r24 + spm + ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page + xout SPMCSR, r24 + spm +.endif + subi zl, byte1(-PageSize *2) + sbci zh, byte2(-PageSize *2) +.if BigMega + sbci r16, byte3(-PageSize *2) +.endif + sbiw yl, 0 ; size = 0 ? + brne wf2 + +wf8: clr r1 ; restore r1=zero + movw yl, r18 ; restore Y + movw r16, r20 ; restore r17:r16 + xout SREG, r23 ; restore SREG + ret +.endif ;.if UseSpecialWrite + + +; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page +; r25=cnth destroyed, r24=cntl unchanged +.if BLS +dospm: xout SPMCSR, r24 + spm +.ifdef SPMspecial +.dw $FFFF + nop +.endif +dspm1: xin r25, SPMCSR + sbrc r25, SPMEN + rjmp dspm1 + ret +.endif ; .if BLS + + +.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg +; rjmp vectors for support from application code +; can be expanded with own vectors to own code, look into AVRootloader.h how to call +; please don't reorder this jump table, but you can expand it to own code +; if you expand it remember to update above SpecialSize calculation + bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret + bjmp readflash, UseSpecialRead + bjmp writeflash, UseSpecialWrite + bjmp dospm, BLS + rjmp bootstart +.elif UseSpecialBootVect +.if BLS + rjmp dospm +.endif + rjmp bootstart +.endif diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex new file mode 100644 index 0000000..0e6bcc3 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:101E0000F894A895AA246FE56DBF64E06EBF68E101 +:101E10007FE0A4BE61BD71BD88989098BB2421E08D +:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 +:101E3000E501CC0FDD1FC50111976A098099E1F713 +:101E400089F021970296A8F1809BFBCFC595239737 +:101E50002696EC0170F74D9760F36C0111976A09B3 +:101E6000809BE1F731F111976A098099E1F709F157 +:101E700096D005900016C1F61A9581F789D0A1F683 +:101E800014E0059177D01A95E1F700E373D045018E +:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 +:101EA00077D002EC99F77E3F31F078F77A110CC0C9 +:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D +:101EC0002197E1F77395ECCF733060F570FB05EC6B +:101ED000E701E0301EE1F107D0F483E087D076F42B +:101EE00081E040E20990199081D032964A95D1F76D +:101EF000E054F040C054D04085E078D081E176D005 +:101F000040E400EC1FEF05900EF419911011BECFC4 +:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 +:101F2000B1F6B3CF61F400ECE70109901590011010 +:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 +:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 +:101F50006A95C1F703D099CF01EC98CF84010AD0DC +:101F6000012F802648E09694879410F493268226C9 +:101F70004A95C9F7A89529D028D04AE0009591BB89 +:101F800024D0069508F090E002D04A95C1F7089554 +:101F900001D0102FA895809BFECF8099FECF48E0FE +:101FA000C6019695879512D010D006958099006845 +:101FB00007FD82269694879408F4932608F48226D7 +:101FC0004A9591F7892489240895C6010497F0F76A +:101FD0008D3F18F011F08F3F01F091E00895424FCE +:101FE0004F544C4F414445529307060887BFE8952C +:081FF00097B790FDFDCF0895A5 +:00000001FF diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex new file mode 100644 index 0000000..905bb71 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:107E0000F894A895AA246FEF6DBF68E06EBF68E193 +:107E10007FE0A4BE60936000709360003898409843 +:107E2000BB2421E030EA64E1B8E5A5E545011AE0AC +:107E3000E4EEFFE7E501CC0FDD1FC50111976A09EC +:107E40003099E1F789F021970296A8F1309BFBCF9A +:107E5000C59523972696EC0170F74D9760F36C015A +:107E600011976A09309BE1F731F111976A0930994E +:107E7000E1F709F197D005900016C1F61A9581F740 +:107E80008AD0A1F614E0059178D01A95E1F700E3C5 +:107E900074D0450180D0B8017E3F20F07CD0E8014D +:107EA00070FDF80178D002EC99F77E3F39F078F751 +:107EB0007A110DC06A110C940040A2CFA0E1B1E08C +:107EC0007D016BD00D932197E1F77395EBCF733064 +:107ED00060F570FB05ECE701E0301EE7F107D0F438 +:107EE00083E087D076F481E040E40990199081D056 +:107EF00032964A95D1F7E058F040C058D04085E01E +:107F000078D081E176D040E800EC1FEF05900EF4C8 +:107F100019911011BDCF4A95C9F726F4CA17DB078E +:107F2000D8F2C1F76A95B1F6B2CF61F400ECE7017F +:107F3000099015900110ACCFCA17DB07C9F76A95F5 +:107F4000B1F7A5CF753059F050F4E1BDF2BD3196CF +:107F5000F89A00B509D06A95C1F703D098CF01EC23 +:107F600097CF84010AD0012F802648E09694879409 +:107F700010F4932682264A95C9F7A89529D028D0CF +:107F80004AE0009597B924D0069508F090E002D019 +:107F90004A95C1F7089501D0102FA895309BFECFC8 +:107FA0003099FECF48E0C6019695879512D010D043 +:107FB00006953099006807FD82269694879408F408 +:107FC000932608F482264A9591F7892489240895F6 +:107FD000C6010497F0F78D3F18F011F08F3F01F0C4 +:107FE00091E00895424F4F544C4F41444552950FF4 +:0E7FF000060487BFE89597B790FDFDCF089572 +:00000001FF diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex new file mode 100644 index 0000000..f3fc8c1 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 +:103E10007FE0A4BE609360007093600057985F9845 +:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC +:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 +:103E40004F99E1F789F021970296A8F14F9BFBCF9C +:103E5000C59523972696EC0170F74D9760F36C019A +:103E600011976A094F9BE1F731F111976A094F9950 +:103E7000E1F709F197D005900016C1F61A9581F780 +:103E80008AD0A1F614E0059178D01A95E1F700E305 +:103E900074D0450180D0B8017E3F20F07CD0E8018D +:103EA00070FDF80178D002EC99F77E3F39F078F791 +:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC +:103EC0007D016BD00D932197E1F77395EBCF7330A4 +:103ED00060F570FB05ECE701E0301EE3F107D0F47C +:103EE00083E087D076F481E040E40990199081D096 +:103EF00032964A95D1F7E058F040C058D04085E05E +:103F000078D081E176D040E800EC1FEF05900EF408 +:103F100019911011BDCF4A95C9F726F4CA17DB07CE +:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF +:103F3000099015900110ACCFCA17DB07C9F76A9535 +:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F +:103F5000F89A00B509D06A95C1F703D098CF01EC63 +:103F600097CF84010AD0012F802648E09694879449 +:103F700010F4932682264A95C9F7A89529D028D00F +:103F80004AE000959AB924D0069508F090E002D056 +:103F90004A95C1F7089501D0102FA8954F9BFECFE9 +:103FA0004F99FECF48E0C6019695879512D010D064 +:103FB00006954F99006807FD82269694879408F429 +:103FC000932608F482264A9591F789248924089536 +:103FD000C6010497F0F78D3F18F011F08F3F01F004 +:103FE00090E80895424F4F544C4F41444552940B32 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex new file mode 100644 index 0000000..c827fd3 --- /dev/null +++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex @@ -0,0 +1,35 @@ +:020000020000FC +:02000000FFFF00 +:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 +:103E10007FE0A4BE60936000709360005098589853 +:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC +:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 +:103E40004899E1F789F021970296A8F1489BFBCFAA +:103E5000C59523972696EC0170F74D9760F36C019A +:103E600011976A09489BE1F731F111976A0948995E +:103E7000E1F709F197D005900016C1F61A9581F780 +:103E80008AD0A1F614E0059178D01A95E1F700E305 +:103E900074D0450180D0B8017E3F20F07CD0E8018D +:103EA00070FDF80178D002EC99F77E3F39F078F791 +:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC +:103EC0007D016BD00D932197E1F77395EBCF7330A4 +:103ED00060F570FB05ECE701E0301EE3F107D0F47C +:103EE00083E087D076F481E040E40990199081D096 +:103EF00032964A95D1F7E058F040C058D04085E05E +:103F000078D081E176D040E800EC1FEF05900EF408 +:103F100019911011BDCF4A95C9F726F4CA17DB07CE +:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF +:103F3000099015900110ACCFCA17DB07C9F76A9535 +:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F +:103F5000F89A00B509D06A95C1F703D098CF01EC63 +:103F600097CF84010AD0012F802648E09694879449 +:103F700010F4932682264A95C9F7A89529D028D00F +:103F80004AE000959AB924D0069508F090E002D056 +:103F90004A95C1F7089501D0102FA895489BFECFF0 +:103FA0004899FECF48E0C6019695879512D010D06B +:103FB00006954899006807FD82269694879408F430 +:103FC000932608F482264A9591F789248924089536 +:103FD000C6010497F0F78D3F18F011F08F3F01F004 +:103FE00091E00895424F4F544C4F41444552940B39 +:0E3FF000060487BFE89597B790FDFDCF0895B2 +:00000001FF diff --git a/Aquastar/AVRootloader/Windows/AVRootloader.dev b/Aquastar/AVRootloader/Windows/AVRootloader.dev new file mode 100644 index 0000000..90b3139 --- /dev/null +++ b/Aquastar/AVRootloader/Windows/AVRootloader.dev @@ -0,0 +1,108 @@ +ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 +9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 +9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 +9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 +9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 +920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 +9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 +9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 +9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 +930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 +930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 +9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 +9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 +9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 +9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 +9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 +9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 +9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 +940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 +9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 +9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 +9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 +9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 +9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 +9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 +9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 +9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 +958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 +9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 +9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 +9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 +9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 +9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 +9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/Aquastar/AVRootloader/Windows/AVRootloader.exe b/Aquastar/AVRootloader/Windows/AVRootloader.exe new file mode 100644 index 0000000000000000000000000000000000000000..125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8 GIT binary patch literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G 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z82H?ejEiq1jEfl$M?NkD;>m-8cRJ6S(s#j#5R%e|1Mk3~Kuq4Wr&o@Fa95Zy90j2b zoNg>P4F@w>HwQ<-pivL<+##cW!LxIL5_kZmFV3!u-w2IesoCuI3;Ao^LU-q{x2$>(0)*O6!A}J4ee`qUD37?TGKYQtGHjo>ng(R`p)EA zx4G_2HoN%ySNIL&@l^lTd;2157Ua2_qjfb)+l92QW@-i`TiT9>BYEvUFV7|IQSFlU zOZa~jIxvkEv?8>tBTrA;*L37Rf;Kwt3?@{&0!`WV5OPfjxywlHYb~$7ebn1UdCSYk zUM^{sNZu!q*Fo+u&lj|d$P@f)+Gjl3Ojp;-YoUH~KnqR#vNnrc>qy`AQklm4(3Q1# zSL>jpracIaK8G>z2&7-qei 0 wird von HIGH->LOW->HIGH und bei RTSPulse < 0 von LOW->HIGH->LOW gepulst. +; Bsp: RTSPulse=20 bedeutet HIGH->20ms LOW ->HIGH +; RTSInterval, wenn RTSPulse <> 0 ist bestimmt dieser Wert in welchem Interval das Pulsen von RTS erfolgen soll. +; Beim Wert 0 wird nur einmalig beim Verbindungsaufbau RTS gepulst. Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR. +; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen +; bis es wieder von vorne losgeht. + +[GUI] +Left=477 +Top=140 +Width=563 +Height=523 + +[Baudrates] +0=2400 +1=4800 +2=9600 +3=14400 +4=19200 +5=28800 +6=38400 +7=56000 +8=57600 +9=115200 +10=128000 +11=230400 +12=256000 +13=921600 + +[Signs] +0=BOOTLOADER +1=BOOT + +[FLASH] +0=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex +1=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_FLIP_1_5_SBUS.hex +2=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_TGY160A.hex +3=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_DLUX.hex +4=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_RX3S_V2.hex +5=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_FLIP_1_5_SBUS.hex +6=C:\test\main.hex +7= + +[EEPROM] +0=C:\test\main.eep +1= diff --git a/Aquastar/AVRootloader/readme.txt b/Aquastar/AVRootloader/readme.txt new file mode 100644 index 0000000..643dd32 --- /dev/null +++ b/Aquastar/AVRootloader/readme.txt @@ -0,0 +1,38 @@ +changes for building avrootloader firmware for rx3s vs aquastar + +1. AVRootloader.asmproj +project/avrootloader properties/device/atmega168pa +vs +project/avrootloader properties/device/atmega8 + +--- + +2. AVR\AVRootloader.asm + +; RX3S +;.include "m168PAdef.inc" ; ATmega168PA +vs +; Aquastar +.include "m8Adef.inc" ; ATmega8A + +; RX3S +;.equ RX_PORT = PORTD ; Receive port and pin +;.equ RX = PD7 +;.equ TX_PORT = PORTD ; Transmit port and pin +;.equ TX = PD7 +vs +; Aquastar +.equ RX_PORT = PORTD ; Receive port and pin +.equ RX = PD0 +.equ TX_PORT = PORTD ; Transmit port and pin +.equ TX = PD0 + +--- + +3. AVR\AVRootloader.inc + +; RX3S +; jmp FLASHEND +1 ; run application +vs +; Aquastar + rjmp FLASHEND +1 ; run application \ No newline at end of file diff --git a/Aquastar/Aquastar/Aquastar.ino b/Aquastar/Aquastar/Aquastar.ino new file mode 100644 index 0000000..68835ae --- /dev/null +++ b/Aquastar/Aquastar/Aquastar.ino @@ -0,0 +1,868 @@ +/* Aquastar ****************************************************************************************************/ + +#include +#include +#include +#include + +#include "FlightStab.h" + +//#define USE_SERIAL_LIGHT // use lightweight serial routines (atmega8 115200 poll-based) + +/* + Aquastar/DLUX pin mapping + PB0 8 LCD_D4 PC0 14/A0 PD0 0 RXD + PB1 9 LCD_D5 PC1 15/A1 PD1 1 TXD + PB2 10 LCD_D6 PC2 16/A2 LCD_RS PD2 2 UP_BUTTON + PB3 11 LCD_D7 (MOSI) PC3 17/A3 LCD_RW PD3 3 LEFT_BUTTON + PB4 12 (MISO) PC4 18/A4 LCD_EN (SDA) PD4 4 RIGHT_BUTTON (DLUX=DOWN_BUTTON) + PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 DOWN_BUTTON (DLUX=RIGHT_BUTTON) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 + PB7 15 (XTAL2) PD7 7 +*/ + +// button pins +#if defined(AQUASTAR) +const uint8_t button_pin[] = {2, 3, 4, 5}; // up, left, right, down +#endif +#if defined(DLUX) || defined(TGY160A) +const uint8_t button_pin[] = {2, 3, 5, 4}; // up, left, right, down +#endif + +// lcd pins +LiquidCrystal lcd(A2, A3, A4, 8, 9, 10, 11); // (rs, rw, enable, d4, d5, d6, d7) + +// lcd custom characters +byte up_arrow[8] = { + B00100, + B01110, + B10101, + B00100, + B00100, + B00100, + B00000, +}; + +byte down_arrow[8] = { + B00000, + B00100, + B00100, + B00100, + B10101, + B01110, + B00100, +}; + +// string tables in flash + +#define CHAR_DEGREE \xdf +#define CHAR_RIGHT_ARROW \x7e +#define STR(s) #s +#define XSTR(s) STR(s) + +// eeprom cfg and stats +struct _eeprom_cfg cfg; +struct _eeprom_stats stats; + +// device names +prog_char undef_device[] PROGMEM = " Undefined"; +prog_char rx3s_v1[] PROGMEM = " RX3S V1"; +prog_char rx3s_v2v3[] PROGMEM = " RX3S V2/V3"; +prog_char nanowii[] PROGMEM = " NanoWii"; +prog_char eagle_a3pro[] PROGMEM = " Eagle A3Pro"; +prog_char rx3sm[] PROGMEM = " RX3SM"; +prog_char mini_mwc[] PROGMEM = " Mini MWC"; +prog_char flip_1_5[] PROGMEM = " FLIP 1.5"; + +prog_char *device_name[] PROGMEM = { // must match enum DEVICE_IDS in eeprom_stats.device_id + undef_device, + rx3s_v1, + rx3s_v2v3, + nanowii, + eagle_a3pro, + rx3sm, + mini_mwc, + flip_1_5 +}; + +// status +prog_char status[] PROGMEM = "STATUS"; +prog_char status_device_id[] PROGMEM = "ID="; +prog_char status_device_ver[] PROGMEM = "VER="; +prog_char status_device_eeprom[] PROGMEM = "1E/2E/R="; + +// eeprom +prog_char eeprom[] PROGMEM = "EEPROM"; +prog_char eeprom_instr[] PROGMEM = "Up/Dn then " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_update_cfg[] PROGMEM = "Update Config " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_erase_cfg[] PROGMEM = "Erase Config " XSTR(CHAR_RIGHT_ARROW); +prog_char eeprom_erase_stats[] PROGMEM = "Erase Stats " XSTR(CHAR_RIGHT_ARROW); + +// config modes +prog_char wing_mode[] PROGMEM = "WING MODE"; +prog_char wing_use_dipsw[] PROGMEM = "DIP SW"; +prog_char wing_rudele_1ail[] PROGMEM = "RudEle 1-Ail"; +prog_char wing_delta_1ail[] PROGMEM = "Delta 1-Ail"; +prog_char wing_vtail_1ail[] PROGMEM = "VTail 1-Ail"; +prog_char wing_rudele_2ail[] PROGMEM = "RudEle 2-Ail"; +prog_char wing_delta_2ail[] PROGMEM = "Delta 2-Ail"; +prog_char wing_vtail_2ail[] PROGMEM = "VTail 2-Ail"; +prog_char wing_duckeron[] PROGMEM = "Duckeron"; +prog_char wing_rud_2ele_2ail[] PROGMEM = "Rud 2-Ele 2-AIL"; + +prog_char mixer_epa_mode[] PROGMEM = "EPA MODE"; +prog_char mixer_epa_full[] PROGMEM = "Full 1000-2000"; +prog_char mixer_epa_norm[] PROGMEM = "Norm 1100-1900"; +prog_char mixer_epa_track[] PROGMEM = "Tracking"; +prog_char mixer_epa_max[] PROGMEM = "Max 900-2100"; + +prog_char servo_frame_rate[] PROGMEM = "SERVO FRAME RATE"; + +prog_char serialrx_order[] PROGMEM = "SERIALRX ORDER"; + +prog_char serialrx_spektrum_levels[] PROGMEM = "SPEKTRUM LEVELS"; +prog_char serialrx_spektrum_levels_1024[] PROGMEM = "1024"; +prog_char serialrx_spektrum_levels_2048[] PROGMEM = "2048"; + +prog_char mount_orient[] PROGMEM = "MOUNT ORIENT"; +prog_char mount_normal[] PROGMEM = "Normal"; +prog_char mount_roll90left[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Left"; +prog_char mount_roll90right[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Right"; +prog_char mount_rotate90left[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Left"; +prog_char mount_rotate90right[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Right"; + +prog_char stick_gain_throw[] PROGMEM = "STK-GAIN THROW"; +prog_char stick_gain_throw_full[] PROGMEM = "Full"; +prog_char stick_gain_throw_half[] PROGMEM = "Half"; +prog_char stick_gain_throw_quarter[] PROGMEM = "Quarter"; + +prog_char max_rotate[] PROGMEM = "MAX STK-ROTATE"; +prog_char max_rotate_vlow[] PROGMEM = "Very Low 0.25x"; +prog_char max_rotate_low[] PROGMEM = "Low 0.5x"; +prog_char max_rotate_med[] PROGMEM = "Medium 1x"; +prog_char max_rotate_high[] PROGMEM = "High 2x"; + +prog_char rate_mode_stick_rotate[] PROGMEM = "RATE STK-ROTATE"; +prog_char disabled[] PROGMEM = "Disabled"; +prog_char enabled[] PROGMEM = "Enabled"; + +prog_char inflight_calibrate[] PROGMEM = "INFLIGHT CALIB"; + +prog_char vr_gain[] PROGMEM = "VR-GAIN A/E/R"; + +prog_char pid_rate[] PROGMEM = "RATE "; +prog_char pid_hold[] PROGMEM = "HOLD "; +prog_char pid_roll[] PROGMEM = "Ail "; +prog_char pid_pitch[] PROGMEM = "Ele "; +prog_char pid_yaw[] PROGMEM = "Rud "; + +prog_char dlpf[] PROGMEM = "LOW PASS FILTER"; +prog_char bw_0[] PROGMEM = "256HZ "; +prog_char bw_1[] PROGMEM = "188HZ "; +prog_char bw_2[] PROGMEM = "98HZ "; +prog_char bw_3[] PROGMEM = "42HZ "; +prog_char bw_4[] PROGMEM = "20HZ "; +prog_char bw_5[] PROGMEM = "10HZ "; +prog_char bw_6[] PROGMEM = "5HZ "; + +prog_char *param_text0[] PROGMEM = +{status, + status_device_id, status_device_ver, status_device_eeprom}; + +prog_char *param_text1[] PROGMEM = {wing_mode, + wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron, wing_rud_2ele_2ail}; + +prog_char *param_text2[] PROGMEM = {mixer_epa_mode, + mixer_epa_full, mixer_epa_norm, mixer_epa_track, mixer_epa_max}; + +prog_char *param_text3[] PROGMEM = {servo_frame_rate, + }; + +prog_char *param_text4[] PROGMEM = {serialrx_order, + }; + +prog_char *param_text5[] PROGMEM = {serialrx_spektrum_levels, + serialrx_spektrum_levels_1024, serialrx_spektrum_levels_2048}; + +prog_char *param_text6[] PROGMEM = {mount_orient, + mount_normal, mount_roll90left, mount_roll90right, mount_rotate90left, mount_rotate90right}; + +prog_char *param_text7[] PROGMEM = {stick_gain_throw, + stick_gain_throw_full, stick_gain_throw_half, stick_gain_throw_quarter}; + +prog_char *param_text8[] PROGMEM = {max_rotate, + max_rotate_vlow, max_rotate_low, max_rotate_med, max_rotate_high}; + +prog_char *param_text9[] PROGMEM = {rate_mode_stick_rotate, + disabled, enabled}; + +prog_char *param_text10[] PROGMEM = {inflight_calibrate, + disabled, enabled}; + +prog_char *param_text11[] PROGMEM = {vr_gain, + }; + +prog_char *param_text12[] PROGMEM = {pid_rate, + pid_roll, pid_pitch, pid_yaw}; + +prog_char *param_text13[] PROGMEM = {pid_hold, + pid_roll, pid_pitch, pid_yaw}; + +prog_char *param_text14[] PROGMEM = {dlpf, + bw_0, bw_1, bw_2, bw_3, bw_4, bw_5, bw_6}; + +prog_char *param_text15[] PROGMEM = {eeprom, + eeprom_instr, eeprom_update_cfg, eeprom_erase_cfg, eeprom_erase_stats}; + +prog_char **param_textB[] = { + param_text0, + param_text1, + param_text2, + param_text3, + param_text4, + param_text5, + param_text6, + param_text7, + param_text8, + param_text9, + param_text10, + param_text11, + param_text12, + param_text13, + param_text14, + param_text15 +}; + +#define PARAM_TEXT(i, j) (const __FlashStringHelper*) pgm_read_word(&((param_textB[i])[j])) + +enum PARAM_TYPE {PARAM_STATUS, PARAM_ENUM, PARAM_VAL, PARAM_SERIALRX_ORDER, PARAM_VR_GAIN, PARAM_PID, PARAM_EEPROM}; + +const int8_t subpage_max[] = { // index = PARAM_TYPE enum + 0, // PARAM_STATUS + 0, // PARAM_ENUM + 0, // PARAM_VAL + serialrx_num_chan-1, // PARAM_SERIALRX_ORDER + sizeof(cfg.vr_gain)/sizeof(cfg.vr_gain[0])-1, // PARAM_VR_GAIN + 9-1, // PARAM_PID: [kp/ki/kd=3][axis=3] + 0 // PARAM_EEPROM +}; + +const char serialrx_chan_str[] = "RETA1a2f"; // index = channel number = subpage. see enum SERIALRX_CHAN + +const int8_t kpid_map[] = {0, 1, 2, 0, 1, 2, 0, 1, 2}; // index = subpage +const int8_t axis_map[] = {0, 0, 0, 1, 1, 1, 2, 2, 2}; // index = subpage + +struct _pid_param_array { + int16_t *param[3]; // param[kpid][axis] = value +}; + +struct _pid_param_array pid_param_array_rate = {{cfg.pid_param_rate.kp, cfg.pid_param_rate.ki, cfg.pid_param_rate.kd}}; +struct _pid_param_array pid_param_array_hold = {{cfg.pid_param_hold.kp, cfg.pid_param_hold.ki, cfg.pid_param_hold.kd}}; + +int8_t param_val_status = 1; +int8_t param_val_eeprom = 1; + +int8_t * const param_pval[] = { + ¶m_val_status, + (int8_t*) &cfg.wing_mode, + (int8_t*) &cfg.mixer_epa_mode, + &cfg.servo_frame_rate, + &cfg.serialrx_order[0], + (int8_t*) &cfg.serialrx_spektrum_levels, + (int8_t*) &cfg.mount_orient, + (int8_t*) &cfg.stick_gain_throw, + (int8_t*) &cfg.max_rotate, + (int8_t*) &cfg.rate_mode_stick_rotate, + (int8_t*) &cfg.inflight_calibrate, + &cfg.vr_gain[0], + (int8_t*) &pid_param_array_rate, + (int8_t*) &pid_param_array_hold, + (int8_t*) &cfg.gyro_dlpf, + ¶m_val_eeprom, +}; + +enum PARAM_TYPE param_type[] = { + PARAM_STATUS, + PARAM_ENUM, + PARAM_ENUM, + PARAM_VAL, + PARAM_SERIALRX_ORDER, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_ENUM, + PARAM_VR_GAIN, + PARAM_PID, + PARAM_PID, + PARAM_ENUM, + PARAM_EEPROM, +}; + +const int16_t param_min[] = { + 1, // status + WING_USE_DIPSW, + MIXER_EPA_FULL, + 0, // servo_frame_rate + 0, // serialrx_order + SERIALRX_SPEKTRUM_LEVELS_1024, + MOUNT_NORMAL, + STICK_GAIN_THROW_FULL, + MAX_ROTATE_VLOW, + RATE_MODE_STICK_ROTATE_DISABLE, + INFLIGHT_CALIBRATE_DISABLE, + -128, // vr_gain + 0, // pid_rate + 0, // pid_hold + BW_256HZ, // Bandwidth Max + 1 // eeprom +}; + +const int16_t param_max[] = { + 3, // status + WING_RUD_2ELE_2AIL, + MIXER_EPA_MAX, + 20, // servo_frame_rate + serialrx_num_chan-1, // serialrx_order max chan + SERIALRX_SPEKTRUM_LEVELS_2048, + MOUNT_ROTATE_90_RIGHT, + STICK_GAIN_THROW_QUARTER, + MAX_ROTATE_HIGH, + RATE_MODE_STICK_ROTATE_ENABLE, + INFLIGHT_CALIBRATE_ENABLE, + 127, // vr_gain + 1000, // pid_rate + 1000, // pid_hold + BW_5HZ, // Bandwidth Min + 4 // eeprom +}; + +const int8_t param_num_pages = sizeof(param_type)/sizeof(param_type[0]); + + +/*************************************************************************************************************** +* BUTTONS +***************************************************************************************************************/ + +enum BUTTON_ID {BUTTON_ID_UP, BUTTON_ID_LEFT, BUTTON_ID_RIGHT, BUTTON_ID_DOWN}; +enum BUTTON_STATE {BUTTON_UP, BUTTON_DOWN, BUTTON_DOWN_AUTO}; +enum BUTTON_EVENT {BUTTON_NONE, BUTTON_RELEASE, BUTTON_PRESS}; +BUTTON_STATE button_state[] = {BUTTON_UP, BUTTON_UP, BUTTON_UP, BUTTON_UP}; +BUTTON_EVENT button_event[] = {BUTTON_NONE, BUTTON_NONE, BUTTON_NONE, BUTTON_NONE}; + +bool button_read() +{ + bool has_event = false; + uint32_t t = micros(); + static uint32_t button_down_time[4]; + static uint32_t button_debounce_time[4]; // time of last button state change + const int32_t button_debounce_delay = 50000; // debounce interval + const int32_t button_auto_delay = 600000; // time between first press and auto repeat start + const int32_t button_auto_period = 100000; // time between auto repeat events + + for (int8_t i=0; i<4; i++) { + button_event[i] = BUTTON_NONE; + BUTTON_STATE b = digitalRead(button_pin[i]) ? BUTTON_UP : BUTTON_DOWN; + + switch ((b << 4) | button_state[i]) { + + // release up + case ((BUTTON_UP << 4) | BUTTON_DOWN): + case ((BUTTON_UP << 4) | BUTTON_DOWN_AUTO): + if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) { + button_event[i] = BUTTON_RELEASE; + button_state[i] = BUTTON_UP; + button_debounce_time[i] = t; + } + break; + + // press down + case ((BUTTON_DOWN << 4) | BUTTON_UP): + if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) { + button_event[i] = BUTTON_PRESS; + button_state[i] = BUTTON_DOWN; + button_down_time[i] = t; + button_debounce_time[i] = t; + } + break; + + // holding down till auto repeat start + case ((BUTTON_DOWN << 4) | BUTTON_DOWN): + if ((int32_t)(t - button_down_time[i]) > button_auto_delay) { + button_event[i] = BUTTON_PRESS; + button_state[i] = BUTTON_DOWN_AUTO; + button_down_time[i] = t; + } + break; + + // holding down during auto repeat + case ((BUTTON_DOWN << 4) | BUTTON_DOWN_AUTO): + if ((int32_t)(t - button_down_time[i]) > button_auto_period) { + button_event[i] = BUTTON_PRESS; + button_down_time[i] = t; + } + break; + } + + has_event = has_event || (button_event[i] != BUTTON_NONE); + } + return has_event; +} + +void button_init() +{ + for (int8_t i=0; i<4; i++) { + pinMode(button_pin[i], INPUT); + digitalWrite(button_pin[i], HIGH); + } +} + +/*************************************************************************************************************** +* ATMEGA8 USART 115200 8N1 POLL-BASED +***************************************************************************************************************/ + +#if defined(USE_SERIAL_LIGHT) +bool serial2_available() +{ + return UCSRA & (1 << RXC); // check for data +} + +uint8_t serial2_read() +{ + while (!serial2_available()); + return UDR; +} + +void serial2_write(uint8_t b) +{ + while (!(UCSRA & (1 << UDRE))); // wait for ready + UDR = b; +} + +void serial2_init() +{ + UBRRH = 0; // 16 with U2X enabled means 115200 baud with 16MHz CPU: 16000000 / 115200 / 8 - 1 == 16 + UBRRL = 16; // seems to have too much error without U2X. + UCSRA |= (1 << U2X); + UCSRB = (1 << RXEN) | (1 << TXEN); + UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0); // 8N1 +} +#endif + +/*************************************************************************************************************** +* MESSAGE TRANSPORT +***************************************************************************************************************/ + +void serial_write_byte(uint8_t b, bool last_byte) { +#if defined(USE_SERIAL_LIGHT) + serial2_write(b); + serial2_read(); +#else + Serial.write(b); + Serial.read(); // drain the echo received due to loopback +#endif + if (!last_byte) + delay(2); // delay for one-wire library on the target to ready the next receive +} + +bool send_msg(void *buf, int8_t buf_len) { + uint8_t chksum = buf_len; + serial_write_byte('$', false); + serial_write_byte(buf_len, false); + for (int8_t i=0; i param_min[page] ? byte(0) : ' '); // up arrow + lcd.write(*param_pval[page] < param_max[page] ? byte(1) : ' '); // down arrow +#endif + lcd.setCursor(0, 1); + + switch (param_type[page]) { + case PARAM_STATUS: + v = *param_pval[page]; + lcd.print(PARAM_TEXT(page, v)); + switch (v) { + case 1: // device_id + lcd.print(stats.device_id); + lcd.print((const __FlashStringHelper*) pgm_read_word(&device_name[stats.device_id])); + break; + case 2: // device_ver + lcd.print(stats.device_ver); + break; + case 3: // eeprom err and reset + lcd.print(stats.eeprom_cfg1_err); + lcd.print('/'); + lcd.print(stats.eeprom_cfg2_err); + lcd.print('/'); + lcd.print(stats.eeprom_cfg12_reset); + break; + } + break; + + case PARAM_ENUM: + case PARAM_EEPROM: + v = *param_pval[page]; + lcd.print(PARAM_TEXT(page, v)); + break; + + case PARAM_VAL: + v = *param_pval[page]; + lcd.print(v); + break; + + case PARAM_SERIALRX_ORDER: + pv = (int8_t *)param_pval[page]; + for (int8_t i=0; iparam[i][axis]); + if (sel) lcd.print(']'); + if (i< 2) + lcd.print('/'); + } + break; + } +} + +void loop() +{ + uint32_t t = micros(); + uint32_t last_msg_time = t; + + enum OW_STATE { + OW_WAIT_CONNECT, + OW_WAIT_STATS, + OW_CONNECTED, + OW_SEND, + OW_BAD_CFG_VER + } ow_state = OW_WAIT_CONNECT; + + struct _ow_msg ow_msg; + int8_t ow_send_len; + + int8_t page=0, subpage=0; + bool update_lcd = true; + +again: + t = micros(); + + // connection state machine + if ((int32_t)(t - last_msg_time) > (ow_state == OW_WAIT_CONNECT ? 50000L : 250000L)) { // 50ms to connect, else every 250ms + + int8_t msg_len = 1; // + 1 for ow_msg.cmd + switch (ow_state) { + case OW_WAIT_CONNECT: ow_msg.cmd = OW_GET_CFG; break; + case OW_WAIT_STATS: ow_msg.cmd = OW_GET_STATS; break; + case OW_CONNECTED: ow_msg.cmd = OW_NULL; break; + case OW_SEND: msg_len += ow_send_len; break; // ow_msg already set up + case OW_BAD_CFG_VER: ow_msg.cmd = OW_NULL; break; + } + send_msg(&ow_msg, msg_len); + uint8_t resp_cmd = ow_msg.cmd | 0x80; + + if (recv_msg(&ow_msg, sizeof(ow_msg), 20) && (ow_msg.cmd == resp_cmd)) { // wait 20ms for response + switch (ow_state) { + case OW_WAIT_CONNECT: + if (ow_msg.u.eeprom_cfg.ver != eeprom_cfg_ver) { + ow_state = OW_BAD_CFG_VER; + update_lcd = true; + break; + } + cfg = ow_msg.u.eeprom_cfg; + ow_state = OW_WAIT_STATS; + break; + case OW_WAIT_STATS: + stats = ow_msg.u.eeprom_stats; + ow_state = OW_CONNECTED; + page = subpage = 0; + update_lcd = true; + break; + case OW_SEND: + ow_state = OW_WAIT_CONNECT; // restart state machine + update_lcd = true; + break; + } + } else { + // TODO: separate timeout from msg_err (eg. too large) + if (ow_state != OW_WAIT_CONNECT) { + update_lcd = true; + } + ow_state = OW_WAIT_CONNECT; // reset to initial state + } + last_msg_time = t; + } + + if (update_lcd) { + lcd.clear(); + + switch (ow_state) { + case OW_WAIT_CONNECT: + lcd.print(F("OpenFlightStab")); + lcd.setCursor(0, 1); + lcd.print(F("CfgVer=")); + lcd.print(eeprom_cfg_ver); + //lcd.print(' '); + //lcd.print(sizeof(cfg)); + break; + case OW_CONNECTED: + param_lcd_update(page, subpage); + break; + case OW_BAD_CFG_VER: + lcd.print(F("CfgVer Mismatch")); + lcd.setCursor(0, 1); + lcd.print(F("read=")); + lcd.print(ow_msg.u.eeprom_cfg.ver); + lcd.print(F(" need=")); + lcd.print(eeprom_cfg_ver); + break; + } + + update_lcd = false; + } + + // button handler + if ((ow_state == OW_CONNECTED) && button_read()) { + + if (button_event[BUTTON_ID_LEFT] == BUTTON_PRESS) { + if (subpage > 0) { + subpage--; + } else + if (page > 0) { + page--; + subpage = subpage_max[param_type[page]]; + } + } + + if (button_event[BUTTON_ID_RIGHT] == BUTTON_PRESS) { + enum PARAM_TYPE ptype = param_type[page]; + + if (ptype == PARAM_EEPROM) { + switch (param_val_eeprom) { + case 2: // update cfg + ow_msg.u.eeprom_cfg = cfg; // copy cfg to message buffer + ow_msg.cmd = OW_SET_CFG; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_cfg); + break; + case 3: // erase cfg + ow_msg.u.eeprom_cfg.ver = 0; // invalidate ver + ow_msg.cmd = OW_SET_CFG; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_cfg); + break; + case 4: // erase stats + ow_msg.u.eeprom_stats.device_id = 0; // invalidate device_id + ow_msg.cmd = OW_SET_STATS; + ow_state = OW_SEND; + ow_send_len = sizeof(ow_msg.u.eeprom_stats); + break; + } + } else + if (subpage < subpage_max[ptype]) { + subpage++; + } else + if (page < param_num_pages - 1) { + page++; + subpage = 0; + // reset to safe option (1=eeprom_instr) when paging into eeprom page. + // prevents user autorepeating right through it + if (param_type[page] == PARAM_EEPROM) + param_val_eeprom = 1; + } + } + + int16_t diff = 0; + int16_t diff2 = param_type[page] == PARAM_PID ? 10 : 1; + + if (button_event[BUTTON_ID_UP] == BUTTON_PRESS) { + diff = diff2; // up to increase + } + if (button_event[BUTTON_ID_DOWN] == BUTTON_PRESS) { + diff = -diff2; // down to decrease + } + + if (diff != 0) { + int8_t axis; + int8_t kpid; + int8_t *pv; + struct _pid_param_array *ppid; + + int16_t min_val = param_min[page]; + int16_t max_val = param_max[page]; + + switch (param_type[page]) { + case PARAM_SERIALRX_ORDER: + pv = (int8_t *)param_pval[page]; + pv[subpage] = constrain(pv[subpage] + diff, min_val, max_val); + break; + case PARAM_VR_GAIN: + pv = (int8_t *)param_pval[page]; + pv[subpage] = constrain(pv[subpage] + diff, min_val, max_val); + break; + case PARAM_PID: + ppid = (struct _pid_param_array *)param_pval[page]; + axis = axis_map[subpage]; // 0,0,0,1,1,1,2,2,2 + kpid = kpid_map[subpage]; // 0,1,2,0,1,2,0,1,2 + ppid->param[kpid][axis] = constrain(ppid->param[kpid][axis] + diff, min_val, max_val); + break; + default: + *param_pval[page] = constrain(*param_pval[page] + diff, min_val, max_val); + break; + } + } + + update_lcd = true; + } + + goto again; +} diff --git a/Aquastar/Aquastar/FlightStab.h b/Aquastar/Aquastar/FlightStab.h new file mode 100644 index 0000000..2b980a3 --- /dev/null +++ b/Aquastar/Aquastar/FlightStab.h @@ -0,0 +1,83 @@ +/* FlightStab **************************************************************************************************/ + +/* NOTE: +./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the +aquastar programming box to be in sync with the flightstab firmware. +*/ + +#if !defined(FLIGHTSTAB_H) +#define FLIGHTSTAB_H + +const int8_t eeprom_cfg_ver = 12; + +enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; + +enum WING_MODE {WING_USE_DIPSW=1, + WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL, + WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL, + WING_DUCKERON,WING_RUD_2ELE_2AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; +enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT}; +enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important +enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important +enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; +enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE}; + +enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F + SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; + +// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box. +// Thus one must be subtracted from the EEPROM value before sending to the Gyro +enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ}; +#define DLPF_MASK 0x07 + +const int8_t serialrx_num_chan = 8; +const int8_t vr_gain_use_pot = -128; + +struct _eeprom_stats { + int8_t device_id; + uint32_t device_ver; + int8_t eeprom_cfg1_err; + int8_t eeprom_cfg2_err; + int8_t eeprom_cfg12_reset; +}; + +struct _pid_param { + int16_t kp[3]; // [0, 1000] 11b signed + int16_t ki[3]; + int16_t kd[3]; + int8_t output_shift; +}; + +struct _eeprom_cfg { + uint8_t ver; + enum WING_MODE wing_mode; // overridden by DIP switches if available + enum MIXER_EPA_MODE mixer_epa_mode; + int8_t servo_frame_rate; + int8_t serialrx_order[serialrx_num_chan]; + enum SERIALRX_SPEKTRUM_LEVELS serialrx_spektrum_levels; + enum MOUNT_ORIENT mount_orient; + enum STICK_GAIN_THROW stick_gain_throw; + enum MAX_ROTATE max_rotate; + enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate; + enum INFLIGHT_CALIBRATE inflight_calibrate; + int8_t vr_gain[3]; + struct _pid_param pid_param_rate; + struct _pid_param pid_param_hold; + int8_t gyro_dlpf; + uint8_t chksum; +}; + +enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG}; + +struct _ow_msg { + uint8_t cmd; + union { + struct _eeprom_cfg eeprom_cfg; // OW_*_CFG + struct _eeprom_stats eeprom_stats; // OW_*_STATS + } u; + uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one +}; + +#endif // FLIGHTSTAB_H \ No newline at end of file diff --git a/Builds/20160228_AQUASTAR.hex b/Aquastar/Builds/20160209_AQUASTAR.hex similarity index 100% rename from Builds/20160228_AQUASTAR.hex rename to Aquastar/Builds/20160209_AQUASTAR.hex diff --git a/Builds/20160228_DLUX.hex b/Aquastar/Builds/20160209_DLUX.hex similarity index 100% rename from Builds/20160228_DLUX.hex rename to Aquastar/Builds/20160209_DLUX.hex diff --git a/Aquastar/Builds/20160209_EAGLE_A3PRO.hex b/Aquastar/Builds/20160209_EAGLE_A3PRO.hex new file mode 100644 index 0000000..5161e0f --- /dev/null +++ b/Aquastar/Builds/20160209_EAGLE_A3PRO.hex @@ -0,0 +1,825 @@ +:100000000C9469000C9486000C9486000C949B035D +:100010000C9486000C9425040C9486000C948600A5 +:100020000C9486000C9486000C9486000C94E513C6 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a/Aquastar/CMakeLists.txt b/Aquastar/CMakeLists.txt new file mode 100644 index 0000000..1300fd1 --- /dev/null +++ b/Aquastar/CMakeLists.txt @@ -0,0 +1,134 @@ +#====================================================================# +# FlightStab cmake # +#====================================================================# + +# build instructions for windows +# ============================== +# cd ./Builds +# optional: rd /s . (to wipe out all intermediate files) +# cmake [-DTODAY=yyyymmdd] -G"MSYS Makefiles" .. +# (cmake will use the system date if -DTODAY is not specified) +# make [VERBOSE=1] + +# install instructions for windows +# ================================ +# install C:\Program Files (x86)\CMake 2.8 +# ensure PATH includes C:\Program Files (x86)\CMake 2.8\bin +# install C:\Program Files\arduino-1.0.5 (this exact path is important!) +# ensure PATH includes C:\Program Files\arduino-1.0.5\hardware\tools\avr\utils\bin + +# other useful commands +# ===================== +# avr-readelf -a .elf +# avr-objdump -dS .elf +# avr-nm -Cn .elf +# avr-size [-C] .elf +# avr-strings .elf +# avrdude -C "C:\Program Files\arduino-1.0.5\hardware\tools\avr\etc\avrdude.conf" -c usbasp -p m168p -U flash:r:.hex + +set(CMAKE_TOOLCHAIN_FILE cmake/ArduinoToolchain.cmake) +cmake_minimum_required(VERSION 2.8) +project(FlightStab C CXX) + +if (MSYS) + link_directories("$ENV{USERPROFILE}\\Documents\\Arduino\\libraries") +else (MSYS) + link_directories("~/Arduino/libraries") +endif (MSYS) + +#====================================================================# +# macros # +#====================================================================# + +# get current date +macro(get_today today) + if (MSYS) + EXECUTE_PROCESS(COMMAND wmic os get localdatetime /format:list OUTPUT_VARIABLE ${today}) + STRING(REGEX REPLACE ".*LocalDateTime=(........).*" "\\1" ${today} ${${today}}) + #EXECUTE_PROCESS(COMMAND "cmd" " /C date /T" OUTPUT_VARIABLE ${today}) + #STRING(REGEX REPLACE ".*(..)/(..)/(....).*" "\\3\\1\\2" ${today} ${${today}}) + else (MSYS) + set(today "NODATE") + endif (MSYS) +endmacro(get_today) + +# build specific target +macro(add_arduino_firmware target sketch board defines) + set(${target}_SKETCH ${sketch}) + set(${target}_BOARD ${board}) + generate_arduino_firmware(${target}) + set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defines}") +endmacro(add_arduino_firmware) + +#====================================================================# +# build all targets # +#====================================================================# + +print_board_list() +print_programmer_list() + +# get system date if is not specified in cmake command line (cmake -Dtoday=yyyymmdd .....) +if (NOT TODAY) + get_today(TODAY) +endif (NOT TODAY) + +# defines = semicolon-separated list of key-value pairs "RX3S_V1;DEF=VAL;DEF2=VAL2" + +# AQUASTAR/DLUX Programming Box +add_arduino_firmware(${TODAY}_AQUASTAR Aquastar atmega8 "USE_SERIAL_LIGHT;AQUASTAR") +add_arduino_firmware(${TODAY}_DLUX Aquastar atmega8 "USE_SERIAL_LIGHT;DLUX") +add_arduino_firmware(${TODAY}_TGY160A Aquastar pro5v "TGY160A") + +# NANOWII +add_arduino_firmware(${TODAY}_NANOWII FlightStab leonardo "NANOWII") +add_arduino_firmware(${TODAY}_NANOWII_CPPM FlightStab leonardo "NANOWII;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_NANOWII_SPEKTRUM FlightStab leonardo "NANOWII;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_NANOWII_SBUS FlightStab leonardo "NANOWII;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_NANOWII_SRXLH FlightStab leonardo "NANOWII;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_NANOWII_SRXLM FlightStab leonardo "NANOWII;SERIALRX_SRXL;SERIALRX_DEFMPX") + +# MINI MWC +add_arduino_firmware(${TODAY}_MINI_MWC_CPPM FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_MINI_MWC_CPPM_EXTERNAL_RX FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM;MINI_MWC_EXTERNAL_RX") +add_arduino_firmware(${TODAY}_MINI_MWC_SPEKTRUM FlightStab pro5v328 "MINI_MWC;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_MINI_MWC_SBUS FlightStab pro5v328 "MINI_MWC;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_MINI_MWC_SRXLH FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_MINI_MWC_SRXLM FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL;SERIALRX_DEFMPX") + +# FLIP 1.5 +add_arduino_firmware(${TODAY}_FLIP_1_5 FlightStab pro5v328 "FLIP_1_5") +add_arduino_firmware(${TODAY}_FLIP_1_5_CPPM FlightStab pro5v328 "FLIP_1_5;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_FLIP_1_5_SPEKTRUM FlightStab pro5v328 "FLIP_1_5;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLH FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLM FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL;SERIALRX_DEFMPX") + +# RX3S V1/V2V3/RX3SM 16MHz +add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1") +add_arduino_firmware(${TODAY}_RX3S_V1_CPPM FlightStab pro5v "RX3S_V1;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_RX3S_V1_SPEKTRUM FlightStab pro5v "RX3S_V1;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_RX3S_V1_SBUS FlightStab pro5v "RX3S_V1;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_RX3S_V2 FlightStab pro5v "RX3S_V2") +add_arduino_firmware(${TODAY}_RX3S_V2_AILR_IN_ON_RUD_IN FlightStab pro5v "RX3S_V2;AILR_IN_ON_RUD_IN") +add_arduino_firmware(${TODAY}_RX3S_V2_CPPM FlightStab pro5v "RX3S_V2;SERIALRX_CPPM") +add_arduino_firmware(${TODAY}_RX3S_V2_SPEKTRUM FlightStab pro5v "RX3S_V2;SERIALRX_SPEKTRUM") +add_arduino_firmware(${TODAY}_RX3S_V2_SBUS FlightStab pro5v "RX3S_V2;SERIALRX_SBUS") +add_arduino_firmware(${TODAY}_RX3S_V2_SRXLH FlightStab pro5v "RX3S_V2;SERIALRX_SRXL") +add_arduino_firmware(${TODAY}_RX3S_V2_SRXLM FlightStab pro5v "RX3S_V2;SERIALRX_SRXL;SERIALRX_DEFMPX") +add_arduino_firmware(${TODAY}_RX3SM FlightStab pro5v "RX3SM") + +# EagleA3Pro +add_arduino_firmware(${TODAY}_EAGLE_A3PRO FlightStab pro5v "EAGLE_A3PRO") +add_arduino_firmware(${TODAY}_EAGLE_A3PRO_NO_STICKCONFIG FlightStab pro5v "EAGLE_A3PRO;NO_STICKCONFIG") + +# test permutations +add_arduino_firmware(TEST_RX3S_V1_8MHZ FlightStab pro "RX3S_V1") +add_arduino_firmware(TEST_RX3S_V2_8MHZ FlightStab pro "RX3S_V2") +add_arduino_firmware(TEST_RX3S_V2_SERIAL_DEBUG FlightStab pro5v "RX3S_V2;SERIAL_DEBUG") +add_arduino_firmware(TEST_RX3S_V2_DUMP_SENSORS FlightStab pro5v "RX3S_V2;DUMP_SENSORS") +add_arduino_firmware(TEST_RX3S_V2_LED_TIMING FlightStab pro5v "RX3S_V2;LED_TIMING") +add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEVLIB") +add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE") +add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG") +add_arduino_firmware(TEST_FLIP_1_5_SBUS_DEBUG FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS;FLIP_SERIALRX_DEBUG") + diff --git a/Aquastar/FlightStab/FlightStab.h b/Aquastar/FlightStab/FlightStab.h new file mode 100644 index 0000000..2b980a3 --- /dev/null +++ b/Aquastar/FlightStab/FlightStab.h @@ -0,0 +1,83 @@ +/* FlightStab **************************************************************************************************/ + +/* NOTE: +./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the +aquastar programming box to be in sync with the flightstab firmware. +*/ + +#if !defined(FLIGHTSTAB_H) +#define FLIGHTSTAB_H + +const int8_t eeprom_cfg_ver = 12; + +enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5}; + +enum WING_MODE {WING_USE_DIPSW=1, + WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL, + WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL, + WING_DUCKERON,WING_RUD_2ELE_2AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX}; +enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT}; +enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important +enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important +enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; +enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE}; + +enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F + SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; + +// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box. +// Thus one must be subtracted from the EEPROM value before sending to the Gyro +enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ}; +#define DLPF_MASK 0x07 + +const int8_t serialrx_num_chan = 8; +const int8_t vr_gain_use_pot = -128; + +struct _eeprom_stats { + int8_t device_id; + uint32_t device_ver; + int8_t eeprom_cfg1_err; + int8_t eeprom_cfg2_err; + int8_t eeprom_cfg12_reset; +}; + +struct _pid_param { + int16_t kp[3]; // [0, 1000] 11b signed + int16_t ki[3]; + int16_t kd[3]; + int8_t output_shift; +}; + +struct _eeprom_cfg { + uint8_t ver; + enum WING_MODE wing_mode; // overridden by DIP switches if available + enum MIXER_EPA_MODE mixer_epa_mode; + int8_t servo_frame_rate; + int8_t serialrx_order[serialrx_num_chan]; + enum SERIALRX_SPEKTRUM_LEVELS serialrx_spektrum_levels; + enum MOUNT_ORIENT mount_orient; + enum STICK_GAIN_THROW stick_gain_throw; + enum MAX_ROTATE max_rotate; + enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate; + enum INFLIGHT_CALIBRATE inflight_calibrate; + int8_t vr_gain[3]; + struct _pid_param pid_param_rate; + struct _pid_param pid_param_hold; + int8_t gyro_dlpf; + uint8_t chksum; +}; + +enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG}; + +struct _ow_msg { + uint8_t cmd; + union { + struct _eeprom_cfg eeprom_cfg; // OW_*_CFG + struct _eeprom_stats eeprom_stats; // OW_*_STATS + } u; + uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one +}; + +#endif // FLIGHTSTAB_H \ No newline at end of file diff --git a/Aquastar/FlightStab/FlightStab.ino b/Aquastar/FlightStab/FlightStab.ino new file mode 100644 index 0000000..3dc3984 --- /dev/null +++ b/Aquastar/FlightStab/FlightStab.ino @@ -0,0 +1,2877 @@ +/* FlightStab **************************************************************************************************/ + +#include +#include +#include +#include + +#include "FlightStab.h" + +//#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) +//#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) +//#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) +//#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) +//#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) ) + +bool ow_loop(); // OneWireSerial.ino + +// GYRO_ORIENTATION: roll right => -ve, pitch up => -ve, yaw right => -ve + +/*************************************************************************************************************** + * device definitions (TODO: move to separate files) + ***************************************************************************************************************/ + +//#define RX3S_V1 +//#define RX3S_V2 +//#define RX3SM +//#define NANOWII +//#define EAGLE_A3PRO +//#define MINI_MWC +//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC +//#define FLIP_1_5 +//#define NANO_MPU6050 + +//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP) +//#define SERIALRX_SPEKTRUM // over the serial port +//#define SERIALRX_SBUS // over the serial port +//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT +//#define SERIALRX_DEFMPX // default MPX channel mapping + +//#define NO_ONEWIRE // remove one-wire serial config code +//#define NO_STICKCONFIG // remove stick config code + +//#define SERIAL_DEBUG // enable debug messages through serial port +//#define DUMP_SENSORS // dump sensors through the serial port +//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings + +//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries +//#define USE_I2CLIGHT // poll-based i2c access routines +#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT)) +#define USE_I2CLIGHT // default +#endif + +#define CPPM_PROFILE_PB0 0 +#define CPPM_PROFILE_PD2 1 +#define CPPM_PROFILE_PE6 2 +#define LED_PROFILE_PB5 0 +#define LED_PROFILE_PD3 1 +#define LED_PROFILE_PD5 2 +#define OW_PROFILE_PC0 0 +#define OW_PROFILE_PC7 1 +#define OW_PROFILE_PD7 2 + +/* RX3S_V1 *****************************************************************************************************/ +#if defined(RX3S_V1) +#warning RX3S_V1 defined // emit device name +/* + OrangeRx Stabilizer RX3S V1 + PB0 8 AIL_IN PC0 14/A0 AIL_GAIN PD0 0 (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI) (PWM) PC3 17/A3 PAD PD3 3 RUD_SW (PWM) + PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + WING_RUDELE_1AIL + WING_DELTA_1AIL + WING_VTAIL_1AIL + PB3 11 NONE instead of AUX_IN + PB4 12 NONE instead of AILR_IN + PD7 7 AUX_IN instead of AILR_OUT + + SERIALRX + PB0 8 CPPM_IN + PB1 9 FLP_OUT + PB2 10 THR_OUT +*/ + +#define DEVICE_ID DEVICE_RX3S_V1 + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, -1, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 4 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* RX3S_V1 *****************************************************************************************************/ + +/* RX3S_V2 *****************************************************************************************************/ +#if defined(RX3S_V2) +#warning RX3S_V2 defined // emit device name +/* + OrangeRx Stabilizer RX3S V2 + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 AUX_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 VTAIL_SW (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + WING_RUDELE_2AIL + WING_DELTA_2AIL + WING_VTAIL_2AIL + WING_DUCKERON + PD1 1 AILR_IN instead of AIL_SW + + SERIALRX + PB0 8 CPPM_IN + PB1 9 FLP_OUT + PB2 10 THR_OUT + PB3 11 AUX2_OUT +*/ + +#define DEVICE_ID DEVICE_RX3S_V2V3 + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#if defined(AILR_IN_ON_RUD_IN) // Use RUD_IN input for AILR_IN - no rudder control +#define RX_PORTB {&ail_in, &ele_in, &ailr_in, &aux_in, NULL, NULL, NULL, NULL} +#else +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#endif +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, &vtail_sw, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&aux_sw, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, 11, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 4 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* RX3S_V2 *****************************************************************************************************/ + +/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/ +#if defined(RX3SM) +#warning RX3SM defined // emit device name +/* + OrangeRx Stabilizer RX3SM + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 VTAIL_SW (RXD) V2=AUX_SW + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW [AILR_OUT] V2=AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT + PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT + + The RX3SM DSM2 version uses micro connectors and can't support dual ailerons. + The RX3SM DSMx version has enough pins to support dual ailerons with a minor hardware + modification described in the documentation. +*/ + +#define DEVICE_ID DEVICE_RX3SM + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, &ailr_in, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE // no cppm + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD5 for AILR_OUT? + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 5 +#define EEPROM_RESET_IN_PIN 6 + +#endif +/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/ + + +/* NANOWII ****************************************************************************************************/ +#if defined(NANOWII) +#warning NANOWII defined // emit device name +/* + NanoWii + PB0 17 (PCINT0) | | PD0 3 SCL (SCL) | | PF0 23/A5 (ADC0) + PB1 15 RUD_IN (SCK/PCINT1) | | PD1 2 SDA (SDA) | | PF1 22/A4 (ADC1) + PB2 16 AIL_IN (MOSI/PCINT2) | | PD2 0 RXD (RXD) | PE2 (HWB_) | + PB3 14 ELE_IN (MISO/PCINT3) | | PD3 1 TXD (TXD) | | + PB4 8 AUX_IN (PCINT4) | | PD4 4 SV (ADC8/ICP1) | | PF4 21/A3 SV (ADC4) + PB5 9 AIL_OUT (PCINT5/OC1A/OC4B_) | | PD5 (TXLED) | | PF5 20/A2 SV (ADC5) + PB6 10 ELE_OUT (PCINT6/OC1B/OC4B) | PC6 5 THR_OUT (OC3A/OC4A_) | PD6 12 (OC4D_) | PE6 7 AILR_IN (INT6) | PF6 19/A1 SV (ADC6) + PB7 11 RUD_OUT (PCINT7/OC0A/OC1C) | PC7 13 AILR_OUT (OC4A/ICP3) | PD7 6 FLP_OUT (OC4D) | | PF7 18/A0 SV (ADC7) + + SERIALRX + PE6 7 CPPM_IN +*/ + +#define DEVICE_ID DEVICE_NANOWII + +// MUST BE ALL NULL +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// PORTD MUST BE ALL NULL +#define RX_PORTB {NULL, &rud_in, &ail_in, &ele_in, &aux_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// MUST BE ALL NULL +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {11, 10, -1, 9, -1, 13, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {11, 10, 5, 9, -1, 13, -1, 6} // RETA1a2F + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PE6 + +// LED +#define LED_PROFILE LED_PROFILE_PD5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC7 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif +/* NANOWII ****************************************************************************************************/ + +/* EAGLE_A3PRO *************************************************************************************************/ +#if defined(EAGLE_A3PRO) +#warning EAGLE_A3PRO defined // emit device name + + /* + Eagle A3 Pro Stabilizer EAGLE_A3PRO + PB0 8 AIL_IN (OWTXRX) PC0 14/A0 AIL_GAIN PD0 0 AIL_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 ELE_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 RUD_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 PD3 3 LED + PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILR_OUT + PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) + PB7 15 (XTAL2) PD7 7 RUD_OUT (PWM) + + AIL_SINGLE mode (DEFAULT SETTING) + no change + + AIL_DUAL mode + PB3 11 AUX_IN instead of MOSI + PB4 12 AILR_IN instead of MISO + + CPPM enabled + PB0 8 CPPM_IN instead of AIL_IN + PB1 9 FLP_OUT instead of ELE_IN + PB2 10 THR_OUT instead of RUD_IN + PB3 11 AUX2_OUT instead of AUX_IN +*/ + +#define DEVICE_ID DEVICE_EAGLE_A3PRO + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX {7, 6, 10, 4, -1, 4, 11, 9} // RETA1a2F + +// +#define USE_ITG3200 +#define ITG3205_ADDR 0x69 // override default addr +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PROFILE CPPM_PROFILE_PB0 + +// LED +#define LED_PROFILE LED_PROFILE_PD3 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD4 for AILR_OUT? + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 5 +#define EEPROM_RESET_IN_PIN 6 + +#endif +/* EAGLE_A3PRO *************************************************************************************************/ + +/* MINI_MWC ****************************************************************************************************/ +#if defined(MINI_MWC) +#warning MINI_MWC defined // emit device name +/* + HK MINI MWC with DSM2 RX + PB0 8/D8 CPPM_EXT/pad PC0 14/A0 One-Wire PD0 0/D0 (RXD) + PB1 9/D9 FLP_OUT (PWM) PC1 15/A1 rsvd/CPPM_EXT PD1 1/D1 (TXD) + PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 AUX2_OUT PD2 2/D2 CPPM_INT + PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 THR_OUT (PWM) + PB4 12/D12 no connection PC4 18/A4 (SDA) PD4 4/D4 spare/conn + PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 ELE_OUT (PWM) + PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 RUD_OUT (PWM) + PB7 15/D15 (XTAL2) PD7 7/D7 spare/pad + + SERIALRX + PD2 D2 CPPM_IN internal RX + PB0 D8 CPPM_IN external RX. PC1 A1 is external facing, short this with PB0 D8. +*/ + +#define DEVICE_ID DEVICE_MINI_MWC + +// +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {6, 5, 3, 10, -1, 11, 16, 9} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// must use one of the SERIALRX modes +#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL) +#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS" +#endif + +// CPPM from external/internal RX +#if defined(MINI_MWC_EXTERNAL_RX) +#define CPPM_PROFILE CPPM_PROFILE_PB0 // external RX +#else +#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX +#endif + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC0 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif // defined(MINI_MWC) +/* MINI_MWC ****************************************************************************************************/ + +/* FLIP_1_5 ****************************************************************************************************/ +#if defined(FLIP_1_5) +#warning FLIP_1_5 defined // emit device name +/* + FLIP 1.5 + PB0 8/D8 no connection PC0 14/A0 One-Wire PD0 0/D0 (RXD) + PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD) + PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN + PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM) + PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN + PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM) + PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM) + PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN + + SERIALRX + PD2 D2 CPPM_IN +*/ + +#define DEVICE_ID DEVICE_FLIP_1_5 + +// +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {NULL, NULL, NULL, NULL, &aux_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, &ail_in, &rud_in, &ele_in, &ailr_in} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // 2016-02-08 changed 2nd entry from &dummy_sw to NULL + // Removed long pulse on THR output at power on +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, 12, 16} // RETA1a2F +#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX + + +// LED +#define LED_PROFILE LED_PROFILE_PB5 + +// one-wire port +#define OW_PROFILE OW_PROFILE_PC0 + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 6 +#define EEPROM_RESET_IN_PIN 5 + +#endif // defined(FLIP_1_5) +/* FLIP_1_5 ****************************************************************************************************/ + +/* NANO_MPU6050 ************************************************************************************************/ +#if defined(NANO_MPU6050) +#warning NANO_MPU6050 defined // emit device name +#undef USE_ITG3200 +#define USE_MPU6050 +#undef GYRO_ORIENTATION +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = -(x); gyro[1] = (y); gyro[2] = (z);} +#define F_I2C F_100KHZ // i2c bus speed +#endif +/* NANO_MPU6050 ************************************************************************************************/ + +// standard frequency definitions +#define F_8MHZ 8000000UL +#define F_16MHZ 16000000UL +#define F_100KHZ 100000UL +#define F_400KHZ 400000UL + +#if !defined(F_XTAL) +#define F_XTAL F_16MHZ // default external crystal oscillator frequency +#endif + +#if !defined(F_I2C) +#define F_I2C F_400KHZ // default i2c bus speed +#endif + +// emit cpu frequency if not 16MHz +#if F_CPU == F_8MHZ +#warning F_CPU == F_8MHZ +#endif +#if !((F_XTAL == F_16MHZ && F_CPU == F_16MHZ) || \ + (F_XTAL == F_16MHZ && F_CPU == F_8MHZ) || \ + (F_XTAL == F_8MHZ && F_CPU == F_8MHZ)) +#error (F_XTAL,F_CPU) must be (16MHz,16MHz), (16MHz,8MHz) or (8MHz,8MHz) +#endif + +// emit serial debug enabled +#if defined(SERIAL_DEBUG) +#warning SERIAL_DEBUG defined +#endif + +// verify single i2c lib defined +#if defined(USE_I2CDEVLIB) && defined(USE_I2CLIGHT) +#error Cannot define both USE_I2CDEVLIB and USE_I2CLIGHT +#endif + +// verify single imu defined +#if defined(USE_MPU6050) && defined(USE_ITG3200) +#error Cannot define both USE_MPU6050 and USE_ITG3200 +#endif + +// verify not more than one serialrx_* mode defined +#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM))) +#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS) +#endif + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL) +#define SERIALRX_ENABLED +#endif + +// i2cdevlib includes +#if defined(USE_I2CDEVLIB) +#warning USE_I2CDEVLIB defined + #include "Wire.h" + #include "I2Cdev.h" +#if defined(USE_MPU6050) + #include "MPU6050.h" + MPU6050 accelgyro; +#elif defined(USE_ITG3200) + #include "ITG3200.h" + ITG3200 itg3205_gyro; +#endif +#endif + +// device id and version +#if !defined(DEVICE_ID) +#define DEVICE_ID DEVICE_UNDEF +#endif +#if !defined(DEVICE_VER) +#define DEVICE_VER 12345678L +#endif + +#if defined(SERIALRX_CPPM) +#if CPPM_PROFILE == CPPM_PROFILE_PB0 // PB0 +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 +#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // PD2 +#define CPPM_PINREG PIND +#define CPPM_PINBIT 2 +#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // PE6 +#define CPPM_PINREG PINE +#define CPPM_PINBIT 6 +#endif +#endif + +#if OW_PROFILE == OW_PROFILE_PC0 // PC0 +#define OW_BIT 0 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC +#elif OW_PROFILE == OW_PROFILE_PC7 // PC7 +#define OW_BIT 7 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC +#elif OW_PROFILE == OW_PROFILE_PD7 // PD7 +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND +#endif + +#if LED_PROFILE == LED_PROFILE_PB5 // PB5 active high +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high +#elif LED_PROFILE == LED_PROFILE_PD3 // PD3 active high +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 3 +#define LED_XOR 0 // active high +#elif LED_PROFILE == LED_PROFILE_PD5 // PD5 active LOW +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 5 +#define LED_XOR 1 // active low +#endif + +// LED set +#define LED_OFF 0 +#define LED_ON 1 +#define LED_INVERT 2 + +// LED message pulse duration +#define LED_LONG 600 +#define LED_SHORT 200 +#define LED_VERY_SHORT 30 + +#if defined(LED_TIMING) +#define LED_TIMING_START do {LED_PORT |= (1 << LED_BIT);} while (false) +#define LED_TIMING_STOP do {LED_PORT &= ~(1 << LED_BIT);} while (false) +#else +#define LED_TIMING_START do {} while (false) // no-op +#define LED_TIMING_STOP do {} while (false) // no-op +#endif + +// adc +volatile uint8_t ail_vr = 255; +volatile uint8_t ele_vr = 255; +volatile uint8_t rud_vr = 255; + +// rx +#define RX_GAIN_HYSTERESIS 25 +#define RX_MODE_HYSTERESIS 25 +#define RX_WIDTH_MIN 900 +#define RX_WIDTH_LOW_FULL 1000 +#define RX_WIDTH_LOW_NORM 1100 +#define RX_WIDTH_LOW_TRACK 1250 +#define RX_WIDTH_MID 1500 +#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode +#define RX_WIDTH_HIGH_TRACK 1750 +#define RX_WIDTH_HIGH_NORM 1900 +#define RX_WIDTH_HIGH_FULL 2000 +#define RX_WIDTH_MAX 2100 + +volatile int16_t ail_in = RX_WIDTH_MID; +volatile int16_t ele_in = RX_WIDTH_MID; +volatile int16_t rud_in = RX_WIDTH_MID; +volatile int16_t ailr_in = RX_WIDTH_MID; +volatile int16_t aux_in = RX_WIDTH_LOW_FULL; // assume max RATE MODE gain if no aux_in +volatile int16_t aux2_in = RX_WIDTH_MID; +volatile int16_t thr_in = RX_WIDTH_LOW_FULL; +volatile int16_t flp_in = RX_WIDTH_MID; +int16_t ail_in2, ailr_in2, ele_in2, rud_in2, aux_in2, aux2_in2, thr_in2, flp_in2; + +int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position offsets +int16_t ele_in2_mid = RX_WIDTH_MID; // +int16_t rud_in2_mid = RX_WIDTH_MID; // +int16_t ailr_in2_mid = RX_WIDTH_MID; // +int16_t flp_in2_mid = RX_WIDTH_MID; // + +int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset, flp_in2_offset; // difference from *_in2_mid (stick position) + +// switch +int8_t ail_sw = false; +int8_t ele_sw = false; +int8_t rud_sw = false; +int8_t vtail_sw = false; +int8_t delta_sw = false; +int8_t aux_sw = false; +int8_t dummy_sw = false; // used to set pins to input mode + +// servo +volatile int16_t ail_out; +volatile int16_t ele_out; +volatile int16_t rud_out; +volatile int16_t ailr_out; +volatile int16_t thr_out; +volatile int16_t flp_out; +volatile int16_t aux2_out; +int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2; + +// imu +int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets +int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec +int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) +int8_t gyro_low_pass_filter = BW_5HZ - 1; // Default Zero Based Digital Low Pass Filter to 5HZ, get desired value from EEPROM + +// stabilizer output +int16_t correction[3] = {0, 0, 0}; +int16_t mixer_out2_low_limit[5]; +int16_t mixer_out2_high_limit[5]; + +// configuration +struct _eeprom_cfg cfg; + +// local copy of config +enum WING_MODE wing_mode; + +// serialrx_* order +const int8_t rx_chan_size = 8; +const volatile int16_t *rx_chan_map[rx_chan_size] = + {&rud_in, &ele_in, &thr_in, &ail_in, &aux_in, &ailr_in, &aux2_in, &flp_in}; // see enum SERIALRX_CHAN + +const int8_t serialrx_order_RETA1a2f[rx_chan_size] = { + SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_TAER1a2f[rx_chan_size] = { + SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_AETR1a2f[rx_chan_size] = { + SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F}; +const int8_t serialrx_order_AERTa1f2[rx_chan_size] = { + SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; +const int8_t serialrx_order_TAERa1f2[rx_chan_size] = { + SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2}; + +volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; + +// pwm chan order +const int8_t pwm_chan_size = 8; +const volatile int16_t *pwm_chan_map[pwm_chan_size] = + {&rud_out, &ele_out, &thr_out, &ail_out, NULL, &ailr_out, &aux2_out, &flp_out}; // see enum SERIALRX_CHAN + +// stabilization mode +enum STAB_MODE {STAB_RATE, STAB_HOLD}; +enum STAB_MODE stab_mode = STAB_RATE; + +// DELTA DUAL_AIL mode +enum LINKED_MODE {LINKED_FLAPONLY, LINKED_FLAPPERON, LINKED_FLAPPERONEVATOR}; +enum LINKED_MODE linked_mode = LINKED_FLAPPERON; + +const int16_t stick_gain_max = 400; // [1100-1500] or [1900-1500] => [0-STICK_GAIN_MAX] +const int16_t master_gain_max = 400; // [1500-1100] or [1500-1900] => [0-MASTER_GAIN_MAX] + +int32_t minimum_servo_frame_time; // min time between servo updates in us. derived from cfg.servo_frame_rate +const int32_t maximum_rx_frame_time = 30000; // max time to wait for rx_frame_sync in us + +/*************************************************************************************************************** + * TIMER1 AND MISC + ***************************************************************************************************************/ + +volatile uint16_t timer1_high = 0; +volatile uint8_t timer1_ovf = 0; + +ISR(TIMER1_OVF_vect) +{ + if (!++timer1_high) + timer1_ovf++; +} + +uint32_t micros1() +{ + uint16_t th, tl; + uint8_t to; +#if 0 + // interrupt-disable version + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + } +#else + // lock-free version. read twice, ensure low order counter did not overflow and + // high order bits remain unchanged + while (true) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + if (!((tl ^ TCNT1) & 0x8000) && th == timer1_high && to == timer1_ovf) + break; + } +#endif +#if F_CPU == F_16MHZ + return ((uint32_t)to << 31) | ((uint32_t)th << 15) | (tl >> 1); +#else + return ((uint32_t)th << 16) | tl; +#endif +} + +void delay1(uint32_t ms) +{ + uint32_t us = ms * 1000; + uint32_t t = micros1(); + while ((int32_t)(micros1() - t) < us); +} + +void init_clock() +{ + // set clock prescaler to /2 when (F_XTAL, F_CPU) = (16M, 8M) +#if F_XTAL == F_16MHZ && F_CPU == F_8MHZ + uint8_t saveSREG = SREG; + cli(); + CLKPR = (1 << CLKPCE); + CLKPR = (1 << CLKPS0); + SREG = saveSREG; +#endif +} + +int get_free_sram() +{ + extern int __heap_start, *__brkval; + int v; + return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval); +} + +bool boot_check(int8_t in_pin, int8_t out_pin) +{ + pinMode(out_pin, OUTPUT); + pinMode(in_pin, INPUT); + digitalWrite(in_pin, HIGH); // enable pullup + delay1(10); + + bool result = true; + for (int8_t i=0; i<8; i++) { + int8_t level = i & 1 ? HIGH : LOW; + digitalWrite(out_pin, level); + // alternative to digitalRead() + if (((*portInputRegister(digitalPinToPort(in_pin)) & digitalPinToBitMask(in_pin)) ? HIGH : LOW) != level) { + result = false; + break; + } + } + pinMode(out_pin, INPUT); + return result; +} + + +/*************************************************************************************************************** + * LED + ***************************************************************************************************************/ +/* + 4 LED message slots + slot 0 for operation mode + slot 1 for operation mode + slot 2 for error condition + slot 3 for error condition + + slot 0 + 1 LONG = MIX_NORMAL + 2 LONG = MIX_DELTA + 3 LONG = MIX_VTAIL + + slot 1 + 1 SHORT = rx calibrating + 2 SHORT = imu calibrating + 3 SHORT = both calibrating + 4 SHORT = STAB_HOLD mode (else STAB_RATE) + + slot 2 + 5 SHORT = gyro init error + 20 VERY SHORT = low sram + + slot 3 + 50 VERY SHORT = eeprom reset + +*/ + +int8_t led_pulse_count[4]; +int16_t led_pulse_msec[4]; + +void init_led() +{ + LED_DDR |= (1 << LED_BIT); +} + +void set_led(int8_t i) +{ +#if !defined(LED_TIMING) + switch (i ^ LED_XOR) { + case LED_ON: LED_PORT |= (1 << LED_BIT); break; + case LED_OFF: LED_PORT &= ~(1 << LED_BIT); break; + default: LED_PORT ^= (1 << LED_BIT); break; + } +#endif +} + +void set_led_msg(int8_t slot, int8_t pulse_count, int16_t pulse_msec) { + led_pulse_count[slot] = pulse_count; + led_pulse_msec[slot] = pulse_msec; +} + +void update_led(uint32_t now) +{ + static int8_t slot; + static int8_t step; + static uint32_t next_time; + + if ((int32_t)(next_time - now) > 0) + return; + + if (step == 0) { + slot = (slot + 1) & 0x3; + step = led_pulse_count[slot] << 1; + next_time = now + 1000000; + return; + } + + step--; + set_led(step & 0x1 ? LED_ON : LED_OFF); + next_time = now + ((uint32_t)led_pulse_msec[slot] << 10); +} + +/*************************************************************************************************************** + * I2CLIGHT / MPU6050 / ITG3205 + ***************************************************************************************************************/ + +uint16_t i2c_errors = 0; + +void i2c_init(int8_t pullup, uint32_t freq) +{ + if (pullup) { +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) + PORTC |= 1 << 5; // scl PC5 + PORTC |= 1 << 4; // sda PC4 +#elif defined(__AVR_ATmega32U4__) // nanowii only + PORTD |= 1 << 0; // scl PD0 + PORTD |= 1 << 1; // sda PD1 +#else +#error Unknown CPU type for I2C +#endif + } + TWSR = 0; // prescaler = 1 + TWBR = ((F_CPU / freq) - 16) >> 1; // baud rate +} + +void i2c_wait() +{ + int16_t timeout = 255; + while (!(TWCR & (1 << TWINT))) { + if (!timeout--) { + TWCR = 0; // disable twi + i2c_errors++; + break; + } + } +} + +void i2c_start(uint8_t addr) +{ + TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // repeated start + i2c_wait(); + TWDR = addr; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +void i2c_stop() +{ + TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN); +} + +void i2c_write(uint8_t data) +{ + TWDR = data; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +uint8_t i2c_read(int8_t ack) +{ + uint8_t data; + TWCR = (1 << TWINT) | (1 << TWEN) | (ack ? (1 << TWEA) : 0); + i2c_wait(); + data = TWDR; + if (!ack) i2c_stop(); + return data; +} + +void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_write(data); // write data + i2c_stop(); +} + +uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_start((addr << 1) | 1); // read data + return i2c_read(false); +} + +void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) +{ + i2c_start((addr << 1) | 1); // read data + while (size--) { + *buf++ = i2c_read(size > 0); + } +} + +void i2c_read_buf_reg(uint8_t addr, uint8_t reg, uint8_t *buf, int8_t size) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_read_buf(addr, buf, size); +} + +#define MPU6050_ADDR 0x68 + +int8_t mpu6050_init() +{ + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset + delay1(50); + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(MPU6050_ADDR, 0x1A, gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration + i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s + + return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id +} + +void mpu6050_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x43, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +void mpu6050_read_accel(int16_t *ax, int16_t *ay, int16_t *az) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x3B, buf, sizeof(buf)); + *ax = (buf[0] << 8) | (buf[1]); + *ay = (buf[2] << 8) | (buf[3]); + *az = (buf[4] << 8) | (buf[5]); +} + +#if !defined(ITG3205_ADDR) +#define ITG3205_ADDR 0x68 +#endif + +int8_t itg3205_init() +{ + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset + delay1(50); + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration + + return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id +} + +void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(ITG3205_ADDR, 0x1D, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +/*************************************************************************************************************** + * ANALOG IN (VR) + ***************************************************************************************************************/ + +const int8_t adc_portc_size = 6; +volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC; + +void start_adc(uint8_t ch) +{ + ADMUX = (ADMUX & ~0x07) | ch; // set adc channel + ADCSRA |= (1 << ADSC); // adc start conversion +} + +void start_next_adc(uint8_t ch) +{ + while (ch < adc_portc_size) { // start next adc channel that has a valid mapping + if (adc_portc[ch]) { + start_adc(ch); + break; + } + ch++; + } +} + +ISR(ADC_vect) +{ + uint8_t ch = ADMUX & 0x07; // extract the channel of the ADC result + *adc_portc[ch] = ADCH; // save only the 8 msbs + start_next_adc(ch+1); +} + +void init_analog_in() +{ + int8_t i; + for (i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + ch_count = ch; // track total channels found before sync gap + ch = 0; + } else { + if (ch < rx_chan_size) { + if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; + if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; + *rx_chan[ch] = width; + } + ch++; + if (ch == ch_count) + rx_frame_sync = true; // mark as synced on last channel before sync gap + } +} +#endif // CPPM_PROFILE_PB0 + +// interrupt handler for CPPM stream on non-ICP pin (eg. CPPM_PROFILE_PD2 and CPPM_PROFILE_PE6) +// CPPM_PINREG and CPPM_PINBIT must be defined +// port/pin must be set up for interrupt on edge change and input mode in init_digital_in_rx() +inline void non_icp_cppm_vect() +{ + static int8_t ch_count; + static int8_t ch; + static uint16_t fall_time; + static uint8_t last_pin; + uint16_t now; + uint8_t last_pin2; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + last_pin = CPPM_PINREG; + if (((last_pin2 & ~last_pin) & (1 << CPPM_PINBIT)) == 0) + return; // return if NOT falling edge on CPPM_PINREG/CPPM_PINBIT + sei(); + + uint16_t width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + ch_count = ch; // track total channels found before sync gap + ch = 0; + } else { + if (ch < rx_chan_size) { + if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN; + if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX; + *rx_chan[ch] = width; + } + ch++; + if (ch == ch_count) + rx_frame_sync = true; // mark as synced on last channel before sync gap + } +} + +#if CPPM_PROFILE == CPPM_PROFILE_PD2 +ISR(PCINT2_vect) +{ + non_icp_cppm_vect(); +} +#endif // CPPM_PROFILE_PD2 + +#if CPPM_PROFILE == CPPM_PROFILE_PE6 +ISR(INT6_vect) +{ + non_icp_cppm_vect(); +} +#endif // CPPM_PROFILE_PE6 +#endif // SERIALRX_CPPM + +#if !defined(SERIALRX_ENABLED) +// regular NON-CPPM RX handling +const int8_t rx_port_size = 8; +volatile int16_t *rx_portb[rx_port_size] = RX_PORTB; +volatile int16_t *rx_portd[rx_port_size] = RX_PORTD; +int8_t rx_frame_sync_ref; // PB bit for non-CPPM + +// PORTB PCINT0-PCINT7 +ISR(PCINT0_vect) +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINB; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portb[i] = width; + if (i == rx_frame_sync_ref) + rx_frame_sync = true; + } + } + } + } +} + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) +// PORTD PCINT16-PCINT23 +ISR(PCINT2_vect) +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PIND; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portd[i] = width; + } + } + } + } +} +#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ + +#if defined(__AVR_ATmega32U4__) // nanowii only +// PE6 MUST BE ailr_in +ISR(INT6_vect) +{ + static uint16_t rise_time; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINE; + last_pin = pin; + sei(); + + rise = pin & ~last_pin2; + if (rise & (1 << 6)) { + rise_time = now; + } else { + uint16_t width = (now - rise_time) >> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + ailr_in = width; + } + } +} +#endif // __AVR_ATmega32U4__ +#endif // !SERIALRX_ENABLED + +void init_digital_in_rx() +{ +#if defined(SERIALRX_CPPM) +#if CPPM_PROFILE == CPPM_PROFILE_PB0 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINB, 0) + // eg. atmega168/328 ICP + TIMSK1 |= (1 << ICIE1); // enable interrupt on ICP + TCCR1B |= (1 << ICNC1); // enable noise canceler and interrupt on falling edge +#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PIND, 2) + // eg. MINI_MWC CPPM is on D2 (INTERNAL RX) + PCICR |= (1 << PCIE2); // interrupt on pin change + PCMSK2 |= (1 << CPPM_PINBIT); + DDRD &= ~(1 << CPPM_PINBIT); // set input mode + PORTD |= (1 << CPPM_PINBIT); // enable internal pullup +#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINE, 6) + // eg. NANOWII CPPM + EICRB |= (1 << ISC60); // interrupt on pin change + EIMSK |= (1 << INT6); + DDRE &= ~(1 << CPPM_PINBIT); // set input mode + PORTE |= (1 << CPPM_PINBIT); // enable internal pullup +#else +#error Unknown CPPM_PROFILE +#endif + return; +#endif // SERIALRX_CPPM + +#if !defined(SERIALRX_ENABLED) + // standard non-CPPM RX input + // rx_portb for all, rx_portd for atmega168/328, PE6 for atmega32u4 + + // PORTB RX + PCICR |= (1 << PCIE0); // interrupt on pin change + for (int8_t i=0; i= 0) // pwm_ch = -1 by start_servo_frame() + digitalWrite(pwm_chan_pin[pwm_ch], LOW); + while (pwm_ch < pwm_chan_size - 1) { + pwm_ch++; + if (pwm_chan_pin[pwm_ch] >= 0) { + uint16_t wait; + uint16_t tcnt1 = TCNT1; + digitalWrite(pwm_chan_pin[pwm_ch], HIGH); + wait = (*pwm_chan_map[pwm_ch] - 2) << (F_CPU == F_16MHZ ? 1 : 0); + OCR1A = tcnt1 + wait; + return; + } + } + // completed cycle + servo_busy = false; + TIMSK1 &= ~(1 << OCIE1A); // disable further interrupt on TCNT1 == OCR1A +} + +void init_digital_out() +{ + for (int8_t i=0; i= 0) + { + //jrb 2016-02-08 Force all Outputs Low before enabling pin as OUTPUT + digitalWrite(pwm_chan_pin[i], LOW); + pinMode(pwm_chan_pin[i], OUTPUT); + } + } +} + +/*************************************************************************************************************** + * PID + ***************************************************************************************************************/ + +#define PID_PERIOD 10000 +// relative exponential weights kp:ki:kd +#define PID_KP_SHIFT 3 +#define PID_KI_SHIFT 6 +#define PID_KD_SHIFT 2 + +// struct _pid_param defined in FlightStab.h + +struct _pid_state { + // setpoint, input [-8192, 8191] + int16_t setpoint[3]; + int16_t input[3]; + int16_t last_err[3]; + int32_t sum_err[3]; + int32_t i_limit[3]; + int16_t output[3]; +}; + +struct _pid_state pid_state; // pid engine state + +void compute_pid(struct _pid_state *ppid_state, struct _pid_param *ppid_param) +{ + for (int8_t i=0; i<3; i++) { + int32_t err, sum_err, diff_err, pterm, iterm, dterm; + err = ppid_state->input[i] - ppid_state->setpoint[i]; + // accumulate the error up to an i_limit threshold + sum_err = ppid_state->sum_err[i] = constrain(ppid_state->sum_err[i] + err, -ppid_state->i_limit[i], ppid_state->i_limit[i]); + diff_err = err - ppid_state->last_err[i]; // difference the error + ppid_state->last_err[i] = err; + + pterm = (ppid_param->kp[i] * err) >> PID_KP_SHIFT; + iterm = (ppid_param->ki[i] * sum_err) >> PID_KI_SHIFT; + dterm = (ppid_param->kd[i] * diff_err) >> PID_KD_SHIFT; + ppid_state->output[i] = (pterm + iterm + dterm) >> ppid_param->output_shift; + +#if defined(SERIAL_DEBUG) && 0 + if (i == 2) { + Serial.print(ppid_state->input[i]); Serial.print('\t'); + Serial.print(err); Serial.print('\t'); + Serial.print(diff_err); Serial.print('\t'); + Serial.print(pterm); Serial.print('\t'); + Serial.print(iterm); Serial.print('\t'); + Serial.print(ppid_state->sum_err[i]); Serial.print('\t'); + Serial.print(dterm); Serial.print('\t'); + Serial.println(ppid_state->output[i]); + } +#endif + } +} + +/*************************************************************************************************************** + * EEPROM + ***************************************************************************************************************/ + +const uint16_t eeprom_stats_addr = 128; +const uint16_t eeprom_cfg1_addr = 0; +const uint16_t eeprom_cfg2_addr = 256+0; + +uint8_t eeprom_compute_chksum(void *buf, int8_t len) +{ + uint8_t chksum = 0; + for (int8_t i=0; ichksum = eeprom_compute_chksum(pcfg, sizeof(*pcfg)-1); + eeprom_write_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); +} + +int8_t eeprom_read_cfg(struct _eeprom_cfg *pcfg, uint16_t eeprom_addr, uint8_t expect_ver) +{ + eeprom_read_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); + if (pcfg->ver != expect_ver) { + return -1; + } + if (eeprom_compute_chksum(pcfg, sizeof(*pcfg)) != 0) { + return -2; + } + return 0; +} + + + +/*************************************************************************************************************** + * IMU SENSOR + ***************************************************************************************************************/ + +void read_imu() +{ + int16_t gx, gy, gz, tmp; +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + accelgyro.getRotation(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_gyro.getRotation(&gx, &gy, &gz); +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + mpu6050_read_gyro(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_read_gyro(&gx, &gy, &gz); +#endif +#endif + GYRO_ORIENTATION(gx, gy, gz); + switch (cfg.mount_orient) { + case MOUNT_NORMAL: break; + case MOUNT_ROLL_90_LEFT: + tmp = gyro[1]; + gyro[1] = gyro[2]; + gyro[2] = -tmp; + break; + case MOUNT_ROLL_90_RIGHT: + tmp = gyro[1]; + gyro[1] = -gyro[2]; + gyro[2] = tmp; + break; + case MOUNT_ROTATE_90_LEFT: + tmp = gyro[0]; + gyro[0] = gyro[1]; + gyro[1] = -tmp; + break; + case MOUNT_ROTATE_90_RIGHT: + tmp = gyro[0]; + gyro[0] = -gyro[1]; + gyro[1] = tmp; + break; + } +} + +void init_imu() +{ +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + Wire.begin(); + accelgyro.initialize(); + if (!accelgyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } + accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); + accelgyro.setDLPFMode(gyro_low_pass_filter - 1); + accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO); +#elif defined(USE_ITG3200) + Wire.begin(); + itg3205_gyro.initialize(); + itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO); + itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000); + itg3205_gyro.setDLPFBandwidth(gyro_low_pass_filter - 1); + if (!itg3205_gyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + i2c_init(true, F_I2C); + if (!mpu6050_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#elif defined(USE_ITG3200) + i2c_init(true, F_I2C); + if (!itg3205_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif +} + +/*************************************************************************************************************** + * CALIBRATION + ***************************************************************************************************************/ + +int8_t calibration_wag_count; +uint32_t last_calibration_wag_time; + +struct _calibration { + int8_t done; + int16_t num_elements; // 3 for imu, 4 for rx + int16_t low[4]; + int16_t high[4]; + int32_t sum[4]; + int16_t mean[4]; + int16_t num_samples; +}; + +void calibrate_set_led(struct _calibration *prx_cal, struct _calibration *pimu_cal) { + set_led_msg(1, (pimu_cal->done ? 0 : 2) + (prx_cal->done ? 0 : 1), LED_SHORT); +} + +void calibrate_init_stat(struct _calibration *pcal, int8_t num_elements) +{ + pcal->done = false; + pcal->num_elements = num_elements; + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = 32767; + pcal->high[i] = -32768; + pcal->sum[i] = 0; + } + pcal->num_samples = 0; +} + +void calibrate_update_stat(struct _calibration *pcal, int16_t *psample) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = min(pcal->low[i], psample[i]); + pcal->high[i] = max(pcal->high[i], psample[i]); + pcal->sum[i] += psample[i]; + } +} + +void calibrate_compute_mean(struct _calibration *pcal) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->mean[i] = pcal->sum[i] / pcal->num_samples; + } +} + +int8_t calibrate_check_stat(struct _calibration *pcal, int16_t range) +{ + int8_t good = 0; + for (int8_t i=0; i < pcal->num_elements; i++) { + if (pcal->high[i] - pcal->low[i] < range) + good++; + } + return (good == pcal->num_elements); +} + +void calibrate_print_stat(struct _calibration *pcal) +{ +#if defined(SERIAL_DEBUG) && 0 + Serial.println(pcal->num_samples); + for (int8_t i=0; i < pcal->num_elements; i++) { + Serial.print(pcal->low[i]); Serial.print('\t'); + Serial.print(pcal->mean[i]); Serial.print('\t'); + Serial.println(pcal->high[i]); + } +#endif +} + +void calibrate_rx(struct _calibration *prx_cal) +{ + int16_t sample[5]; + int8_t is_calibrating = true; + + sample[0] = ail_in2; + sample[1] = ele_in2; + sample[2] = rud_in2; + sample[3] = ailr_in2; + sample[4] = flp_in2; + calibrate_update_stat(prx_cal, sample); + + if (++prx_cal->num_samples == 100) { + if (calibrate_check_stat(prx_cal, 20)) { + calibrate_compute_mean(prx_cal); + ail_in2_mid = prx_cal->mean[0]; + ele_in2_mid = prx_cal->mean[1]; + rud_in2_mid = prx_cal->mean[2]; + ailr_in2_mid = prx_cal->mean[3]; + flp_in2_mid = prx_cal->mean[4]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("RX"); + calibrate_print_stat(prx_cal); +#endif + prx_cal->done = true; // done + } else { + calibrate_init_stat(prx_cal, 4); // reset and try again + } + } +} + +void calibrate_imu(struct _calibration *pimu_cal) +{ + int16_t sample[3]; + int8_t is_calibrating = true; + + sample[0] = gyro[0]; + sample[1] = gyro[1]; + sample[2] = gyro[2]; + calibrate_update_stat(pimu_cal, sample); + + if (++pimu_cal->num_samples == 300) { + if (calibrate_check_stat(pimu_cal, 50)) { + calibrate_compute_mean(pimu_cal); + for (int8_t i=0; i<3; i++) + gyro0[i] = pimu_cal->mean[i]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("GY"); + calibrate_print_stat(pimu_cal); +#endif + pimu_cal->done = true; // done + } else { + calibrate_init_stat(pimu_cal, 3); // reset and try again + } + } +} + +/*************************************************************************************************************** + * RX IN - MIXER - SERVO OUT + ***************************************************************************************************************/ + +void copy_rx_in() +{ + // lock-free method to copy isr-owned *_in vars to *_in2 vars + int16_t tmp; + if ((tmp = ail_in) == ail_in) ail_in2 = tmp; + if ((tmp = ele_in) == ele_in) ele_in2 = tmp; + if ((tmp = rud_in) == rud_in) rud_in2 = tmp; + if ((tmp = aux_in) == aux_in) aux_in2 = tmp; + if ((tmp = aux2_in) == aux2_in) aux2_in2 = tmp; + if ((tmp = thr_in) == thr_in) thr_in2 = tmp; + if ((tmp = flp_in) == flp_in) flp_in2 = tmp; + + if (wing_mode <= WING_VTAIL_1AIL) + // WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL + ailr_in2 = ail_in2; + else + if ((tmp = ailr_in) == ailr_in) ailr_in2 = tmp; +} + +void apply_mixer_change(int16_t *change) +{ + // *_in2 => [change] => *_out2 + + // for delta/vtail + // tx = MID + (stick[x] + change[x]) * mult, where mult = 1/1, 3/2, 5/4 + + // mixer + int16_t tmp0, tmp1, tmp2, tmp3; + #define AIL_DELTA tmp0 + #define ELE_DELTA tmp1 + #define AIL_SCALE tmp2 + #define ELE_SCALE tmp3 + #define RUD_DELTA tmp0 + #define RUD_SCALE tmp2 + + switch (wing_mode) { + case WING_RUDELE_1AIL: + case WING_RUDELE_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; + rud_out2 = rud_in2 + change[2]; + break; + + case WING_DELTA_1AIL: + // input: ail=ailr=roll, ele=pitch, rud=yaw + // output: ail=delta2, ailr=ail, ele=delta1, rud=rud + case WING_DELTA_2AIL: + // input: ail=ail, ailr=ailr ele=pitch, rud=linked + // output: ail=ail, ailr=ailr, ele=delta1, rud=delta2 + + // set up for WING_DELTA_2AIL pin mapping first + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + //jrb tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0]; + AIL_DELTA = (ail_in2 - ail_in2_mid)+ change[0]; + //jrb tmp1 = ele_in2 + change[1]; // ele input + elevator change + ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1]; + + // apply 100% (1/1) + //ele_out2 = ((tmp0 + tmp1) >> 1); + //rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID; + + // apply 125% (5/4) + AIL_SCALE = (AIL_DELTA >> 1) + (AIL_DELTA >> 3); + ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3); + //jrb ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); + ele_out2 = AIL_SCALE + ELE_SCALE + ele_in2_mid; + //jrb tmp2 = tmp0 - tmp1; + //jrb rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; + rud_out2 = AIL_SCALE - ELE_SCALE + ail_in2_mid; + + // apply 150% (3/2) + //tmp2 = tmp0 + tmp1; + //ele_out2 = tmp2 - (tmp2 >> 2) - (RX_WIDTH_MID >> 1); + //tmp2 = tmp0 - tmp1; + //rud_out2 = tmp2 - (tmp2 >> 2) + RX_WIDTH_MID; + + if (wing_mode == WING_DELTA_2AIL) { + // rud_in2 == LINKED mode input + enum LINKED_MODE linked_mode = rud_in2 < 1250 ? LINKED_FLAPONLY : + rud_in2 > 1400 && rud_in2 < 1600 ? LINKED_FLAPPERON : + rud_in2 > 1750 ? LINKED_FLAPPERONEVATOR : + linked_mode; + + switch (linked_mode) { + case LINKED_FLAPONLY: // flaps only (and no roll stabilization) + tmp0 = ((ail_in2 - ail_in2_mid) - (ailr_in2 - ailr_in2_mid)) >> 1; // flap-only offset + ail_out2 = RX_WIDTH_MID + tmp0; + ailr_out2 = RX_WIDTH_MID - tmp0; + break; + case LINKED_FLAPPERON: // flaps and roll + // ail_out2 and ailr_out2 are already regular flapperons + break; + case LINKED_FLAPPERONEVATOR: // flaps, roll and pitch + // rud_vr scales tmp0 by -1.0 to +1.0 + tmp0 = (int32_t)((ele_in2_offset + change[1])) * ((int16_t)rud_vr - 128) >> 7; + ail_out2 += tmp0; + ailr_out2 -= tmp0; + break; + } + } else { + // shuffle outputs for WING_DELTA_1AIL pin mapping + ail_out2 = rud_out2; // ail_out=delta2, ele_out=delta1 + rud_out2 = rud_in2 + change[2]; // rud_out + } + break; + + case WING_VTAIL_1AIL: + case WING_VTAIL_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + //jrb tmp1 = ele_in2 + change[1]; + //jrb tmp2 = rud_in2 + change[2]; + ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1]; + RUD_DELTA = (rud_in2 - rud_in2_mid) + change[2]; + // apply 125% (5/4) + //jrb tmp0 = tmp2 + tmp1; + RUD_SCALE = (RUD_DELTA >> 1) + (RUD_DELTA >> 3); + ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3); + //jrb ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); + //jrb tmp0 = tmp2 - tmp1; + //jrb rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; + ele_out2 = ELE_SCALE + RUD_SCALE + ele_in2_mid; + rud_out2 = ELE_SCALE - RUD_SCALE + rud_in2_mid; + break; + + case WING_DUCKERON: + // input: ail=roll, ele=pitch, rud=yaw, ailr_in=brake + // output: ail=left1, ele=left2, ailr=right1, rud=right2 + tmp0 = (ail_in2 - ail_in2_mid) + change[0]; // roll + tmp1 = ele_in2_offset + change[1]; // pitch + tmp2 = rud_in2_offset + change[2]; // yaw + tmp3 = constrain((ailr_in - RX_WIDTH_LOW_NORM) >> 1, 0, 500); // brake from 0-500 + ail_out2 = RX_WIDTH_MID + tmp0 + tmp1 - max(0, -tmp2 + tmp3); // left1 + ele_out2 = RX_WIDTH_MID + tmp0 + tmp1 + max(0, -tmp2 + tmp3); // left2 + ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1 + rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2 + break; + + case WING_RUD_2ELE_2AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; // ELE-L + flp_out2 = flp_in2 - change[1]; // ELE-R + rud_out2 = rud_in2 + change[2]; + break; + } + + + // throttle, flap and aux2 pass through + thr_out2 = thr_in2; + if(wing_mode != WING_RUD_2ELE_2AIL) // flp_out2 has been used for second elevator + flp_out2 = flp_in2; + aux2_out2 = aux2_in2; +} + +void set_mixer_limits(int16_t low, int16_t high) +{ + for (int8_t i=0; i<5; i++) { + mixer_out2_low_limit[i] = low; + mixer_out2_high_limit[i] = high; + } +} + +void apply_mixer() +{ + // *_in2 => [correction] => *_out2 + + static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2}; + int8_t i; + int8_t cnt; + + // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through) + if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) { + const int16_t zero_correction[5] = {0, 0, 0, 0, 0}; + apply_mixer_change((int16_t *)zero_correction); + for (i=0; i<5; i++) { + mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]); + mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]); + } + } + + // apply mixer with actual correction and clamp servo output to limits + apply_mixer_change(correction); + // Do not constrain Flap channel unless it is being used for left elevator + if (wing_mode == WING_RUD_2ELE_2AIL) + cnt = 5; + else + cnt = 4; + + for (i=0; i maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + last_rx_frame_time = t; + } + + Serial.print(" RX "); + Serial.print(ail_in2); Serial.print(' '); + Serial.print(ele_in2); Serial.print(' '); + Serial.print(rud_in2); Serial.print(' '); + Serial.print(ailr_in2); Serial.print(' '); + Serial.print(aux_in2); Serial.print(' '); + Serial.print(aux2_in2); Serial.print(' '); + Serial.print(thr_in2); Serial.print(' '); + Serial.print(flp_in2); Serial.print('\t'); + + uint8_t ail_vr2, ele_vr2, rud_vr2; + ail_vr2 = ail_vr; + ele_vr2 = ele_vr; + rud_vr2 = rud_vr; + start_next_adc(0); + + Serial.print("VR "); + Serial.print(ail_vr2, HEX); Serial.print(' '); + Serial.print(ele_vr2, HEX); Serial.print(' '); + Serial.print(rud_vr2, HEX); Serial.print('\t'); + + read_switches(); + Serial.print("SW "); + Serial.print((bool)ail_sw); Serial.print(' '); + Serial.print((bool)ele_sw); Serial.print(' '); + Serial.print((bool)rud_sw); Serial.print(' '); + Serial.print((bool)vtail_sw); Serial.print(' '); + Serial.print((bool)delta_sw); Serial.print(' '); + Serial.print((bool)aux_sw); Serial.print('\t'); + + read_imu(); + Serial.print("GY "); + Serial.print(gyro[0]); Serial.print('\t'); + Serial.print(gyro[1]); Serial.print('\t'); + Serial.print(gyro[2]); Serial.print('\t'); + + servo_out += servo_dir; + if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { + servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); + servo_dir = -servo_dir; + } + ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; +// ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = RX_WIDTH_MID; + + // sync servo frame when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + start_servo_frame(); + last_servo_frame_time = t; + } + + Serial.print("MISC "); + Serial.print(i2c_errors); Serial.print(' '); + Serial.print(cfg.wing_mode); Serial.print(' '); + Serial.print(wing_mode); Serial.print(' '); + Serial.print(cfg.mixer_epa_mode); Serial.print(' '); + for (int8_t i=0; i + bool zx_rev, zy_rev; + bool zx_sided, zy_sided; +}; + +void stick_zone_init(struct _stick_zone *psz) +{ + psz->zx = psz->zy = 1; // neutral zone + psz->curr = 5; // center + psz->zx_rev = psz->zy_rev = false; // rev=false => top/left == narrow AIL/ELE pulse + psz->zx_sided = psz->zy_sided = false; // have not found a side yet +} + +int8_t stick_zone(int16_t pwm, bool rev) +{ + int8_t zone; + if (pwm <= 1200) zone = 0; + else if (pwm >= 1300 && pwm <= 1700) zone = 1; + else if (pwm >= 1800) zone = 2; + else zone = -1; // in the hysteresis region + + if (zone >= 0 && rev) + zone = 2 - zone; + return zone; +} + +bool stick_zone_update(struct _stick_zone *psz) +{ + int8_t tmp; + bool moved; + + psz->prev = psz->curr; + if ((tmp = stick_zone(ail_in2, psz->zx_rev)) >= 0) psz->zx = tmp; // hysteresis + if ((tmp = stick_zone(ele_in2, psz->zy_rev)) >= 0) psz->zy = tmp; + + // we assume that the first corner visited bottom left (position 7) + // so stick on the left if the AIL pulse is at either horizontal end + if (!psz->zx_sided && (psz->zx == 0 || psz->zx == 2)) { + if (psz->zx == 2) { + psz->zx_rev = true; + psz->zx = 2 - psz->zx; + } + psz->zx_sided = true; + } + // and stick is on the bottom if the ELE pulse is at either vertical end + if (!psz->zy_sided && (psz->zy == 0 || psz->zy == 2)) { + if (psz->zy == 0) { + psz->zy_rev = true; + psz->zy = 2 - psz->zy; + } + psz->zy_sided = true; + } + + psz->curr = psz->zy * 3 + psz->zx + 1; + // telephone pad mapping + // 1 2 3 + // 4 5 6 + // 7 8 9 + moved = (psz->curr != psz->prev); + if (moved) { + psz->move = (psz->prev << 4) | psz->curr; // move = 0x[prev digit][curr digit] +#if defined(SERIAL_DEBUG) && 0 + Serial.print("stick_zone "); + Serial.print(psz->zx); Serial.print(' '); + Serial.print(psz->zy); Serial.print(' '); + Serial.print(psz->zx_rev); Serial.print(' '); + Serial.print(psz->zy_rev); Serial.print(' '); + Serial.print(psz->move, HEX); + Serial.println(); +#endif + } + return moved; +} + +void stick_config(struct _stick_zone *psz) +{ +// 1= wing_mode (see enum WING_MODE) +// 2= mixer_epa_mode (see enum MIXER_EPA_MODE) +// 3= mount_orient (see enum MOUNT_ORIENT) +// 4= stick_gain_throw (see enum STICK_GAIN_THROW) +// 5= max_rotate (see enum MAX_ROTATE) +// 6= rate_mode_stick_rotate (see enum RATE_MODE_STICK_ROTATE) +// 7= inflight_calibrate (see enum INFLIGHT_CALIBRATE) +// 8= exit + +// note: be careful about off-by-one errors in this function + + const int8_t param_ymin[] = { + WING_USE_DIPSW, + MIXER_EPA_FULL, + MOUNT_NORMAL, + STICK_GAIN_THROW_FULL, + MAX_ROTATE_VLOW, + RATE_MODE_STICK_ROTATE_DISABLE, + INFLIGHT_CALIBRATE_DISABLE, + 1 // exit_option + }; + const int8_t param_ymax[] = { + WING_RUDELE_2AIL, + MIXER_EPA_MAX, // jrb 2016-02-28 MIXER_EPA_TRACK, + MOUNT_ROTATE_90_RIGHT, + STICK_GAIN_THROW_QUARTER, + MAX_ROTATE_HIGH, + RATE_MODE_STICK_ROTATE_ENABLE, + INFLIGHT_CALIBRATE_ENABLE, + 2 // exit_option + }; + const int8_t param_xcount = sizeof(param_ymin)/sizeof(param_ymin[0]); + int8_t *pparam_yval[param_xcount]; + int8_t exit_option = 1; + + const int16_t servo_swing = 300; + const int32_t servo_interval[] = {100000L, 400000L}; + + int8_t x = 0; // 0-based, x=0 => wing_mode + int8_t servo_sync = false; + uint32_t last_servo_update_time = 0; + int32_t wait_interval = servo_interval[1]; + + pparam_yval[0] = (int8_t *) &cfg.wing_mode; + pparam_yval[1] = (int8_t *) &cfg.mixer_epa_mode; + pparam_yval[2] = (int8_t *) &cfg.mount_orient; + pparam_yval[3] = (int8_t *) &cfg.stick_gain_throw; + pparam_yval[4] = (int8_t *) &cfg.max_rotate; + pparam_yval[5] = (int8_t *) &cfg.rate_mode_stick_rotate; + pparam_yval[6] = (int8_t *) &cfg.inflight_calibrate; + pparam_yval[7] = &exit_option; + + int8_t update_x = (x + 1) << 1; + int8_t update_y = *pparam_yval[x] << 1; + while (true) { + uint32_t t = micros1(); + + if ((int32_t)(t - last_servo_update_time) > wait_interval) { + if (update_x > 0) { + ele_out2 = RX_WIDTH_MID + (update_x & 1 ? 0 : servo_swing); + ail_out2 = RX_WIDTH_MID; + wait_interval = servo_interval[update_x & 1]; + update_x--; + } else { + if (update_y != 0) { + int8_t sign = update_y > 0 ? 1 : -1; + int16_t signed_change = sign > 0 ? servo_swing : -servo_swing; + ail_out2 = RX_WIDTH_MID + (update_y & 1 ? 0 : signed_change); + wait_interval = servo_interval[update_y & 1]; + update_y -= sign; + } + } + last_servo_update_time = t; + } + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + if (rx_frame_sync) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + } + if (servo_sync && !servo_busy) { + servo_sync = false; + start_servo_frame(); + } + + if (update_x == 0 && /*update_y == 0 &&*/ stick_zone_update(psz)) { + + bool refresh_x = false; + bool refresh_y = false; + + switch (psz->move) { + case 0x54: x = max(x - 1, 0); refresh_x = true; break; // left + case 0x56: x = min(x + 1, param_xcount - 1); refresh_x = true; break; // right + case 0x52: *pparam_yval[x] = min(*pparam_yval[x] + 1, param_ymax[x]); refresh_y = true; break; // up + case 0x58: *pparam_yval[x] = max(*pparam_yval[x] - 1, param_ymin[x]); refresh_y = true; break; // down + } + + // check if update_x and/or update_y need to be refreshed + if (refresh_x || refresh_y) { + update_y = *pparam_yval[x] << 1; + if (refresh_x) + update_x = (x + 1) << 1; + } + + // check for exit option + if (exit_option == 2) { + break; + } + + #if defined(SERIAL_DEBUG) && 0 + Serial.print("param "); + Serial.print(psz->prev, HEX); Serial.print(' '); + Serial.print(psz->curr, HEX); Serial.print(' '); + Serial.print(x); Serial.print(' '); + Serial.print(*pparam_yval[x]); Serial.print(' '); + Serial.println(); + #endif + } + } + + // write eeprom; + eeprom_write_cfg(&cfg, eeprom_cfg1_addr); + eeprom_write_cfg(&cfg, eeprom_cfg2_addr); +} + + +/*************************************************************************************************************** + * SETUP + ***************************************************************************************************************/ + +void setup() +{ + int8_t i; + + init_clock(); + init_led(); + if (get_free_sram() < 128) + set_led_msg(2, 20, LED_VERY_SHORT); + +#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS) +#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) + serialrx_init(); +#else + Serial.begin(115200L); +#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL)) +#endif + +#if defined(SERIAL_DEBUG) && 0 + Serial.println("Serial Port Initialized."); +#endif + + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) + // clear wd reset bit and disable wdt in case it was enabled due to stick config reboot + MCUSR &= ~(1 << WDRF); + wdt_disable(); +#endif // __AVR_ATmega168__ || __AVR_ATmega328P__ + +#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5) + // set up default parameters for No DIPSW and No POT + cfg.wing_mode = WING_RUDELE_2AIL; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = 60; + } +#else + // set up default parameters + cfg.wing_mode = WING_USE_DIPSW; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = vr_gain_use_pot; + } +#endif + cfg.mixer_epa_mode = MIXER_EPA_FULL; + cfg.gyro_dlpf = BW_5HZ; + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL)) + cfg.servo_frame_rate = 20; // safe rate for analog servos +#else + cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate +#endif + + const int8_t *pserialrx_order; +#if defined(SERIALRX_CPPM) + #if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) + pserialrx_order = serialrx_order_TAER1a2f; + #else + pserialrx_order = serialrx_order_RETA1a2f; + #endif +#elif defined(SERIALRX_SPEKTRUM) + pserialrx_order = serialrx_order_TAER1a2f; +#elif defined(SERIALRX_SBUS) + pserialrx_order = serialrx_order_AETR1a2f; +#elif defined(SERIALRX_SRXL) + #ifdef SERIALRX_DEFMPX + pserialrx_order = serialrx_order_AERTa1f2; + #else + pserialrx_order = serialrx_order_TAERa1f2; + #endif +#else + pserialrx_order = serialrx_order_RETA1a2f; +#endif + for (i=0; i BW_5HZ) + gyro_low_pass_filter = BW_5HZ; + + +#if defined(SERIALRX_ENABLED) + // set up serialrx order + for (i=0; i= WING_RUDELE_1AIL && wing_mode <= WING_VTAIL_1AIL) { + // disable AILR_OUT (was at PD7) + // disable AILR_IN at PB4 + // move AUX_IN from PB3 to PD7 + pwm_chan_pin[SERIALRX_a] = -1; // disable ailr_out + rx_portb[4] = NULL; // disable ailr_in + rx_portb[3] = NULL; // disable aux_in at PB3 + rx_portd[7] = &aux_in; // enable aux_in at PD7 + } +#endif // !SERIALRX_ENABLED +#endif // RX3S_V1 + +#if defined(RX3S_V2) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 4) | (vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; + +#if !defined(SERIALRX_ENABLED) + if (wing_mode >= WING_RUDELE_2AIL && wing_mode <= WING_DUCKERON) { + // PD1 1 AILR_IN instead of AIL_SW + din_portd[1] = NULL; // disable ail_sw, must be set to NOR + rx_portd[1] = &ailr_in; // enable ailr_in + } +#endif // !SERIALRX_ENABLED +#endif // RX3S_V2 + +#if defined(RX3SM) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)]; + + if (wing_mode > WING_VTAIL_2AIL) // constrain to supported modes + wing_mode = WING_RUDELE_1AIL; +#endif // RX3SM + +#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions +#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (cfg.wing_mode == WING_USE_DIPSW) + wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)]; +#endif +#endif // EAGLE_A3PRO + + if (wing_mode == WING_USE_DIPSW) // set to valid mode if needed + wing_mode = WING_RUDELE_1AIL; + + set_led_msg(0, wing_mode, LED_LONG); + + init_analog_in(); // vr + init_digital_in_rx(); // rx + init_digital_out(); // servo + init_imu(); // gyro/accelgyro + + copy_rx_in(); // init *_in2 vars + apply_mixer(); // init *_out2 vars + +#if defined(DUMP_SENSORS) + dump_sensors(); +#endif + //struct _stick_zone sz; + //stick_config(&sz); +} + +/*************************************************************************************************************** + * LOOP + ***************************************************************************************************************/ + +void loop() +{ +#if !defined(DUMP_SENSORS) + int8_t i; + uint32_t t = micros1(); + uint32_t last_rx_frame_time = t; + uint32_t last_servo_frame_time = t; + uint32_t last_imu_time = t; + uint32_t last_pid_time = t; + uint32_t last_vr_time = t; + int8_t servo_sync = false; + + int16_t vr_gain[3]= {0, 0, 0}; + int16_t stick_gain[3]; + int16_t master_gain; + +#if !defined(NO_STICKCONFIG) + uint32_t stick_config_check_time = t; + struct _stick_zone stick_zone; + const uint8_t stick_config_seq[] = {0x78, 0x89, 0x98, 0x87, 0x78, 0x89, 0x98, 0x87, 0xff}; // 7-9-7-9-7 + int8_t stick_config_seq_i = 0; + int8_t stick_configurable = true; + + stick_zone_init(&stick_zone); // stick zone setup +#endif // !NO_STICKCONFIG + + struct _calibration rx_cal; + struct _calibration imu_cal; + + // calibration setup + calibrate_init_stat(&rx_cal, 4); + calibrate_init_stat(&imu_cal, 3); + last_calibration_wag_time = t; + + // inflight calibration + uint32_t last_stab_mode_time = t; + int8_t stab_mode_count; + +again: + t = micros1(); + update_led(t); + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + // update rx frame data with rx ISR received reference channel or after timeout + if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + if (!rx_cal.done) { + calibrate_rx(&rx_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + servo_sync = true; + last_rx_frame_time = t; + } + + // sync servo frame with rx frame immediately when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + apply_mixer(); + + //jrb Debug - Remove comment from following line to view master_gain + 1000 on AUX2 output + //aux2_out2 = RX_WIDTH_LOW_FULL + master_gain; + + start_servo_frame(); + last_servo_frame_time = t; + } + + // schedule imu read just after servo pulse start, if needed. + // takes around 1ms at 100khz, 250us at 400khz + if ((int32_t)(t - last_imu_time) > PID_PERIOD) { + read_imu(); + if (!imu_cal.done) { + calibrate_imu(&imu_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + last_imu_time = t; + } + +#if !defined(NO_STICKCONFIG) + if (stick_configurable && stick_zone_update(&stick_zone)) { + stick_config_seq_i = (stick_zone.move == stick_config_seq[stick_config_seq_i]) ? stick_config_seq_i + 1 : 0; + if (stick_config_seq[stick_config_seq_i] == 0xff) { + stick_config(&stick_zone); // completed sequence, enter stick config mode + // RESET SYSTEM ON RETURN + wdt_enable(WDTO_1S); + while (true); + } + if ((int32_t)(t - stick_config_check_time) > 15000000L) // 15 sec to enter config mode + stick_configurable = false; + } +#endif // !NO_STICKCONFIG + + // short circuit rest of the loop if calibration not done, do not compute correction[] + if (!rx_cal.done || !imu_cal.done) { + // determine how much sticks are off center (from neutral). the mixer still needs them before calibration completes. + ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; + ele_in2_offset = ele_in2 - ele_in2_mid; + rud_in2_offset = rud_in2 - rud_in2_mid; + goto again; + } + + if ((int32_t)(t - last_pid_time) > PID_PERIOD) { + + // stabilization mode + enum STAB_MODE stab_mode2 = + (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - RX_MODE_HYSTERESIS) ? STAB_RATE : + (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region + + if (stab_mode2 != stab_mode) { + stab_mode = stab_mode2; + set_led_msg(1, (stab_mode == STAB_RATE) ? 0 : 4, LED_SHORT); + + // reset attitude error and i_limit threshold on mode change + for (i=0; i<3; i++) { + pid_state.sum_err[i] = 0; + pid_state.i_limit[i] = 0; + } + + // check for inflight rx calibration + if (cfg.inflight_calibrate == INFLIGHT_CALIBRATE_ENABLE) { + if ((int32_t)(t - last_stab_mode_time) > 500000L) { + stab_mode_count = 0; + } + last_stab_mode_time = t; + + if (++stab_mode_count >= 3) { + ail_in2_mid = ail_in2; + ele_in2_mid = ele_in2; + rud_in2_mid = rud_in2; + ailr_in2_mid = ailr_in2; + flp_in2_mid = flp_in2; + } + } + } + + // determine how much sticks are off center (from neutral) + ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1; + ele_in2_offset = ele_in2 - ele_in2_mid; + rud_in2_offset = rud_in2 - rud_in2_mid; + flp_in2_offset = flp_in2 - flp_in2_mid; + + // vr_gain[] [-128, 128] from VRs or config + + // see enum STICK_GAIN_THROW. shift=0 => FULL, shift=1 => HALF, shift=2 => QUARTER + int8_t shift = cfg.stick_gain_throw - 1; + + // stick_gain[] [1100, _in2_mid, 1900] => [0%, 100%, 0%] = [0, STICK_GAIN_MAX, 0] + stick_gain[0] = stick_gain_max - min(abs(ail_in2_offset) << shift, stick_gain_max); + stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max); + stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max); + + // master gain [Rate = 1475-1075] or [Hold = 1575-1975] => [0, MASTER_GAIN_MAX] + if (aux_in2 < (RX_WIDTH_MID - RX_GAIN_HYSTERESIS)) { + // Handle Rate Mode Gain Offset, gain = 1 when hysteresis area is exited + // Previously gain was the value of RX_GAIN_HYSTERESIS at first exit + master_gain = constrain(((RX_WIDTH_MID - RX_GAIN_HYSTERESIS) - aux_in2) , 0, master_gain_max); + } else { + if (aux_in2 > (RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS)) { + // Handle Hold Mode Gain Offset, gain = 1 when both hysteresis areas are exited + // Previously gain was the value of RX_MODE_HYSTERESIS at first exit + master_gain = constrain(aux_in2 - (RX_WIDTH_MID + RX_MODE_HYSTERESIS), 0, master_gain_max); + } + // Force Gain to 0 while in either of the Hysteresis areas + else master_gain = 0; // Force deadband + } + + // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) + if (stab_mode == STAB_HOLD || + (stab_mode == STAB_RATE && cfg.rate_mode_stick_rotate == RATE_MODE_STICK_ROTATE_ENABLE)) { + // stick controlled roll rate + // cfg.max_rotate shift = [1, 5] + // eg. max stick == 400, cfg.max_rotate == 4. then 400 << 4 = 6400 => 6400/32768*2000 = 391deg/s (32768 == 2000deg/s) + int16_t sp[3]; + sp[0] = ail_in2_offset << cfg.max_rotate; + sp[1] = ele_in2_offset << cfg.max_rotate; + sp[2] = rud_in2_offset << cfg.max_rotate; + for (i=0; i<3; i++) + pid_state.setpoint[i] = vr_gain[i] < 0 ? sp[i] : -sp[i]; + } else { + // zero roll rate, stabilization only + for (i=0; i<3; i++) + pid_state.setpoint[i] = 0; + } + + if (stab_mode == STAB_HOLD) { + // max attitude error (bounding box) + for (i=0; i<3; i++) { + // 2000 deg/s == 32768 units, so 1 deg/(PID_PERIOD=10ms) == 32768/20 units + pid_state.i_limit[i] = ((int32_t)30 * (32768 / 2 / (PID_PERIOD / 1000)) * stick_gain[i]) >> 9; + } + } + + // measured angular rate (from the gyro and apply calibration offset) + pid_state.input[0] = constrain(gyro[0] - gyro0[0], -8192, 8191); + pid_state.input[1] = constrain(gyro[1] - gyro0[1], -8192, 8191); + pid_state.input[2] = constrain(gyro[2] - gyro0[2], -8192, 8191); + + // apply PID control + compute_pid(&pid_state, (stab_mode == STAB_RATE) ? &cfg.pid_param_rate : &cfg.pid_param_hold); + + // apply vr_gain, stick_gain and master_gain + for (i=0; i<3; i++) { + // vr_gain [-128,0,127]/128, stick_gain [0,400,0]/512, master_gain [400,0,400]/512 + correction[i] = ((((int32_t)pid_state.output[i] * vr_gain[i] >> 7) * stick_gain[i]) >> 9) * master_gain >> 9; + } + + // calibration wag on all surfaces if needed + if (calibration_wag_count > 0) { + if ((int32_t)(t - last_calibration_wag_time) > 200000L) { + calibration_wag_count--; + last_calibration_wag_time = t; + } + for (i=0; i<3; i++) + correction[i] += (calibration_wag_count & 1) ? 150 : -150; + } + +#if defined(SERIAL_DEBUG) && 0 + Serial.print(correction[0]); Serial.print('\t'); + Serial.print(correction[1]); Serial.print('\t'); + Serial.print(correction[2]); Serial.println('\t'); +#endif + last_pid_time = t; + } + + if ((int32_t)(t - last_vr_time) > 500123) { + // *_vr are adc channel output + // vr_gain[] [-128, 0, 127] => [-100%, 0%, 100%] = [-128, 0, 127] + vr_gain[0] = (cfg.vr_gain[0] == vr_gain_use_pot) ? (int16_t)ail_vr - 128 : cfg.vr_gain[0]; + vr_gain[1] = (cfg.vr_gain[1] == vr_gain_use_pot) ? (int16_t)ele_vr - 128 : cfg.vr_gain[1]; + vr_gain[2] = (cfg.vr_gain[2] == vr_gain_use_pot) ? (int16_t)rud_vr - 128 : cfg.vr_gain[2]; + + // deadband filter + const int16_t vr_deadband = 8; + for (i=0; i<3; i++) { + if (abs(vr_gain[i]) < vr_deadband) + vr_gain[i] = 0; + } + + start_next_adc(0); + last_vr_time = t; + } + + goto again; // the dreaded "goto" statement :O +#endif // DUMP_SENSORS +} diff --git a/Aquastar/FlightStab/OneWireSerial.ino b/Aquastar/FlightStab/OneWireSerial.ino new file mode 100644 index 0000000..db909ff --- /dev/null +++ b/Aquastar/FlightStab/OneWireSerial.ino @@ -0,0 +1,213 @@ +/* FlightStab **************************************************************************************************/ + +/*************************************************************************************************************** +* ONE-WIRE SERIAL +***************************************************************************************************************/ + +// required OW_* definitions +//#define OW_BIT ? +//#define OW_DDR DDR? +//#define OW_PORT PORT? +//#define OW_PINREG PIN? +//#define OW_FIRST_CONNECT_WAIT mmm // Time in Milliseconds +//#define OW_HEARTBEAT_WAIT mmm // Time in Milliseconds + +#if !defined(OW_FIRST_CONNECT_WAIT) +// TODO(noobee): check why 600 and not lower? (previously 100) +#define OW_FIRST_CONNECT_WAIT 600 // in ms +#endif + +#if !defined(OW_HEARTBEAT_WAIT) +#define OW_HEARTBEAT_WAIT 500 // in ms +#endif + +const uint16_t ow_pulse_width_ticks = 139; // 1/115200 at 16mhz == 139 ticks + +void ow_write(uint8_t b) +{ + uint16_t w = (0xff00 | (uint16_t) b) << 1; // insert start and stop bits around 'b' + uint8_t oldSREG = SREG; + cli(); + uint16_t t = TCNT1 + 16*4; // fixed 4us later to allow time to first while() check + for (int8_t i=0; i<10; i++) { + while ((int16_t)(t - TCNT1) > 0); + if (w & 1) { + OW_DDR &= ~(1 << OW_BIT); // set input mode, external pull up to 1 + } else { + OW_DDR |= (1 << OW_BIT); // set output mode, internal pull down to 0 + } + w >>= 1; + t += ow_pulse_width_ticks; + } + SREG = oldSREG; +} + +// return 0x8000 = timeout, 0x4000 = link down on entry, 0x00XX = received ch +uint16_t ow_read(int16_t timeout_ms) +{ + uint16_t w, t; + uint8_t oldSREG = SREG; + cli(); + do { + + // check for link already down on entry + if (!(OW_PINREG & (1 << OW_BIT))) { + w = 0x4000; + break; + } + + // wait for start edge, or time out in timeout_ms + while (timeout_ms-- > 0) { + t = TCNT1 + 16000; // 1ms interval from current time + while ((int16_t)(t - TCNT1) > 0) { + if (!(OW_PINREG & (1 << OW_BIT))) { + // found start edge (high to low) + timeout_ms = -1; + break; + } + } + } + + // timeout_ms == -1 if time out, -2 if found start pulse edge + if (timeout_ms == -1) { + w = 0x8000; + break; + } + + // delay 1.5 pulse widths - 3us, then read 8 bits consecutively + w = 0; + t = TCNT1 + ow_pulse_width_ticks*3/2 - 16*3; + for (int8_t i=0; i<8; i++) { + w >>= 1; + while ((int16_t)(t - TCNT1) > 0); + //PORTB ^= (1 << 5); + w |= (OW_PINREG & (1 << OW_BIT)) ? 0x80 : 0; + t += ow_pulse_width_ticks; + } + } while (0); + SREG = oldSREG; + return w; +} + +bool ow_send_msg(void *buf, int8_t buf_len) { + uint8_t chksum = buf_len; + ow_write('$'); + ow_write(buf_len); + for (int8_t i=0; iavailable() && indexread(); + +//jrb - 20140832 make frame time test common to all Serial Protocols + t = micros1(); + // we assume loop() calls to serialrx_update() in << SERIAL_WAIT_TIME intervals + if ((int32_t)(t - last_rx_time) > SERIAL_WAIT_TIME) { + index = 0; // found pause before new frame, resync + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(4,HIGH); + #endif + } + last_rx_time = t; + + #if defined (SERIALRX_SPEKTRUM) + #warning SERIALRX_SPEKTRUM defined // emit device name + //jrb add for debug + #if defined(SERIALRX_DEBUG) && 0 + Serial.println("Serial Spektrum"); + #endif + + buf[index++] = ch; + if (index >= SERIAL_FRAME_SIZE) { + +/*jrb +// Satellites alone never return frame size information in buf[1] the best I can tell +// Data always seems to be 2048 bits, even with 9XR transmitter. The following +// should be removed and 10 or 11 bit format saved as configuration data +// if ((buf[2] & 0x80) == 0x00) { +// // single frame type or 1st frame of two, contains "transmitter type" +// rshift = (buf[1] & 0x10) ? 11 : 10; // 11 or 10 bit data +// } +jrb*/ + + if (rshift > 0) { + // 10 bit == f 0 c3 c2 c1 c0 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 + // 11 bit == f c3 c2 c1 c0 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 + for (int8_t i=2; i<2+2*7; i+=2) { + uint16_t w = ((uint16_t)buf[i] << 8) | (uint16_t)buf[i+1]; + int8_t chan = (w >> rshift) & 0xf; + if (chan < rx_chan_size) { + *rx_chan[chan] = ((w << (11 - rshift) & 0x7ff) - 1024 + 1500); // scale to 11 bits 1024 +/- 684; + } + } + } + index = 0; + + //jrb add for debug + #if defined(SERIALRX_DEBUG) && 0 + if (RXcount > 100) + { + Serial.print("rshift = "); + Serial.print(rshift); + if ((buf[2] & 0x80) == 0x00) { + Serial.println(" Low Channels"); + } + else { + Serial.println(" High Channels"); + } + + for (PrintIndex = 0; PrintIndex < 8; PrintIndex++) + { + Serial.print(*rx_chan[cfg.serialrx_order-2][PrintIndex]); Serial.print(' '); + } + Serial.println(' '); + + for (PrintIndex = 0; PrintIndex < 16; PrintIndex += 2) + { + work = (buf[PrintIndex]<<8)+ buf[PrintIndex + 1]; + Serial.print(work,HEX); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + RXcount++; + #endif + return (true); + } + else + return (false); + } + #endif // SERIALRX_SPEKTRUM + + #if defined(SERIALRX_SRXL) // ---------------------------------------------- + #warning SERIALRX_SRXL defined // emit device name + + if (index < SERIAL_FRAME_SIZE) //JRB Should this be just < so we don't overflow buffer????? YES!!! + buf[index++] = ch; + // MPX SRXL 12/16 channels + if ( ((buf[0] == MPX_SRL_12_CHAN_ID) && (index >= MPX_SRL_12_CHAN_SIZE)) + || ((buf[0] == MPX_SRL_16_CHAN_ID) && (index >= MPX_SRL_16_CHAN_SIZE)) ) + { + uint16_t crc = 0; + for (uint8_t i=0; i>1)-1] = ((((w << 1) + w) - (w >> 2)) >> 3) + 796; + } + sbus_return = true; + } + index = 0; + + #if defined(SERIAL_DEBUG) && 2 + //Serial.println("Serial SRXL"); + #endif + } + // HoTT SUMD + else if ( ((buf[0] == HOTT_SUMD_ID1) && ((buf[1] & 0x7f) == HOTT_SUMD_ID2) ) ) + { + uint8_t n_channels = buf[2]; + if (index >= ((n_channels << 1) +5)) + { + uint16_t crc = 0; + for (uint8_t i=0; i<(index-2); i++){ + uint8_t data; + data = buf[i]; + crc = _crc_xmodem_update(crc, data); + } + if (crc == ((buf[index-2] << 8) + buf[index-1])){ + volatile int16_t **p = rx_chan; + // Only process first 8 channels + for (int8_t i=2; i<18; i+=2) + { + uint16_t w = (((uint16_t)buf[i+1] << 8) | (uint16_t)buf[i+2] ); + *p[(i>>1)-1] = (w >> 3); + } + sbus_return = true; + } + index = 0; + #if defined(SERIAL_DEBUG) && 2 + //Serial.println("Serial SUMD"); + #endif + } + } + //his add for debug + #if defined(SERIAL_DEBUG) && 2 + if (RXcount > 10){ + for (index = 0; index < 8; index++){ + Serial.print(*rx_chan[index]); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + if (sbus_return) + RXcount++; + #endif + } + if (index >= SERIAL_FRAME_SIZE) // his bugfix 20170817 + index = 0; + return (sbus_return); + #endif // SERIALRX_SRXL ------------------------------------------------------- + + + #if defined (SERIALRX_SBUS) + #warning SERIALRX_SBUS defined // emit device name + //jrb add for debug + #if defined(SERIALRX_DEBUG) && 0 + Serial.println("Serial S.BUS"); + #endif + + if (index == 0 && ch != SBUS_SYNC_BYTE) { + break; + } + #if defined (FLIP_SERIALRX_DEBUG) + if (index == 0) + { + digitalWrite(4,LOW); + } + #endif + buf[index++] = ch; + if (index >= SERIAL_FRAME_SIZE) { + volatile int16_t **p = rx_chan; + uint8_t adj_index; + //jrb - added 20140829 to detect and discard invalid frames + if (buf[24] != SBUS_END_BYTE) { // There is a sync problem - discard this frame and try again + index = 0; + sbus_return = false; + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(5,LOW); + #endif + } + + // Only process first 8 channels + *p[0] = (((((uint16_t)buf[1] >> 0) | ((uint16_t)buf[2] << 8)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[1] = (((((uint16_t)buf[2] >> 3) | ((uint16_t)buf[3] << 5)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[2] = (((((uint16_t)buf[3] >> 6) | ((uint16_t)buf[4] << 2) | ((uint16_t)buf[5] << 10)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[3] = (((((uint16_t)buf[5] >> 1) | ((uint16_t)buf[6] << 7)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[4] = (((((uint16_t)buf[6] >> 4) | ((uint16_t)buf[7] << 4)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[5] = (((((uint16_t)buf[7] >> 7) | ((uint16_t)buf[8] << 1) | ((uint16_t)buf[9] << 9)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[6] = (((((uint16_t)buf[9] >> 2) | ((uint16_t)buf[10] << 6)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[7] = (((((uint16_t)buf[10] >> 5) | ((uint16_t)buf[11] << 3)) & 0x7ff) >> 1) + SBUS_OFFSET; + + // For some reason the SBUS data provides only about 75% of the actual RX output pulse width + // Adjust the actual value by +/-25%. Sign determined by pulse width above or below center of 1520us + for(adj_index=0; adj_index> 2; + else + *p[adj_index] += (*p[adj_index] - RX_WIDTH_MID) >> 2; + } + index = 0; + sbus_return = true; + #if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(4,HIGH); + #endif + } + + //jrb add for debug + #if defined(SERIALRX_DEBUG) && 1 + if (RXcount > 100) + { + for (index = 0; index < 8; index++) + { + Serial.print(*rx_chan[cfg.serialrx_order-2][index]); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + RXcount++; + #endif + } +#if defined (FLIP_SERIALRX_DEBUG) + digitalWrite(6,HIGH); + #endif + + return (sbus_return); + #endif // SERIALRX_SBUS +} +#endif // SERIALRX_SPEKTRUM) || SERIALRX_SBUS + diff --git a/Aquastar/FlightStabGUI/FlightStabGUI.pde b/Aquastar/FlightStabGUI/FlightStabGUI.pde new file mode 100644 index 0000000..8f53991 --- /dev/null +++ b/Aquastar/FlightStabGUI/FlightStabGUI.pde @@ -0,0 +1,512 @@ +import controlP5.*; +import processing.serial.Serial; +import processing.opengl.*; + +ControlP5 cp5; + +Serial serialPort; +int serialPortIndex; +public static final int + IDLE_STATE = 0, + HEADER_STATE = 1, + LENGTH_STATE = 2; +int serialRxState = IDLE_STATE; + +byte[] serialRxBuf = new byte[64]; +int serialRxi=0; +int serialRxlen=0; + +byte[] serialTxBuf = new byte[64]; +int serialTxi=0; + +int serialRequest = 0; + + +int RC_MIN = 900; +int RC_MID = 1500; +int RC_MAX = 2100; + +int VR_MIN = -128; +int VR_MID = 0; +int VR_MAX = 127; + +int PID_MIN = 0; +int PID_MAX = 511; + +/*************************************************************************************************************** +* +***************************************************************************************************************/ + +ListBox comList; +Button cmdConnect, cmdDisconnect, cmdRead, cmdWrite, cmdDefault; + +Numberbox pidRollP, pidRollI, pidRollD, pidPitchP, pidPitchI, pidPitchD, pidYawP, pidYawI, pidYawD; +Slider stkRate, stkGain; +Slider oscThres; +Slider rxMidAil, rxMidEle, rxMidRud; + +CheckBox swCheckbox; + +Slider rxAil, rxEle, rxRud, rxAux; +Slider vrAil, vrEle, vrRud; + +Slider sxAil, sxEle, sxRud; + +cData gyRoll, gyPitch, gyYaw; +boolean drawgyRoll, drawgyPitch, drawgyYaw; + + +Button addCmdButton(String name, int x, int y) { + return cp5.addButton("id_cmd" + name) + .setLabel(name) + .setPosition(x, y) + .setSize(110,18) + ; +} + + +Textlabel addTextLabel(String name, int x, int y, int c) { + return cp5.addTextlabel("id_txt" + name) + .setText(name) + .setPosition(x, y) + .setColorValue(c) + ; +} + +Slider addSlider(String prefix, String name, int x, int y, int low, int high) { + return cp5.addSlider(prefix + name) + .setLabel(name) + .setPosition(x, y) + .setSize(150, 18) + .setRange(low, high) + .setValue(low) + .setDecimalPrecision(0) + .lock() + ; +} + +Slider addCfgSlider(String name, int x, int y, int low, int high) { + Slider s = addSlider("id_cfg", name, x, y, low, high); + s.unlock(); + return s; +} + +Slider addRxSlider(String name, int x, int y) { + return addSlider("id_rx", name, x, y, RC_MIN, RC_MAX); +} + +Slider addSxSlider(String name, int x, int y) { + return addSlider("id_sx", name, x, y, RC_MIN, RC_MAX); +} + +Slider addVrSlider(String name, int x, int y) { + return addSlider("id_vr", name, x, y, VR_MIN, VR_MAX); +} + +Numberbox addPIDBox(String name, int x, int y, int spacing) { + return cp5.addNumberbox("id_pid" + name) + .setPosition(x, y) + .setSize(spacing-10, 18) + .setRange(PID_MIN, PID_MAX) + .setValue(PID_MIN) + .setDirection(Controller.HORIZONTAL) // change the control direction to left/right + .setDecimalPrecision(0) + .setLabel("") + .setLabelVisible(false) + ; +} + + + +void serialPortInit(int index) { + println("serialPortInit " + index); + serialPortIndex = index; + for (int i=0; i0) + line(graphX + i*graphdX, y0, graphX + (i+1)*graphdX, y); + y0 = y; + } +} + + + +void drawGraphs() { + fill(0); + stroke(0); + rect(graphX, graphY, graphWidth, graphHeight); + + drawGraph(gyRoll, color(255, 0, 0)); + drawGraph(gyPitch, color(0, 255, 0)); + drawGraph(gyYaw, color(0, 0, 255)); + +} + + +void draw() { + //println("Draw"); +// fill(123 % 100); +// rect(0,0,500,500); +// nb.setValue(nb.getValue()+1); +// rxAil.setValue(rxAil.getValue()+1).show(); + + drawGraphs(); +} + +void keyPressed() { + println("keyPressed()"); + //cp5.getController("Ail").setValue(0); + swCheckbox.activate(2); + + println(cp5.getAll()); + gyRoll.appendValue(random(100)); +} + +void controlEvent(ControlEvent theEvent) { + println("controlEvent " + theEvent.name()); + if (theEvent.name() == "id_swCheckbox") + println(swCheckbox.getState(0)); + + if (theEvent.isGroup() && theEvent.name() == "id_serial") + serialPortInit((int)theEvent.group().value()); + +} + + +/*************************************************************************************************************** +* +***************************************************************************************************************/ + +void serialSendBuf(byte[] buf, int len) +{ + byte checksum; + int i; + + if (serialRequest > 0) { + println("serialRequest > 0"); + } + + checksum = (byte)(len+1); + for (i=0; i> 8) & 0xff); +} + +void put32(int v) +{ + put16(v & 0xffff); + put16((v >> 16) & 0xffff); +} + + +int get_unsigned8() +{ + return serialRxBuf[serialRxi++] & 0xff; +} + +int get_signed16() { + return (serialRxBuf[serialRxi++] & 0xff) | (serialRxBuf[serialRxi++] << 8); +} + +int get_signed32() { + return (serialRxBuf[serialRxi++] & 0xff) | + ((serialRxBuf[serialRxi++] & 0xff) << 8) | + ((serialRxBuf[serialRxi++] & 0xff) << 16) | + (serialRxBuf[serialRxi++] << 24); +} + + +void handleResponse() +{ + println("handleResponse"); + serialRxi = 0; + switch (get_unsigned8()) { + case 101: + int gRoll = get_signed16(); + int gPitch = get_signed16(); + int gYaw = get_signed16(); + + gyRoll.appendValue(gRoll); + gyPitch.appendValue(gPitch); + gyYaw.appendValue(gYaw); + break; + } + + + // decide next request message + sendGetGyro(); +} + +void serialEvent(Serial serialPort) +{ + while (serialPort.available() > 0) { + byte ch = (byte) serialPort.read(); + //println(hex(ch)); + switch(serialRxState) { + case IDLE_STATE: + if (ch == (byte)'$') + serialRxState = HEADER_STATE; + break; + case HEADER_STATE: + if (2 <= ch && ch <= serialRxBuf.length) { + serialRxlen = ch; + serialRxi = 0; + serialRxState = LENGTH_STATE; + } else { + serialRxState = IDLE_STATE; + } + break; + case LENGTH_STATE: + serialRxBuf[serialRxi++] = ch; + if (--serialRxlen == 0) { + byte checksum = (byte)serialRxi; + for (int i=0; i" then the following +# directory structure is considered a Arduino library: +# +# LibraryName/ +# |- LibraryName.h +# `- LibraryName.c +# +# If such a directory is found then all sources within that directory are considred +# to be part of that Arduino library. +# +#=============================================================================# +function(find_arduino_libraries VAR_NAME SRCS ARDLIBS) + set(ARDUINO_LIBS ) + foreach(SRC ${SRCS}) + + # Skipping generated files. They are, probably, not exist yet. + # TODO: Maybe it's possible to skip only really nonexisting files, + # but then it wiil be less deterministic. + get_source_file_property(_srcfile_generated ${SRC} GENERATED) + # Workaround for sketches, which are marked as generated + get_source_file_property(_sketch_generated ${SRC} GENERATED_SKETCH) + + if(NOT ${_srcfile_generated} OR ${_sketch_generated}) + if(NOT (EXISTS ${SRC} OR + EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${SRC} OR + EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${SRC})) + message(FATAL_ERROR "Invalid source file: ${SRC}") + endif() + file(STRINGS ${SRC} SRC_CONTENTS) + + foreach(LIBNAME ${ARDLIBS}) + list(APPEND SRC_CONTENTS "#include <${LIBNAME}.h>") + endforeach() + + foreach(SRC_LINE ${SRC_CONTENTS}) + if("${SRC_LINE}" MATCHES "^ *#include *[<\"](.*)[>\"]") + get_filename_component(INCLUDE_NAME ${CMAKE_MATCH_1} NAME_WE) + get_property(LIBRARY_SEARCH_PATH + DIRECTORY # Property Scope + PROPERTY LINK_DIRECTORIES) + foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries ${ARDUINO_EXTRA_LIBRARIES_PATH}) + if(EXISTS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}/${CMAKE_MATCH_1}) + list(APPEND ARDUINO_LIBS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}) + break() + endif() + endforeach() + endif() + endforeach() + endif() + endforeach() + if(ARDUINO_LIBS) + list(REMOVE_DUPLICATES ARDUINO_LIBS) + endif() + set(${VAR_NAME} ${ARDUINO_LIBS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_library(VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS) +# +# VAR_NAME - Vairable wich will hold the generated library names +# BOARD_ID - Board ID +# LIB_PATH - Path of the library +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Link flags +# +# Creates an Arduino library, with all it's library dependencies. +# +# ${LIB_NAME}_RECURSE controls if the library will recurse +# when looking for source files. +# +#=============================================================================# + +# For known libraries can list recurse here +set(Wire_RECURSE True) +set(Ethernet_RECURSE True) +set(SD_RECURSE True) +function(setup_arduino_library VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS) + set(LIB_TARGETS) + set(LIB_INCLUDES) + + get_filename_component(LIB_NAME ${LIB_PATH} NAME) + set(TARGET_LIB_NAME ${BOARD_ID}_${LIB_NAME}) + if(NOT TARGET ${TARGET_LIB_NAME}) + string(REGEX REPLACE ".*/" "" LIB_SHORT_NAME ${LIB_NAME}) + + # Detect if recursion is needed + if (NOT DEFINED ${LIB_SHORT_NAME}_RECURSE) + set(${LIB_SHORT_NAME}_RECURSE False) + endif() + + find_sources(LIB_SRCS ${LIB_PATH} ${${LIB_SHORT_NAME}_RECURSE}) + if(LIB_SRCS) + + arduino_debug_msg("Generating Arduino ${LIB_NAME} library") + add_library(${TARGET_LIB_NAME} STATIC ${LIB_SRCS}) + + get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} FALSE) + + find_arduino_libraries(LIB_DEPS "${LIB_SRCS}" "") + + foreach(LIB_DEP ${LIB_DEPS}) + setup_arduino_library(DEP_LIB_SRCS ${BOARD_ID} ${LIB_DEP} "${COMPILE_FLAGS}" "${LINK_FLAGS}") + list(APPEND LIB_TARGETS ${DEP_LIB_SRCS}) + list(APPEND LIB_INCLUDES ${DEP_LIB_SRCS_INCLUDES}) + endforeach() + + set_target_properties(${TARGET_LIB_NAME} PROPERTIES + COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${LIB_INCLUDES} -I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\" ${COMPILE_FLAGS}" + LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}") + list(APPEND LIB_INCLUDES "-I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\"") + + target_link_libraries(${TARGET_LIB_NAME} ${BOARD_ID}_CORE ${LIB_TARGETS}) + list(APPEND LIB_TARGETS ${TARGET_LIB_NAME}) + + endif() + else() + # Target already exists, skiping creating + list(APPEND LIB_TARGETS ${TARGET_LIB_NAME}) + endif() + if(LIB_TARGETS) + list(REMOVE_DUPLICATES LIB_TARGETS) + endif() + set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE) + set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_libraries(VAR_NAME BOARD_ID SRCS COMPILE_FLAGS LINK_FLAGS) +# +# VAR_NAME - Vairable wich will hold the generated library names +# BOARD_ID - Board ID +# SRCS - source files +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Linker flags +# +# Finds and creates all dependency libraries based on sources. +# +#=============================================================================# +function(setup_arduino_libraries VAR_NAME BOARD_ID SRCS ARDLIBS COMPILE_FLAGS LINK_FLAGS) + set(LIB_TARGETS) + set(LIB_INCLUDES) + + find_arduino_libraries(TARGET_LIBS "${SRCS}" ARDLIBS) + foreach(TARGET_LIB ${TARGET_LIBS}) + # Create static library instead of returning sources + setup_arduino_library(LIB_DEPS ${BOARD_ID} ${TARGET_LIB} "${COMPILE_FLAGS}" "${LINK_FLAGS}") + list(APPEND LIB_TARGETS ${LIB_DEPS}) + list(APPEND LIB_INCLUDES ${LIB_DEPS_INCLUDES}) + endforeach() + + set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE) + set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_target(TARGET_NAME ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL) +# +# TARGET_NAME - Target name +# BOARD_ID - Arduino board ID +# ALL_SRCS - All sources +# ALL_LIBS - All libraries +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Linker flags +# MANUAL - (Advanced) Only use AVR Libc/Includes +# +# Creates an Arduino firmware target. +# +#=============================================================================# +function(setup_arduino_target TARGET_NAME BOARD_ID ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL) + + add_executable(${TARGET_NAME} ${ALL_SRCS}) + set_target_properties(${TARGET_NAME} PROPERTIES SUFFIX ".elf") + + get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} ${MANUAL}) + + set_target_properties(${TARGET_NAME} PROPERTIES + COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${COMPILE_FLAGS}" + LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}") + target_link_libraries(${TARGET_NAME} ${ALL_LIBS} "-lc -lm") + + set(TARGET_PATH ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}) + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_OBJCOPY} + ARGS ${ARDUINO_OBJCOPY_EEP_FLAGS} + ${TARGET_PATH}.elf + ${TARGET_PATH}.eep + COMMENT "Generating EEP image" + VERBATIM) + + # Convert firmware image to ASCII HEX format + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_OBJCOPY} + ARGS ${ARDUINO_OBJCOPY_HEX_FLAGS} + ${TARGET_PATH}.elf + ${TARGET_PATH}.hex + COMMENT "Generating HEX image" + VERBATIM) + + # Display target size + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_COMMAND} + ARGS -DFIRMWARE_IMAGE=${TARGET_PATH}.elf + -DMCU=${${BOARD_ID}.build.mcu} + -DEEPROM_IMAGE=${TARGET_PATH}.eep + -P ${ARDUINO_SIZE_SCRIPT} + COMMENT "Calculating image size" + VERBATIM) + + # Create ${TARGET_NAME}-size target + add_custom_target(${TARGET_NAME}-size + COMMAND ${CMAKE_COMMAND} + -DFIRMWARE_IMAGE=${TARGET_PATH}.elf + -DMCU=${${BOARD_ID}.build.mcu} + -DEEPROM_IMAGE=${TARGET_PATH}.eep + -P ${ARDUINO_SIZE_SCRIPT} + DEPENDS ${TARGET_NAME} + COMMENT "Calculating ${TARGET_NAME} image size") + +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_upload(BOARD_ID TARGET_NAME PORT) +# +# BOARD_ID - Arduino board id +# TARGET_NAME - Target name +# PORT - Serial port for upload +# PROGRAMMER_ID - Programmer ID +# AVRDUDE_FLAGS - avrdude flags +# +# Create an upload target (${TARGET_NAME}-upload) for the specified Arduino target. +# +#=============================================================================# +function(setup_arduino_upload BOARD_ID TARGET_NAME PORT PROGRAMMER_ID AVRDUDE_FLAGS) + setup_arduino_bootloader_upload(${TARGET_NAME} ${BOARD_ID} ${PORT} "${AVRDUDE_FLAGS}") + + # Add programmer support if defined + if(PROGRAMMER_ID AND ${PROGRAMMER_ID}.protocol) + setup_arduino_programmer_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}") + setup_arduino_bootloader_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}") + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_upload(TARGET_NAME BOARD_ID PORT) +# +# TARGET_NAME - target name +# BOARD_ID - board id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Set up target for upload firmware via the bootloader. +# +# The target for uploading the firmware is ${TARGET_NAME}-upload . +# +#=============================================================================# +function(setup_arduino_bootloader_upload TARGET_NAME BOARD_ID PORT AVRDUDE_FLAGS) + set(UPLOAD_TARGET ${TARGET_NAME}-upload) + set(AVRDUDE_ARGS) + + setup_arduino_bootloader_args(${BOARD_ID} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude bootloader args, aborting!") + return() + endif() + + list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex") + list(APPEND AVRDUDE_ARGS "-Ueeprom:w:${TARGET_NAME}.eep:i") + add_custom_target(${UPLOAD_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + DEPENDS ${TARGET_NAME}) + + # Global upload target + if(NOT TARGET upload) + add_custom_target(upload) + endif() + + add_dependencies(upload ${UPLOAD_TARGET}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_programmer_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) +# +# TARGET_NAME - name of target to burn +# BOARD_ID - board id +# PROGRAMMER - programmer id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Sets up target for burning firmware via a programmer. +# +# The target for burning the firmware is ${TARGET_NAME}-burn . +# +#=============================================================================# +function(setup_arduino_programmer_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) + set(PROGRAMMER_TARGET ${TARGET_NAME}-burn) + + set(AVRDUDE_ARGS) + + setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude programmer args, aborting!") + return() + endif() + + list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex") + + add_custom_target(${PROGRAMMER_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + DEPENDS ${TARGET_NAME}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) +# +# TARGET_NAME - name of target to burn +# BOARD_ID - board id +# PROGRAMMER - programmer id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Create a target for burning a bootloader via a programmer. +# +# The target for burning the bootloader is ${TARGET_NAME}-burn-bootloader +# +#=============================================================================# +function(setup_arduino_bootloader_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) + set(BOOTLOADER_TARGET ${TARGET_NAME}-burn-bootloader) + + set(AVRDUDE_ARGS) + + setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude programmer args, aborting!") + return() + endif() + + foreach( ITEM unlock_bits high_fuses low_fuses path file) + if(NOT ${BOARD_ID}.bootloader.${ITEM}) + message("Missing ${BOARD_ID}.bootloader.${ITEM}, not creating bootloader burn target ${BOOTLOADER_TARGET}.") + return() + endif() + endforeach() + + if(NOT EXISTS "${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}") + message("${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}") + message("Missing bootloader image, not creating bootloader burn target ${BOOTLOADER_TARGET}.") + return() + endif() + + # Erase the chip + list(APPEND AVRDUDE_ARGS "-e") + + # Set unlock bits and fuses (because chip is going to be erased) + list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.unlock_bits}:m") + if(${BOARD_ID}.bootloader.extended_fuses) + list(APPEND AVRDUDE_ARGS "-Uefuse:w:${${BOARD_ID}.bootloader.extended_fuses}:m") + endif() + list(APPEND AVRDUDE_ARGS + "-Uhfuse:w:${${BOARD_ID}.bootloader.high_fuses}:m" + "-Ulfuse:w:${${BOARD_ID}.bootloader.low_fuses}:m") + + # Set bootloader image + list(APPEND AVRDUDE_ARGS "-Uflash:w:${${BOARD_ID}.bootloader.file}:i") + + # Set lockbits + list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.lock_bits}:m") + + # Create burn bootloader target + add_custom_target(${BOOTLOADER_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + WORKING_DIRECTORY ${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path} + DEPENDS ${TARGET_NAME}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_programmer_args(BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) +# +# BOARD_ID - board id +# PROGRAMMER - programmer id +# TARGET_NAME - target name +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# OUTPUT_VAR - name of output variable for result +# +# Sets up default avrdude settings for burning firmware via a programmer. +#=============================================================================# +function(setup_arduino_programmer_args BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) + set(AVRDUDE_ARGS ${${OUTPUT_VAR}}) + + if(NOT AVRDUDE_FLAGS) + set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS}) + endif() + + list(APPEND AVRDUDE_ARGS "-C${ARDUINO_AVRDUDE_CONFIG_PATH}") + + #TODO: Check mandatory settings before continuing + if(NOT ${PROGRAMMER}.protocol) + message(FATAL_ERROR "Missing ${PROGRAMMER}.protocol, aborting!") + endif() + + list(APPEND AVRDUDE_ARGS "-c${${PROGRAMMER}.protocol}") # Set programmer + + if(${PROGRAMMER}.communication STREQUAL "usb") + list(APPEND AVRDUDE_ARGS "-Pusb") # Set USB as port + elseif(${PROGRAMMER}.communication STREQUAL "serial") + list(APPEND AVRDUDE_ARGS "-P${PORT}") # Set port + if(${PROGRAMMER}.speed) + list(APPEND AVRDUDE_ARGS "-b${${PROGRAMMER}.speed}") # Set baud rate + endif() + endif() + + if(${PROGRAMMER}.force) + list(APPEND AVRDUDE_ARGS "-F") # Set force + endif() + + if(${PROGRAMMER}.delay) + list(APPEND AVRDUDE_ARGS "-i${${PROGRAMMER}.delay}") # Set delay + endif() + + list(APPEND AVRDUDE_ARGS "-p${${BOARD_ID}.build.mcu}") # MCU Type + + list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS}) + + set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_args(BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) +# +# BOARD_ID - board id +# TARGET_NAME - target name +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# OUTPUT_VAR - name of output variable for result +# +# Sets up default avrdude settings for uploading firmware via the bootloader. +#=============================================================================# +function(setup_arduino_bootloader_args BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) + set(AVRDUDE_ARGS ${${OUTPUT_VAR}}) + + if(NOT AVRDUDE_FLAGS) + set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS}) + endif() + + list(APPEND AVRDUDE_ARGS + "-C${ARDUINO_AVRDUDE_CONFIG_PATH}" # avrdude config + "-p${${BOARD_ID}.build.mcu}" # MCU Type + ) + + # Programmer + if(NOT ${BOARD_ID}.upload.protocol OR ${BOARD_ID}.upload.protocol STREQUAL "stk500") + list(APPEND AVRDUDE_ARGS "-cstk500v1") + else() + list(APPEND AVRDUDE_ARGS "-c${${BOARD_ID}.upload.protocol}") + endif() + + set(UPLOAD_SPEED "19200") + if(${BOARD_ID}.upload.speed) + set(UPLOAD_SPEED ${${BOARD_ID}.upload.speed}) + endif() + + list(APPEND AVRDUDE_ARGS + "-b${UPLOAD_SPEED}" # Baud rate + "-P${PORT}" # Serial port + "-D" # Dont erase + ) + + list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS}) + + set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# find_sources(VAR_NAME LIB_PATH RECURSE) +# +# VAR_NAME - Variable name that will hold the detected sources +# LIB_PATH - The base path +# RECURSE - Whether or not to recurse +# +# Finds all C/C++ sources located at the specified path. +# +#=============================================================================# +function(find_sources VAR_NAME LIB_PATH RECURSE) + set(FILE_SEARCH_LIST + ${LIB_PATH}/*.cpp + ${LIB_PATH}/*.c + ${LIB_PATH}/*.cc + ${LIB_PATH}/*.cxx + ${LIB_PATH}/*.h + ${LIB_PATH}/*.hh + ${LIB_PATH}/*.hxx) + + if(RECURSE) + file(GLOB_RECURSE LIB_FILES ${FILE_SEARCH_LIST}) + else() + file(GLOB LIB_FILES ${FILE_SEARCH_LIST}) + endif() + + if(LIB_FILES) + set(${VAR_NAME} ${LIB_FILES} PARENT_SCOPE) + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_serial_target(TARGET_NAME CMD) +# +# TARGET_NAME - Target name +# CMD - Serial terminal command +# +# Creates a target (${TARGET_NAME}-serial) for launching the serial termnial. +# +#=============================================================================# +function(setup_serial_target TARGET_NAME CMD SERIAL_PORT) + string(CONFIGURE "${CMD}" FULL_CMD @ONLY) + add_custom_target(${TARGET_NAME}-serial + COMMAND ${FULL_CMD}) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# detect_arduino_version(VAR_NAME) +# +# VAR_NAME - Variable name where the detected version will be saved +# +# Detects the Arduino SDK Version based on the revisions.txt file. The +# following variables will be generated: +# +# ${VAR_NAME} -> the full version (major.minor.patch) +# ${VAR_NAME}_MAJOR -> the major version +# ${VAR_NAME}_MINOR -> the minor version +# ${VAR_NAME}_PATCH -> the patch version +# +#=============================================================================# +function(detect_arduino_version VAR_NAME) + if(ARDUINO_VERSION_PATH) + file(READ ${ARDUINO_VERSION_PATH} RAW_VERSION) + if("${RAW_VERSION}" MATCHES " *[0]+([0-9]+)") + set(PARSED_VERSION 0.${CMAKE_MATCH_1}.0) + elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+[.][0-9]+)") + set(PARSED_VERSION ${CMAKE_MATCH_1}) + elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+)") + set(PARSED_VERSION ${CMAKE_MATCH_1}.0) + endif() + + if(NOT PARSED_VERSION STREQUAL "") + string(REPLACE "." ";" SPLIT_VERSION ${PARSED_VERSION}) + list(GET SPLIT_VERSION 0 SPLIT_VERSION_MAJOR) + list(GET SPLIT_VERSION 1 SPLIT_VERSION_MINOR) + list(GET SPLIT_VERSION 2 SPLIT_VERSION_PATCH) + + set(${VAR_NAME} "${PARSED_VERSION}" PARENT_SCOPE) + set(${VAR_NAME}_MAJOR "${SPLIT_VERSION_MAJOR}" PARENT_SCOPE) + set(${VAR_NAME}_MINOR "${SPLIT_VERSION_MINOR}" PARENT_SCOPE) + set(${VAR_NAME}_PATCH "${SPLIT_VERSION_PATCH}" PARENT_SCOPE) + endif() + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# load_arduino_style_settings(SETTINGS_LIST SETTINGS_PATH) +# +# SETTINGS_LIST - Variable name of settings list +# SETTINGS_PATH - File path of settings file to load. +# +# Load a Arduino style settings file into the cache. +# +# Examples of this type of settings file is the boards.txt and +# programmers.txt files located in ${ARDUINO_SDK}/hardware/arduino. +# +# Settings have to following format: +# +# entry.setting[.subsetting] = value +# +# where [.subsetting] is optional +# +# For example, the following settings: +# +# uno.name=Arduino Uno +# uno.upload.protocol=stk500 +# uno.upload.maximum_size=32256 +# uno.build.mcu=atmega328p +# uno.build.core=arduino +# +# will generate the follwoing equivalent CMake variables: +# +# set(uno.name "Arduino Uno") +# set(uno.upload.protocol "stk500") +# set(uno.upload.maximum_size "32256") +# set(uno.build.mcu "atmega328p") +# set(uno.build.core "arduino") +# +# set(uno.SETTINGS name upload build) # List of settings for uno +# set(uno.upload.SUBSETTINGS protocol maximum_size) # List of sub-settings for uno.upload +# set(uno.build.SUBSETTINGS mcu core) # List of sub-settings for uno.build +# +# The ${ENTRY_NAME}.SETTINGS variable lists all settings for the entry, while +# ${ENTRY_NAME}.SUBSETTINGS variables lists all settings for a sub-setting of +# a entry setting pair. +# +# These variables are generated in order to be able to programatically traverse +# all settings (for a example see print_board_settings() function). +# +#=============================================================================# +function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH) + + if(NOT ${SETTINGS_LIST} AND EXISTS ${SETTINGS_PATH}) + file(STRINGS ${SETTINGS_PATH} FILE_ENTRIES) # Settings file split into lines + + foreach(FILE_ENTRY ${FILE_ENTRIES}) + if("${FILE_ENTRY}" MATCHES "^[^#]+=.*") + string(REGEX MATCH "^[^=]+" SETTING_NAME ${FILE_ENTRY}) + string(REGEX MATCH "[^=]+$" SETTING_VALUE ${FILE_ENTRY}) + string(REPLACE "." ";" ENTRY_NAME_TOKENS ${SETTING_NAME}) + string(STRIP "${SETTING_VALUE}" SETTING_VALUE) + + list(LENGTH ENTRY_NAME_TOKENS ENTRY_NAME_TOKENS_LEN) + + # Add entry to settings list if it does not exist + list(GET ENTRY_NAME_TOKENS 0 ENTRY_NAME) + list(FIND ${SETTINGS_LIST} ${ENTRY_NAME} ENTRY_NAME_INDEX) + if(ENTRY_NAME_INDEX LESS 0) + # Add entry to main list + list(APPEND ${SETTINGS_LIST} ${ENTRY_NAME}) + endif() + + # Add entry setting to entry settings list if it does not exist + set(ENTRY_SETTING_LIST ${ENTRY_NAME}.SETTINGS) + list(GET ENTRY_NAME_TOKENS 1 ENTRY_SETTING) + list(FIND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING} ENTRY_SETTING_INDEX) + if(ENTRY_SETTING_INDEX LESS 0) + # Add setting to entry + list(APPEND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING}) + set(${ENTRY_SETTING_LIST} ${${ENTRY_SETTING_LIST}} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board settings list") + endif() + + set(FULL_SETTING_NAME ${ENTRY_NAME}.${ENTRY_SETTING}) + + # Add entry sub-setting to entry sub-settings list if it does not exists + if(ENTRY_NAME_TOKENS_LEN GREATER 2) + set(ENTRY_SUBSETTING_LIST ${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS) + list(GET ENTRY_NAME_TOKENS 2 ENTRY_SUBSETTING) + list(FIND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING} ENTRY_SUBSETTING_INDEX) + if(ENTRY_SUBSETTING_INDEX LESS 0) + list(APPEND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING}) + set(${ENTRY_SUBSETTING_LIST} ${${ENTRY_SUBSETTING_LIST}} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board sub-settings list") + endif() + set(FULL_SETTING_NAME ${FULL_SETTING_NAME}.${ENTRY_SUBSETTING}) + endif() + + # Save setting value + set(${FULL_SETTING_NAME} ${SETTING_VALUE} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board setting") + + + endif() + endforeach() + set(${SETTINGS_LIST} ${${SETTINGS_LIST}} + CACHE STRING "List of detected Arduino Board configurations") + mark_as_advanced(${SETTINGS_LIST}) + endif() +endfunction() + +#=============================================================================# +# print_settings(ENTRY_NAME) +# +# ENTRY_NAME - name of entry +# +# Print the entry settings (see load_arduino_syle_settings()). +# +#=============================================================================# +function(PRINT_SETTINGS ENTRY_NAME) + if(${ENTRY_NAME}.SETTINGS) + + foreach(ENTRY_SETTING ${${ENTRY_NAME}.SETTINGS}) + if(${ENTRY_NAME}.${ENTRY_SETTING}) + message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}}") + endif() + if(${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS) + foreach(ENTRY_SUBSETTING ${${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS}) + if(${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}) + message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}}") + endif() + endforeach() + endif() + message(STATUS "") + endforeach() + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# print_list(SETTINGS_LIST) +# +# SETTINGS_LIST - Variables name of settings list +# +# Print list settings and names (see load_arduino_syle_settings()). +#=============================================================================# +function(PRINT_LIST SETTINGS_LIST) + if(${SETTINGS_LIST}) + set(MAX_LENGTH 0) + foreach(ENTRY_NAME ${${SETTINGS_LIST}}) + string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH) + if(CURRENT_LENGTH GREATER MAX_LENGTH) + set(MAX_LENGTH ${CURRENT_LENGTH}) + endif() + endforeach() + foreach(ENTRY_NAME ${${SETTINGS_LIST}}) + string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH) + math(EXPR PADDING_LENGTH "${MAX_LENGTH}-${CURRENT_LENGTH}") + set(PADDING "") + foreach(X RANGE ${PADDING_LENGTH}) + set(PADDING "${PADDING} ") + endforeach() + message(STATUS " ${PADDING}${ENTRY_NAME}: ${${ENTRY_NAME}.name}") + endforeach() + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_example(TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR) +# +# TARGET_NAME - Target name +# LIBRARY_NAME - Library name +# EXAMPLE_NAME - Example name +# OUTPUT_VAR - Variable name to save sketch path. +# +# Creates a Arduino example from a the specified library. +#=============================================================================# +function(SETUP_ARDUINO_EXAMPLE TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR) + set(EXAMPLE_SKETCH_PATH ) + + get_property(LIBRARY_SEARCH_PATH + DIRECTORY # Property Scope + PROPERTY LINK_DIRECTORIES) + foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries) + if(EXISTS "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}") + set(EXAMPLE_SKETCH_PATH "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}") + break() + endif() + endforeach() + + if(EXAMPLE_SKETCH_PATH) + setup_arduino_sketch(${TARGET_NAME} ${EXAMPLE_SKETCH_PATH} SKETCH_CPP) + set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE) + else() + message(FATAL_ERROR "Could not find example ${EXAMPLE_NAME} from library ${LIBRARY_NAME}") + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_sketch(TARGET_NAME SKETCH_PATH OUTPUT_VAR) +# +# TARGET_NAME - Target name +# SKETCH_PATH - Path to sketch directory +# OUTPUT_VAR - Variable name where to save generated sketch source +# +# Generates C++ sources from Arduino Sketch. +#=============================================================================# +function(SETUP_ARDUINO_SKETCH TARGET_NAME SKETCH_PATH OUTPUT_VAR) + get_filename_component(SKETCH_NAME "${SKETCH_PATH}" NAME) + get_filename_component(SKETCH_PATH "${SKETCH_PATH}" ABSOLUTE) + + if(EXISTS "${SKETCH_PATH}") + set(SKETCH_CPP ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}_${SKETCH_NAME}.cpp) + + if (IS_DIRECTORY "${SKETCH_PATH}") + # Sketch directory specified, try to find main sketch... + set(MAIN_SKETCH ${SKETCH_PATH}/${SKETCH_NAME}) + + if(EXISTS "${MAIN_SKETCH}.pde") + set(MAIN_SKETCH "${MAIN_SKETCH}.pde") + elseif(EXISTS "${MAIN_SKETCH}.ino") + set(MAIN_SKETCH "${MAIN_SKETCH}.ino") + else() + message(FATAL_ERROR "Could not find main sketch (${SKETCH_NAME}.pde or ${SKETCH_NAME}.ino) at ${SKETCH_PATH}! Please specify the main sketch file path instead of directory.") + endif() + else() + # Sektch file specified, assuming parent directory as sketch directory + set(MAIN_SKETCH ${SKETCH_PATH}) + get_filename_component(SKETCH_PATH "${SKETCH_PATH}" PATH) + endif() + arduino_debug_msg("sketch: ${MAIN_SKETCH}") + + # Find all sketch files + file(GLOB SKETCH_SOURCES ${SKETCH_PATH}/*.pde ${SKETCH_PATH}/*.ino) + list(REMOVE_ITEM SKETCH_SOURCES ${MAIN_SKETCH}) + list(SORT SKETCH_SOURCES) + + generate_cpp_from_sketch("${MAIN_SKETCH}" "${SKETCH_SOURCES}" "${SKETCH_CPP}") + + # Regenerate build system if sketch changes + add_custom_command(OUTPUT ${SKETCH_CPP} + COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} + WORKING_DIRECTORY ${CMAKE_BINARY_DIR} + DEPENDS ${MAIN_SKETCH} ${SKETCH_SOURCES} + COMMENT "Regnerating ${SKETCH_NAME} Sketch") + set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED TRUE) + # Mark file that it exists for find_file + set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED_SKETCH TRUE) + + set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE) + else() + message(FATAL_ERROR "Sketch does not exist: ${SKETCH_PATH}") + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# generate_cpp_from_sketch(MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP) +# +# MAIN_SKETCH_PATH - Main sketch file path +# SKETCH_SOURCES - Setch source paths +# SKETCH_CPP - Name of file to generate +# +# Generate C++ source file from Arduino sketch files. +#=============================================================================# +function(GENERATE_CPP_FROM_SKETCH MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP) + file(WRITE ${SKETCH_CPP} "// automatically generated by arduino-cmake\n") + file(READ ${MAIN_SKETCH_PATH} MAIN_SKETCH) + + # remove comments + remove_comments(MAIN_SKETCH MAIN_SKETCH_NO_COMMENTS) + + # find first statement + string(REGEX MATCH "[\n][_a-zA-Z0-9]+[^\n]*" FIRST_STATEMENT "${MAIN_SKETCH_NO_COMMENTS}") + string(FIND "${MAIN_SKETCH}" "${FIRST_STATEMENT}" HEAD_LENGTH) + if ("${HEAD_LENGTH}" STREQUAL "-1") + set(HEAD_LENGTH 0) + endif() + #message(STATUS "FIRST STATEMENT: ${FIRST_STATEMENT}") + #message(STATUS "FIRST STATEMENT POSITION: ${HEAD_LENGTH}") + string(LENGTH "${MAIN_SKETCH}" MAIN_SKETCH_LENGTH) + + string(SUBSTRING "${MAIN_SKETCH}" 0 ${HEAD_LENGTH} SKETCH_HEAD) + #arduino_debug_msg("SKETCH_HEAD:\n${SKETCH_HEAD}") + + # find the body of the main pde + math(EXPR BODY_LENGTH "${MAIN_SKETCH_LENGTH}-${HEAD_LENGTH}") + string(SUBSTRING "${MAIN_SKETCH}" "${HEAD_LENGTH}+1" "${BODY_LENGTH}-1" SKETCH_BODY) + #arduino_debug_msg("BODY:\n${SKETCH_BODY}") + + # write the file head + file(APPEND ${SKETCH_CPP} "#line 1 \"${MAIN_SKETCH_PATH}\"\n${SKETCH_HEAD}") + + # Count head line offset (for GCC error reporting) + file(STRINGS ${SKETCH_CPP} SKETCH_HEAD_LINES) + list(LENGTH SKETCH_HEAD_LINES SKETCH_HEAD_LINES_COUNT) + math(EXPR SKETCH_HEAD_OFFSET "${SKETCH_HEAD_LINES_COUNT}+2") + + # add arduino include header + #file(APPEND ${SKETCH_CPP} "\n#line 1 \"autogenerated\"\n") + file(APPEND ${SKETCH_CPP} "\n#line ${SKETCH_HEAD_OFFSET} \"${SKETCH_CPP}\"\n") + if(ARDUINO_SDK_VERSION VERSION_LESS 1.0) + file(APPEND ${SKETCH_CPP} "#include \"WProgram.h\"\n") + else() + file(APPEND ${SKETCH_CPP} "#include \"Arduino.h\"\n") + endif() + + # add function prototypes + foreach(SKETCH_SOURCE_PATH ${SKETCH_SOURCES} ${MAIN_SKETCH_PATH}) + arduino_debug_msg("Sketch: ${SKETCH_SOURCE_PATH}") + file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE) + remove_comments(SKETCH_SOURCE SKETCH_SOURCE) + + set(ALPHA "a-zA-Z") + set(NUM "0-9") + set(ALPHANUM "${ALPHA}${NUM}") + set(WORD "_${ALPHANUM}") + set(LINE_START "(^|[\n])") + set(QUALIFIERS "[ \t]*([${ALPHA}]+[ ])*") + set(TYPE "[${WORD}]+([ ]*[\n][\t]*|[ ])+") + set(FNAME "[${WORD}]+[ ]?[\n]?[\t]*[ ]*") + set(FARGS "[(]([\t]*[ ]*[*&]?[ ]?[${WORD}](\\[([${NUM}]+)?\\])*[,]?[ ]*[\n]?)*([,]?[ ]*[\n]?)?[)]") + set(BODY_START "([ ]*[\n][\t]*|[ ]|[\n])*{") + set(PROTOTYPE_PATTERN "${LINE_START}${QUALIFIERS}${TYPE}${FNAME}${FARGS}${BODY_START}") + + string(REGEX MATCHALL "${PROTOTYPE_PATTERN}" SKETCH_PROTOTYPES "${SKETCH_SOURCE}") + + # Write function prototypes + file(APPEND ${SKETCH_CPP} "\n//=== START Forward: ${SKETCH_SOURCE_PATH}\n") + foreach(SKETCH_PROTOTYPE ${SKETCH_PROTOTYPES}) + string(REPLACE "\n" " " SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}") + string(REPLACE "{" "" SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}") + arduino_debug_msg("\tprototype: ${SKETCH_PROTOTYPE};") + # " else if(var == other) {" shoudn't be listed as prototype + if(NOT SKETCH_PROTOTYPE MATCHES "(if[ ]?[\n]?[\t]*[ ]*[)])") + file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n") + else() + arduino_debug_msg("\trejected prototype: ${SKETCH_PROTOTYPE};") + endif() + file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n") + endforeach() + file(APPEND ${SKETCH_CPP} "//=== END Forward: ${SKETCH_SOURCE_PATH}\n") + endforeach() + + # Write Sketch CPP source + get_num_lines("${SKETCH_HEAD}" HEAD_NUM_LINES) + file(APPEND ${SKETCH_CPP} "#line ${HEAD_NUM_LINES} \"${MAIN_SKETCH_PATH}\"\n") + file(APPEND ${SKETCH_CPP} "\n${SKETCH_BODY}") + foreach (SKETCH_SOURCE_PATH ${SKETCH_SOURCES}) + file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE) + file(APPEND ${SKETCH_CPP} "\n//=== START : ${SKETCH_SOURCE_PATH}\n") + file(APPEND ${SKETCH_CPP} "#line 1 \"${SKETCH_SOURCE_PATH}\"\n") + file(APPEND ${SKETCH_CPP} "${SKETCH_SOURCE}") + file(APPEND ${SKETCH_CPP} "\n//=== END : ${SKETCH_SOURCE_PATH}\n") + endforeach() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_size_script(OUTPUT_VAR) +# +# OUTPUT_VAR - Output variable that will contain the script path +# +# Generates script used to display the firmware size. +#=============================================================================# +function(SETUP_ARDUINO_SIZE_SCRIPT OUTPUT_VAR) + set(ARDUINO_SIZE_SCRIPT_PATH ${CMAKE_BINARY_DIR}/CMakeFiles/FirmwareSize.cmake) + + file(WRITE ${ARDUINO_SIZE_SCRIPT_PATH} " + set(AVRSIZE_PROGRAM ${AVRSIZE_PROGRAM}) + set(AVRSIZE_FLAGS -C --mcu=\${MCU}) + + execute_process(COMMAND \${AVRSIZE_PROGRAM} \${AVRSIZE_FLAGS} \${FIRMWARE_IMAGE} \${EEPROM_IMAGE} + OUTPUT_VARIABLE SIZE_OUTPUT) + + + string(STRIP \"\${SIZE_OUTPUT}\" RAW_SIZE_OUTPUT) + + # Convert lines into a list + string(REPLACE \"\\n\" \";\" SIZE_OUTPUT_LIST \"\${SIZE_OUTPUT}\") + + set(SIZE_OUTPUT_LINES) + foreach(LINE \${SIZE_OUTPUT_LIST}) + if(NOT \"\${LINE}\" STREQUAL \"\") + list(APPEND SIZE_OUTPUT_LINES \"\${LINE}\") + endif() + endforeach() + + function(EXTRACT LIST_NAME INDEX VARIABLE) + list(GET \"\${LIST_NAME}\" \${INDEX} RAW_VALUE) + string(STRIP \"\${RAW_VALUE}\" VALUE) + + set(\${VARIABLE} \"\${VALUE}\" PARENT_SCOPE) + endfunction() + function(PARSE INPUT VARIABLE_PREFIX) + if(\${INPUT} MATCHES \"([^:]+):[ \\t]*([0-9]+)[ \\t]*([^ \\t]+)[ \\t]*[(]([0-9.]+)%.*\") + set(ENTRY_NAME \${CMAKE_MATCH_1}) + set(ENTRY_SIZE \${CMAKE_MATCH_2}) + set(ENTRY_SIZE_TYPE \${CMAKE_MATCH_3}) + set(ENTRY_PERCENT \${CMAKE_MATCH_4}) + endif() + + set(\${VARIABLE_PREFIX}_NAME \${ENTRY_NAME} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_SIZE \${ENTRY_SIZE} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_SIZE_TYPE \${ENTRY_SIZE_TYPE} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_PERCENT \${ENTRY_PERCENT} PARENT_SCOPE) + endfunction() + + list(LENGTH SIZE_OUTPUT_LINES SIZE_OUTPUT_LENGTH) + #message(\"\${SIZE_OUTPUT_LINES}\") + #message(\"\${SIZE_OUTPUT_LENGTH}\") + if (\${SIZE_OUTPUT_LENGTH} STREQUAL 14) + EXTRACT(SIZE_OUTPUT_LINES 3 FIRMWARE_PROGRAM_SIZE_ROW) + EXTRACT(SIZE_OUTPUT_LINES 5 FIRMWARE_DATA_SIZE_ROW) + PARSE(FIRMWARE_PROGRAM_SIZE_ROW FIRMWARE_PROGRAM) + PARSE(FIRMWARE_DATA_SIZE_ROW FIRMWARE_DATA) + + set(FIRMWARE_STATUS \"Firmware Size: \") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_PROGRAM_NAME}: \${FIRMWARE_PROGRAM_SIZE} \${FIRMWARE_PROGRAM_SIZE_TYPE} (\${FIRMWARE_PROGRAM_PERCENT}%)] \") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_DATA_NAME}: \${FIRMWARE_DATA_SIZE} \${FIRMWARE_DATA_SIZE_TYPE} (\${FIRMWARE_DATA_PERCENT}%)]\") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} on \${MCU}\") + + EXTRACT(SIZE_OUTPUT_LINES 10 EEPROM_PROGRAM_SIZE_ROW) + EXTRACT(SIZE_OUTPUT_LINES 12 EEPROM_DATA_SIZE_ROW) + PARSE(EEPROM_PROGRAM_SIZE_ROW EEPROM_PROGRAM) + PARSE(EEPROM_DATA_SIZE_ROW EEPROM_DATA) + + set(EEPROM_STATUS \"EEPROM Size: \") + set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_PROGRAM_NAME}: \${EEPROM_PROGRAM_SIZE} \${EEPROM_PROGRAM_SIZE_TYPE} (\${EEPROM_PROGRAM_PERCENT}%)] \") + set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_DATA_NAME}: \${EEPROM_DATA_SIZE} \${EEPROM_DATA_SIZE_TYPE} (\${EEPROM_DATA_PERCENT}%)]\") + set(EEPROM_STATUS \"\${EEPROM_STATUS} on \${MCU}\") + + message(\"\${FIRMWARE_STATUS}\") + message(\"\${EEPROM_STATUS}\\n\") + + if(\$ENV{VERBOSE}) + message(\"\${RAW_SIZE_OUTPUT}\\n\") + elseif(\$ENV{VERBOSE_SIZE}) + message(\"\${RAW_SIZE_OUTPUT}\\n\") + endif() + else() + message(\"\${RAW_SIZE_OUTPUT}\") + endif() + ") + + set(${OUTPUT_VAR} ${ARDUINO_SIZE_SCRIPT_PATH} PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_on() +# +# Enables Arduino module debugging. +#=============================================================================# +function(ARDUINO_DEBUG_ON) + set(ARDUINO_DEBUG True PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_off() +# +# Disables Arduino module debugging. +#=============================================================================# +function(ARDUINO_DEBUG_OFF) + set(ARDUINO_DEBUG False PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_msg(MSG) +# +# MSG - Message to print +# +# Print Arduino debugging information. In order to enable printing +# use arduino_debug_on() and to disable use arduino_debug_off(). +#=============================================================================# +function(ARDUINO_DEBUG_MSG MSG) + if(ARDUINO_DEBUG) + message("## ${MSG}") + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# remove_comments(SRC_VAR OUT_VAR) +# +# SRC_VAR - variable holding sources +# OUT_VAR - variable holding sources with no comments +# +# Removes all comments from the source code. +#=============================================================================# +function(REMOVE_COMMENTS SRC_VAR OUT_VAR) + string(REGEX REPLACE "[\\./\\\\]" "_" FILE "${NAME}") + + set(SRC ${${SRC_VAR}}) + + #message(STATUS "removing comments from: ${FILE}") + #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_pre_remove_comments.txt" ${SRC}) + #message(STATUS "\n${SRC}") + + # remove all comments + string(REGEX REPLACE "([/][/][^\n]*)|([/][\\*]([^\\*]|([\\*]+[^/\\*]))*[\\*]+[/])" "" OUT "${SRC}") + + #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_post_remove_comments.txt" ${SRC}) + #message(STATUS "\n${SRC}") + + set(${OUT_VAR} ${OUT} PARENT_SCOPE) + +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# get_num_lines(DOCUMENT OUTPUT_VAR) +# +# DOCUMENT - Document contents +# OUTPUT_VAR - Variable which will hold the line number count +# +# Counts the line number of the document. +#=============================================================================# +function(GET_NUM_LINES DOCUMENT OUTPUT_VAR) + string(REGEX MATCHALL "[\n]" MATCH_LIST "${DOCUMENT}") + list(LENGTH MATCH_LIST NUM) + set(${OUTPUT_VAR} ${NUM} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# required_variables(MSG msg VARS var1 var2 .. varN) +# +# MSG - Message to be displayed in case of error +# VARS - List of variables names to check +# +# Ensure the specified variables are not empty, otherwise a fatal error is emmited. +#=============================================================================# +function(REQUIRED_VARIABLES) + cmake_parse_arguments(INPUT "" "MSG" "VARS" ${ARGN}) + error_for_unparsed(INPUT) + foreach(VAR ${INPUT_VARS}) + if ("${${VAR}}" STREQUAL "") + message(FATAL_ERROR "${VAR} not set: ${INPUT_MSG}") + endif() + endforeach() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# error_for_unparsed(PREFIX) +# +# PREFIX - Prefix name +# +# Emit fatal error if there are unparsed argument from cmake_parse_arguments(). +#=============================================================================# +function(ERROR_FOR_UNPARSED PREFIX) + set(ARGS "${${PREFIX}_UNPARSED_ARGUMENTS}") + if (NOT ( "${ARGS}" STREQUAL "") ) + message(FATAL_ERROR "unparsed argument: ${ARGS}") + endif() +endfunction() + + + + + + +#=============================================================================# +# C Flags +#=============================================================================# +if (NOT DEFINED ARDUINO_C_FLAGS) + set(ARDUINO_C_FLAGS "-mcall-prologues -ffunction-sections -fdata-sections") +endif (NOT DEFINED ARDUINO_C_FLAGS) +set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "") + +#=============================================================================# +# C++ Flags +#=============================================================================# +if (NOT DEFINED ARDUINO_CXX_FLAGS) + set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions") +endif (NOT DEFINED ARDUINO_CXX_FLAGS) +set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_DEBUG "-g ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "") + +#=============================================================================# +# Executable Linker Flags # +#=============================================================================# +set(ARDUINO_LINKER_FLAGS "-Wl,--gc-sections -lm") +set(CMAKE_EXE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + +#=============================================================================# +#=============================================================================# +# Shared Lbrary Linker Flags # +#=============================================================================# +set(CMAKE_SHARED_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + +set(CMAKE_MODULE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + + +#=============================================================================# +# Arduino Settings +#=============================================================================# +set(ARDUINO_OBJCOPY_EEP_FLAGS -O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load + --no-change-warnings --change-section-lma .eeprom=0 CACHE STRING "") +set(ARDUINO_OBJCOPY_HEX_FLAGS -O ihex -R .eeprom CACHE STRING "") +set(ARDUINO_AVRDUDE_FLAGS -V CACHE STRING "") + +#=============================================================================# +# Initialization +#=============================================================================# +if(NOT ARDUINO_FOUND AND ARDUINO_SDK_PATH) + register_hardware_platform(${ARDUINO_SDK_PATH}/hardware/arduino/) + + find_file(ARDUINO_LIBRARIES_PATH + NAMES libraries + PATHS ${ARDUINO_SDK_PATH} + DOC "Path to directory containing the Arduino libraries.") + + find_file(ARDUINO_VERSION_PATH + NAMES lib/version.txt + PATHS ${ARDUINO_SDK_PATH} + DOC "Path to Arduino version file.") + + find_program(ARDUINO_AVRDUDE_PROGRAM + NAMES avrdude + PATHS ${ARDUINO_SDK_PATH} + PATH_SUFFIXES hardware/tools + NO_DEFAULT_PATH) + + find_program(ARDUINO_AVRDUDE_PROGRAM + NAMES avrdude + DOC "Path to avrdude programmer binary.") + + find_program(AVRSIZE_PROGRAM + NAMES avr-size) + + find_file(ARDUINO_AVRDUDE_CONFIG_PATH + NAMES avrdude.conf + PATHS ${ARDUINO_SDK_PATH} /etc/avrdude + PATH_SUFFIXES hardware/tools + hardware/tools/avr/etc + DOC "Path to avrdude programmer configuration file.") + + set(ARDUINO_DEFAULT_BOARD uno CACHE STRING "Default Arduino Board ID when not specified.") + set(ARDUINO_DEFAULT_PORT CACHE STRING "Default Arduino port when not specified.") + set(ARDUINO_DEFAULT_SERIAL CACHE STRING "Default Arduino Serial command when not specified.") + set(ARDUINO_DEFAULT_PROGRAMMER CACHE STRING "Default Arduino Programmer ID when not specified.") + + # Ensure that all required paths are found + required_variables(VARS + ARDUINO_PLATFORMS + ARDUINO_CORES_PATH + ARDUINO_BOOTLOADERS_PATH + ARDUINO_LIBRARIES_PATH + ARDUINO_BOARDS_PATH + ARDUINO_PROGRAMMERS_PATH + ARDUINO_VERSION_PATH + ARDUINO_AVRDUDE_FLAGS + ARDUINO_AVRDUDE_PROGRAM + ARDUINO_AVRDUDE_CONFIG_PATH + AVRSIZE_PROGRAM + MSG "Invalid Arduino SDK path (${ARDUINO_SDK_PATH}).\n") + + detect_arduino_version(ARDUINO_SDK_VERSION) + set(ARDUINO_SDK_VERSION ${ARDUINO_SDK_VERSION} CACHE STRING "Arduino SDK Version") + set(ARDUINO_SDK_VERSION_MAJOR ${ARDUINO_SDK_VERSION_MAJOR} CACHE STRING "Arduino SDK Major Version") + set(ARDUINO_SDK_VERSION_MINOR ${ARDUINO_SDK_VERSION_MINOR} CACHE STRING "Arduino SDK Minor Version") + set(ARDUINO_SDK_VERSION_PATCH ${ARDUINO_SDK_VERSION_PATCH} CACHE STRING "Arduino SDK Patch Version") + + if(ARDUINO_SDK_VERSION VERSION_LESS 0.19) + message(FATAL_ERROR "Unsupported Arduino SDK (require verion 0.19 or higher)") + endif() + + message(STATUS "Arduino SDK version ${ARDUINO_SDK_VERSION}: ${ARDUINO_SDK_PATH}") + + setup_arduino_size_script(ARDUINO_SIZE_SCRIPT) + set(ARDUINO_SIZE_SCRIPT ${ARDUINO_SIZE_SCRIPT} CACHE INTERNAL "Arduino Size Script") + + #print_board_list() + #print_programmer_list() + + set(ARDUINO_FOUND True CACHE INTERNAL "Arduino Found") + mark_as_advanced( + ARDUINO_CORES_PATH + ARDUINO_VARIANTS_PATH + ARDUINO_BOOTLOADERS_PATH + ARDUINO_LIBRARIES_PATH + ARDUINO_BOARDS_PATH + ARDUINO_PROGRAMMERS_PATH + ARDUINO_VERSION_PATH + ARDUINO_AVRDUDE_FLAGS + ARDUINO_AVRDUDE_PROGRAM + ARDUINO_AVRDUDE_CONFIG_PATH + ARDUINO_OBJCOPY_EEP_FLAGS + ARDUINO_OBJCOPY_HEX_FLAGS + AVRSIZE_PROGRAM) +endif() + diff --git a/Builds/20170823_AQUASTAR.hex b/Builds/20170823_AQUASTAR.hex new file mode 100644 index 0000000..f07d83e --- /dev/null +++ b/Builds/20170823_AQUASTAR.hex @@ -0,0 +1,410 @@ 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+:101F4C000219021B021D021F02210223022001267C +:101F5C00014C022D010000000101010202020001EE +:101F6C000200010200010252455441316132660007 +:101F7C0002030504000000009408F50B000040006B +:101F8C001400540000000000500BF50BE60A170B70 +:041F9C00F70A400BF5 +:00000001FF diff --git a/Docs/2015-08-21 Change Log.txt b/Docs/2015-08-21 Change Log.txt new file mode 100644 index 0000000..af3dd46 --- /dev/null +++ b/Docs/2015-08-21 Change Log.txt @@ -0,0 +1,104 @@ +2015-08-21 FlightStab Change Log + +2015-08-21 +A problem was discovered with the 2015-08-18 release. An error in subtraction +order resulted in the pitch and roll axis being reversed in Delta mode and +the pitch and yaw axis reversed in V-Tail mode. + + +2015-08-18 +Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right. +Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes. +Added code to capture center stick for Flap channel. +Updated Programming Box firmware to support new mounting options. + + +2015-08-01 +Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer. +Note that the RX3SM DSM2 device is not supported as it does not have enough connectors. + + +2015-04-14 +Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros) +Add Programming Box configuration option to set Digital low Pass Filter Bandwidth + +2015-02-21 FlightStab.ino +Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode. + +Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us. +This is to allow master_ gain to have a valued of when when hysteresis is +exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit. + +2015-02-07 FlightStab.ino +Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain. +Restore to 1474us to 1525us for zero gain. + +2015-02-03 FlightStab.ino +MIXER_EPA settings were not being properly applied to ELE-R (normally Flap) +channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL +mode. + +2015-02-02 FlightStab.ino +Add #define RX_WIDTH_MODE_MID 1550 +This new value will be used to move gain input hysteresis to reside entirelly in +the Hold Mode Range. This forces Rate Mode for any value below 1525 which +insures resetting any Hold Mode corrections when gain is set to 0. + +2015-01-30 +SerialRX.ino +Use #define for mid channel value instead of hard coded 1520 + +Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us +and new wing mode RUD 2-ELE 2-AIL + +Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing +mode. + +New wing mode required increasing the size of arrays mix_out_low_limit, +mix_out_high_limit and zero_correction. + +Size of pout2[] in apply_mixer() also increased to allow tracking of flap +channel limits as flp_out2 is used for second elevator. Size of loop applying +limits is now dyanmic to allow flap channel to act as unconstrained pass through +when not being used for second elevator. + +Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need. + + +20141216 +FlightStab.ino and SerialRX.ino +Add support for Multiplex and HoTT SRXL Protocol + +FlightStab.ino +Add Flip 1.5 Build that allows 900us to 2100us travel + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + + + + + + + diff --git a/FlightStab/SerialRX.ino b/FlightStab/SerialRX.ino index 5415244..4ba4e80 100644 --- a/FlightStab/SerialRX.ino +++ b/FlightStab/SerialRX.ino @@ -260,6 +260,8 @@ jrb*/ RXcount++; #endif } + if (index >= SERIAL_FRAME_SIZE) // his bugfix 20170817 + index = 0; return (sbus_return); #endif // SERIALRX_SRXL ------------------------------------------------------- diff --git a/README.md b/README.md new file mode 100644 index 0000000..b97a284 --- /dev/null +++ b/README.md @@ -0,0 +1,21 @@ +# Overview of FlightStab Firmware +FlightStab provides replacement firmware for the following Flight Controllers +* OrangeRX RX3S V1 (No longer Available) +* OrangeRX RX3S V2 +* OrangeRX RX3S V3 +* OrangeRX RX3SM DSM2 +* OrangeRX RX3SM DSMx +* NanoWii +* Hobby Eagle A3 Pro (Limited versions) +* Hobby King MINI MWC +* Flip MWC 1.5 + +Optional Bootloader is available that allows programming via one of the servo connectors allowing in vehicle programming. +* Modified FTDI 3.3V programmer required +* No connection to the ISP header required + +Optional Programming Box to allow for easy field setup + +## Quicklinks +* Documentation is available [here](https://docs.google.com/document/d/1mDjC1NHaGSoKw8bjJ9FkFgby2rr6544d-yykV3Xz6dg/pub) +* [Forum on rcgroups](https://www.rcgroups.com/forums/showthread.php?1794672-Open-Flight-Stabilizer) From 72ca11e1b17444babb4b3568592b16d208b3900e Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 28 Aug 2017 09:32:35 -0400 Subject: [PATCH 28/29] Bug Fix SRXLH & SRXLM Firmware --- Docs/2018-08-23 Change Log.txt | 116 +++++++++++++++++++++++++++++++++ 1 file changed, 116 insertions(+) create mode 100644 Docs/2018-08-23 Change Log.txt diff --git a/Docs/2018-08-23 Change Log.txt b/Docs/2018-08-23 Change Log.txt new file mode 100644 index 0000000..2eed696 --- /dev/null +++ b/Docs/2018-08-23 Change Log.txt @@ -0,0 +1,116 @@ +2016-02-28 FlightStab Change Log + +2017-08-23 +Fixed Intermittent Power On bug in SRXLH & SRXLM Firmware + + +2016-02-28 +Fixed problem with Stick Configuration not being able to select MAX. + + +2016-02-09 +Throttle Channel had Wide Positive Pulse during initialization. + + +2015-08-21 +A problem was discovered with the 2015-08-18 release. An error in subtraction +order resulted in the pitch and roll axis being reversed in Delta mode and +the pitch and yaw axis reversed in V-Tail mode. + + +2015-08-18 +Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right. +Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes. +Added code to capture center stick for Flap channel. +Updated Programming Box firmware to support new mounting options. + + +2015-08-01 +Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer. +Note that the RX3SM DSM2 device is not supported as it does not have enough connectors. + + +2015-04-14 +Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros) +Add Programming Box configuration option to set Digital low Pass Filter Bandwidth + +2015-02-21 FlightStab.ino +Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode. + +Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us. +This is to allow master_ gain to have a valued of when when hysteresis is +exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit. + +2015-02-07 FlightStab.ino +Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain. +Restore to 1474us to 1525us for zero gain. + +2015-02-03 FlightStab.ino +MIXER_EPA settings were not being properly applied to ELE-R (normally Flap) +channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL +mode. + +2015-02-02 FlightStab.ino +Add #define RX_WIDTH_MODE_MID 1550 +This new value will be used to move gain input hysteresis to reside entirelly in +the Hold Mode Range. This forces Rate Mode for any value below 1525 which +insures resetting any Hold Mode corrections when gain is set to 0. + +2015-01-30 +SerialRX.ino +Use #define for mid channel value instead of hard coded 1520 + +Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us +and new wing mode RUD 2-ELE 2-AIL + +Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing +mode. + +New wing mode required increasing the size of arrays mix_out_low_limit, +mix_out_high_limit and zero_correction. + +Size of pout2[] in apply_mixer() also increased to allow tracking of flap +channel limits as flp_out2 is used for second elevator. Size of loop applying +limits is now dyanmic to allow flap channel to act as unconstrained pass through +when not being used for second elevator. + +Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need. + + +20141216 +FlightStab.ino and SerialRX.ino +Add support for Multiplex and HoTT SRXL Protocol + +FlightStab.ino +Add Flip 1.5 Build that allows 900us to 2100us travel + + +20140831 +SerialRX.ino +Use timer to determine if received serial data is crossing 2 frames +for both SBUS & Spektrum + + +20140829 +SerialRX.ino +Use #defines for SBUS & Spektrum constants instead of hard coded numbers. +Use defines for receive buffer size. +Limit while loop to not exceed receive buffer size. +Check for 0x00 value in byte 25 of sbus frame to validate frame. + + +20140505 +FlightStab.ino +Add missing defined(FLIP_1_5) in Setup function + + +FlightStab.ino +Fix logic bug in uint8_t i2c_read_reg() function + + + + + + + + From 85958110992464f47bee66fd1c26ce9eb779f2f4 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 28 Aug 2017 09:34:26 -0400 Subject: [PATCH 29/29] Bug Fix SRXLH & SRXLM Firmware --- Docs/{2018-08-23 Change Log.txt => 2017-08-23 Change Log.txt} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename Docs/{2018-08-23 Change Log.txt => 2017-08-23 Change Log.txt} (100%) diff --git a/Docs/2018-08-23 Change Log.txt b/Docs/2017-08-23 Change Log.txt similarity index 100% rename from Docs/2018-08-23 Change Log.txt rename to Docs/2017-08-23 Change Log.txt

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MzF&UXVr~Ba0759b`~Uy| literal 0 HcmV?d00001 diff --git a/FlightStab/FlightStab.h b/FlightStab/FlightStab.h new file mode 100644 index 0000000..df1a613 --- /dev/null +++ b/FlightStab/FlightStab.h @@ -0,0 +1,68 @@ +/* FlightStab **************************************************************************************************/ + +/* NOTE: +./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the +aquastar programming box to be in sync with the flightstab firmware. +*/ + +#if !defined(FLIGHTSTAB_H) +#define FLIGHTSTAB_H + +const int8_t eeprom_cfg_ver = 6; + +enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC}; + +enum WING_MODE {WING_USE_DIPSW=1, WING_SINGLE_AIL, WING_DELTA, WING_VTAIL, WING_DUAL_AIL}; +enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK}; +enum SERIALRX_ORDER {SERIALRX_NONE=1, SERIALRX_RETA1a2F, SERIALRX_TAER1a2F, SERIALRX_AETR1a2F}; +enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT}; +enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important +enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4, MAX_ROTATE_VHIGH=5}; // values are important +enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE}; +enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE}; + +struct _eeprom_stats { + int8_t device_id; + uint32_t device_ver; + int8_t eeprom_cfg1_err; + int8_t eeprom_cfg2_err; + int8_t eeprom_cfg12_reset; +}; + +struct _pid_param { + int16_t kp[3]; // [0, 1000] 11b signed + int16_t ki[3]; + int16_t kd[3]; + int8_t output_shift; +}; + +struct _eeprom_cfg { + uint8_t ver; + enum WING_MODE wing_mode; // overridden by DIP switches if available + enum MIXER_EPA_MODE mixer_epa_mode; + enum SERIALRX_ORDER serialrx_order; + enum MOUNT_ORIENT mount_orient; + enum STICK_GAIN_THROW stick_gain_throw; + enum MAX_ROTATE max_rotate; + enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate; + enum INFLIGHT_CALIBRATE inflight_calibrate; + int8_t vr_gain[3]; + struct _pid_param pid_param_rate; + struct _pid_param pid_param_hold; + uint8_t chksum; +}; + +const int8_t vr_gain_use_pot = -128; + +enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG}; + +struct _ow_msg { + uint8_t cmd; + union { + struct _eeprom_cfg eeprom_cfg; // OW_*_CFG + struct _eeprom_stats eeprom_stats; // OW_*_STATS + } u; + uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one +}; + +#endif // FLIGHTSTAB_H \ No newline at end of file diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino new file mode 100644 index 0000000..d7fec5f --- /dev/null +++ b/FlightStab/FlightStab.ino @@ -0,0 +1,2764 @@ +/* FlightStab **************************************************************************************************/ + +#include +#include +#include +#include + +#include "FlightStab.h" + +bool ow_loop(); // OneWireSerial.ino + +// GYRO_ORIENTATION: roll right => -ve, pitch up => -ve, yaw right => -ve + +/*************************************************************************************************************** + * device definitions (TODO: move to separate files) + ***************************************************************************************************************/ + +//#define RX3S_V1 +//#define RX3S_V2 +//#define RX3SM +//#define NANOWII +//#define EAGLE_A3PRO +//#define MINI_MWC +//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC +//#define NANO_MPU6050 + +//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP) +//#define SERIALRX_SPEKTRUM // over the serial port +//#define SERIALRX_SBUS // over the serial port + +//#define NO_ONEWIRE // remove one-wire serial config code +//#define NO_STICKCONFIG // remove stick config code + +//#define SERIAL_DEBUG // enable debug messages through serial port +//#define DUMP_SENSORS // dump sensors through the serial port +//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings + +//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries +//#define USE_I2CLIGHT // poll-based i2c access routines +#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT)) +#define USE_I2CLIGHT // default +#endif + +/* RX3S_V1 *****************************************************************************************************/ +#if defined(RX3S_V1) +#warning RX3S_V1 defined // emit device name +/* + OrangeRx Stabilizer RX3S V1 + PB0 8 AIL_IN PC0 14/A0 AIL_GAIN PD0 0 (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 ELE_SW + PB3 11 (MOSI) (PWM) PC3 17/A3 PAD PD3 3 RUD_SW (PWM) + PB4 12 (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + AIL_SINGLE mode (DEFAULT SETTING) + DELTA mode + VTAIL mode + PD7 7 AUX_IN instead of AILR_OUT + + AIL_DUAL mode + PB3 11 AUX_IN instead of MOSI + PB4 12 AILR_IN instead of MISO + + CPPM enabled + PB0 8 CPPM_IN instead of AIL_IN + PB1 9 FLP_OUT instead of ELE_IN + PB2 10 THR_OUT instead of RUD_IN +*/ + +#define DEVICE_ID DEVICE_RX3S_V1 + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, NULL, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define AIL_OUT_PIN 4 +#define ELE_OUT_PIN 5 +#define RUD_OUT_PIN 6 +#define AILR_OUT_PIN 7 // dual aileron mode only +#define FLP_OUT_PIN 9 // when SERIALRX_* defined +#define THR_OUT_PIN 10 // when SERIALRX_* defined + +#define PWM_OUT_VAR {&ail_out, &ele_out, &rud_out, &ailr_out, NULL /*&thr_out*/, NULL /*&flp_out*/, NULL, NULL} +#define PWM_OUT_PIN {AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, AILR_OUT_PIN, -1, -1, -1, -1} + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 19 +#define SDA_PIN 18 + +// led register +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high + +// one-wire port = PD7 +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN AIL_OUT_PIN +#define EEPROM_RESET_IN_PIN ELE_OUT_PIN + +#endif +/* RX3S_V1 *****************************************************************************************************/ + +/* RX3S_V2 *****************************************************************************************************/ +#if defined(RX3S_V2) +#warning RX3S_V2 defined // emit device name +/* + OrangeRx Stabilizer RX3S V2 + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 AUX_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 VTAIL_SW (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM) + PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM) + PB7 15 (XTAL2) PD7 7 AILR_OUT + + AIL_SINGLE mode (DEFAULT SETTING) + (no change) + + AIL_DUAL mode A + PB3 11 AILR_IN instead of AUX_IN (no remote gain) + + AIL_DUAL mode B + PD1 1 AILR_IN instead of AIL_SW + + CPPM enabled + PB0 8 CPPM_IN instead of AIL_IN + PB1 9 FLP_OUT instead of ELE_IN + PB2 10 THR_OUT instead of RUD_IN + PB3 11 AUX2_OUT instead of AUX_IN +*/ + +#define DEVICE_ID DEVICE_RX3S_V2V3 + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#if defined(AILR_IN_ON_RUD_IN) // Use RUD_IN input for AILR_IN - no rudder control +#define RX_PORTB {&ail_in, &ele_in, &ailr_in, &aux_in, NULL, NULL, NULL, NULL} +#else +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#endif +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, &vtail_sw, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&aux_sw, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL} + +// +#define AIL_OUT_PIN 4 +#define ELE_OUT_PIN 5 +#define RUD_OUT_PIN 6 +#define AILR_OUT_PIN 7 // dual aileron mode only +#define FLP_OUT_PIN 9 // when SERIALRX_* defined +#define THR_OUT_PIN 10 // when SERIALRX_* defined +#define AUX2_OUT_PIN 11 // when SERIALRX_* defined + +#define PWM_OUT_VAR {&ail_out, &ele_out, &rud_out, &ailr_out, NULL /*&thr_out*/, NULL /*&flp_out*/, NULL /*&aux2_out*/, NULL, NULL} +#define PWM_OUT_PIN {AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, AILR_OUT_PIN, -1, -1, -1, -1, -1} + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 19 +#define SDA_PIN 18 + +// led register +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high + +// one-wire port = PD7 +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN AIL_OUT_PIN +#define EEPROM_RESET_IN_PIN ELE_OUT_PIN + +#endif +/* RX3S_V2 *****************************************************************************************************/ + +/* RX3SM *****************************************************************************************************/ +#if defined(RX3SM) +#warning RX3SM defined // emit device name +/* + OrangeRx Stabilizer RX3SM + PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 VTAIL_SW (RXD) V2=AUX_SW + PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM) + PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW V2=AILL_OUT + PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILR_OUT (PWM) V2=ELE_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT + PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT + + AIL_SINGLE mode (DEFAULT SETTING) + (no change) +*/ + +#define DEVICE_ID DEVICE_RX3SM + +// +#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL} + +// +#define AIL_OUT_PIN 5 +#define ELE_OUT_PIN 6 +#define RUD_OUT_PIN 7 +#define FLP_OUT_PIN 9 // when SERIALRX_* defined +#define THR_OUT_PIN 10 // when SERIALRX_* defined +#define AUX2_OUT_PIN 11 // when SERIALRX_* defined + +#define PWM_OUT_VAR {&ail_out, &ele_out, &rud_out, NULL, NULL, NULL, NULL, NULL, NULL} +#define PWM_OUT_PIN {AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, -1, -1, -1, -1, -1, -1} + +// +#define USE_ITG3200 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 19 +#define SDA_PIN 18 + +// led register +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high + +// one-wire port = PD7 +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN AIL_OUT_PIN +#define EEPROM_RESET_IN_PIN ELE_OUT_PIN + +#endif +/* RX3SM *****************************************************************************************************/ + + +/* NANOWII ****************************************************************************************************/ +#if defined(NANOWII) +#warning NANOWII defined // emit device name +/* + NanoWii + PB0 17 (PCINT0) | | PD0 3 SCL (SCL) | | PF0 23/A5 (ADC0) + PB1 15 RUD_IN (SCK/PCINT1) | | PD1 2 SDA (SDA) | | PF1 22/A4 (ADC1) + PB2 16 AIL_IN (MOSI/PCINT2) | | PD2 0 RXD (RXD) | PE2 (HWB_) | + PB3 14 ELE_IN (MISO/PCINT3) | | PD3 1 TXD (TXD) | | + PB4 8 AUX_IN (PCINT4) | | PD4 4 SV (ADC8/ICP1) | | PF4 21/A3 SV (ADC4) + PB5 9 AIL_OUT (PCINT5/OC1A/OC4B_) | | PD5 (TXLED) | | PF5 20/A2 SV (ADC5) + PB6 10 ELE_OUT (PCINT6/OC1B/OC4B) | PC6 5 M (OC3A/OC4A_) | PD6 12 (OC4D_) | PE6 7 THR/AUX2_IN (INT6) | PF6 19/A1 SV (ADC6) + PB7 11 RUD_OUT (PCINT7/OC0A/OC1C) | PC7 13 AILR_OUT (OC4A/ICP3) | PD7 6 M (OC4D) | | PF7 18/A0 SV (ADC7) + + CPPM enabled + PE6 7 CPPM_IN instead of THR/AUX2_IN + + CPPM, SERIALRX_SPEKTRUM or SERIALRX_SBUS + PC6 5 THR_OUT instead of M + PD7 6 FLP_OUT instead of M +*/ + +#define DEVICE_ID DEVICE_NANOWII + +// MUST BE ALL NULL +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// PORTD MUST BE ALL NULL +#define RX_PORTB {NULL, &rud_in, &ail_in, &ele_in, &aux_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// MUST BE ALL NULL +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define AIL_OUT_PIN 9 +#define ELE_OUT_PIN 10 +#define RUD_OUT_PIN 11 +#define AILR_OUT_PIN 13 // dual aileron mode only +#define THR_OUT_PIN 5 // when SERIALRX_* defined +#define FLP_OUT_PIN 6 // when SERIALRX_* defined + +#define PWM_OUT_VAR {&ail_out, &ele_out, &rud_out, &ailr_out, NULL /*&thr_out*/, NULL /*&flp_out*/, NULL, NULL} +#define PWM_OUT_PIN {AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, AILR_OUT_PIN, -1, -1, -1, -1} + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// CPPM +#define CPPM_PINREG PINE +#define CPPM_PINBIT 6 + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 3 +#define SDA_PIN 2 + +// led register +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 5 +#define LED_XOR 1 // active low + +// one-wire port = PC7 +#define OW_BIT 7 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN FLP_OUT_PIN +#define EEPROM_RESET_IN_PIN THR_OUT_PIN + +#endif +/* NANOWII ****************************************************************************************************/ + +/* EAGLE_A3PRO *************************************************************************************************/ +#if defined(EAGLE_A3PRO) +#warning EAGLE_A3PRO defined // emit device name + + /* + Eagle A3 Pro Stabilizer EAGLE_A3PRO + PB0 8 AIL_IN (OWTXRX) PC0 14/A0 AIL_GAIN PD0 0 AIL_SW (RXD) + PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 ELE_SW (TXD) + PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 RUD_SW + PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 PD3 3 LED + PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILR_OUT + PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT + PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) + PB7 15 (XTAL2) PD7 7 RUD_OUT (PWM) + + AIL_SINGLE mode (DEFAULT SETTING) + no change + + AIL_DUAL mode + PB3 11 AUX_IN instead of MOSI + PB4 12 AILR_IN instead of MISO + + CPPM enabled + PB0 8 CPPM_IN instead of AIL_IN + PB1 9 FLP_OUT instead of ELE_IN + PB2 10 THR_OUT instead of RUD_IN + PB3 11 AUX2_OUT instead of AUX_IN +*/ + +#define DEVICE_ID DEVICE_EAGLE_A3PRO + +// +#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {&ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL, NULL} + +// +#define AILR_OUT_PIN 4 // dual aileron mode only +#define AIL_OUT_PIN 5 +#define ELE_OUT_PIN 6 +#define RUD_OUT_PIN 7 +#define FLP_OUT_PIN 9 // when SERIALRX_* defined +#define THR_OUT_PIN 10 // when SERIALRX_* defined +#define AUX2_OUT_PIN 11 // when SERIALRX_* defined + +#define PWM_OUT_VAR {&ailr_out, &ail_out, &ele_out, &rud_out, NULL /*&thr_out*/, NULL /*&flp_out*/, NULL, NULL} +#define PWM_OUT_PIN {AILR_OUT_PIN, AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, -1, -1, -1, -1} + +// +#define USE_ITG3200 +#define ITG3205_ADDR 0x69 // override default addr +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);} + +// CPPM +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 19 +#define SDA_PIN 18 + +// led register +#define LED_DDR DDRD +#define LED_PORT PORTD +#define LED_BIT 3 +#define LED_XOR 0 // active high + +// one-wire port = PD7 (RUD_OUT) +#define OW_BIT 7 +#define OW_DDR DDRD +#define OW_PORT PORTD +#define OW_PINREG PIND + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN 5 +#define EEPROM_RESET_IN_PIN 6 + +#endif +/* EAGLE_A3PRO *************************************************************************************************/ + +/* MINI_MWC ****************************************************************************************************/ +#if defined(MINI_MWC) +#warning MINI_MWC defined // emit device name +/* + HK MINI MWC with DSM2 RX + PB0 8/D8 CPPM_EXT/pad PC0 14/A0 One-Wire PD0 0/D0 (RXD) + PB1 9/D9 THR_OUT (PWM) PC1 15/A1 rsvd/CPPM_EXT PD1 1/D1 (TXD) + PB2 10/D10 FLP_OUT (PWM) PC2 16/A2 Voltage Mon PD2 2/D2 CPPM_INT + PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 AIL_OUT (PWM) + PB4 12/D12 no connection PC4 18/A4 (SDA) PD4 4/D4 spare/conn + PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 ELE_OUT (PWM) + PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 RUD_OUT (PWM) + PB7 15/D15 (XTAL2) PD7 7/D7 spare/pad + + PC1 A1 is external facing and reserved for CPPM_EXT use. needs to connect to PB0 D8 + CPPM enabled + PD2 D2 CPPM_IN for onboard RX + PB0 D8 CPPM_IN External RX +*/ + +#define DEVICE_ID DEVICE_MINI_MWC + +// +#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL} + +// (must in PORT B/D due to ISR) +#define RX_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL} +#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} + +// +#define AIL_OUT_PIN 10 +#define ELE_OUT_PIN 5 +#define RUD_OUT_PIN 6 +#define THR_OUT_PIN 3 +#define FLP_OUT_PIN 9 +#define AILR_OUT_PIN 11 // dual aileron mode only + +#define PWM_OUT_VAR {&ail_out, &ele_out, &rud_out, &ailr_out, &thr_out, &flp_out, NULL, NULL, NULL} +#define PWM_OUT_PIN {AIL_OUT_PIN, ELE_OUT_PIN, RUD_OUT_PIN, AILR_OUT_PIN, THR_OUT_PIN, FLP_OUT_PIN, -1, -1, -1} + +// +#define USE_MPU6050 +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);} + +// must use one of the SERIALRX modes +#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) +#error "Exactly one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS must be defined" +#endif + +// CPPM from external/internal RX +#if defined(MINI_MWC_EXTERNAL_RX) +// CPPM External RX +#define CPPM_PINREG PINB +#define CPPM_PINBIT 0 +#else +// CPPM Internal RX +#define CPPM_PINREG PIND +#define CPPM_PINBIT 2 +#endif + +#define F_XTAL F_16MHZ // external crystal oscillator frequency +#define F_I2C F_400KHZ // i2c bus speed +#define SCL_PIN 19 +#define SDA_PIN 18 + +// led register +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_BIT 5 +#define LED_XOR 0 // active high + +// one-wire port = PC0 +#define OW_BIT 0 +#define OW_DDR DDRC +#define OW_PORT PORTC +#define OW_PINREG PINC + +// eeprom clear pins. shorted on init means to clear eeprom +#define EEPROM_RESET_OUT_PIN RUD_OUT_PIN +#define EEPROM_RESET_IN_PIN ELE_OUT_PIN + +#endif // defined(MINI_MWC) +/* MINI_MWC ****************************************************************************************************/ + +/* NANO_MPU6050 ************************************************************************************************/ +#if defined(NANO_MPU6050) +#warning NANO_MPU6050 defined // emit device name +#undef USE_ITG3200 +#define USE_MPU6050 +#undef GYRO_ORIENTATION +#define GYRO_ORIENTATION(x, y, z) {gyro[0] = -(x); gyro[1] = (y); gyro[2] = (z);} +#undef F_I2C +#define F_I2C F_100KHZ // i2c bus speed +#endif +/* NANO_MPU6050 ************************************************************************************************/ + +// standard frequency definitions +#define F_8MHZ 8000000UL +#define F_16MHZ 16000000UL +#define F_100KHZ 100000UL +#define F_400KHZ 400000UL + +// emit cpu frequency if not 16MHz +#if F_CPU == F_8MHZ +#warning F_CPU == F_8MHZ +#endif +#if !((F_XTAL == F_16MHZ && F_CPU == F_16MHZ) || \ + (F_XTAL == F_16MHZ && F_CPU == F_8MHZ) || \ + (F_XTAL == F_8MHZ && F_CPU == F_8MHZ)) +#error (F_XTAL,F_CPU) must be (16MHz,16MHz), (16MHz,8MHz) or (8MHz,8MHz) +#endif + +// emit serial debug enabled +#if defined(SERIAL_DEBUG) +#warning SERIAL_DEBUG defined +#endif + +// verify single i2c lib defined +#if defined(USE_I2CDEVLIB) && defined(USE_I2CLIGHT) +#error Cannot define both USE_I2CDEVLIB and USE_I2CLIGHT +#endif + +// verify single imu defined +#if defined(USE_MPU6050) && defined(USE_ITG3200) +#error Cannot define both USE_MPU6050 and USE_ITG3200 +#endif + +// verify not more than one serialrx_* mode defined +#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \ + (defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM))) +#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS) +#endif + +// i2cdevlib includes +#if defined(USE_I2CDEVLIB) +#warning USE_I2CDEVLIB defined + #include "Wire.h" + #include "I2Cdev.h" +#if defined(USE_MPU6050) + #include "MPU6050.h" + MPU6050 accelgyro; +#elif defined(USE_ITG3200) + #include "ITG3200.h" + ITG3200 itg3205_gyro; +#endif +#endif + +// device id and version +#if !defined(DEVICE_ID) +#define DEVICE_ID DEVICE_UNDEF +#endif +#if !defined(DEVICE_VER) +#define DEVICE_VER 12345678L +#endif + + +// LED set +#define LED_OFF 0 +#define LED_ON 1 +#define LED_INVERT 2 + +// LED message pulse duration +#define LED_LONG 600 +#define LED_SHORT 200 +#define LED_VERY_SHORT 30 + +#if defined(LED_TIMING) +#define LED_TIMING_START do {LED_PORT |= (1 << LED_BIT);} while (false) +#define LED_TIMING_STOP do {LED_PORT &= ~(1 << LED_BIT);} while (false) +#else +#define LED_TIMING_START do {} while (false) // no-op +#define LED_TIMING_STOP do {} while (false) // no-op +#endif + +// adc +volatile uint8_t ail_vr = 255; +volatile uint8_t ele_vr = 255; +volatile uint8_t rud_vr = 255; + +// rx +#define RX_WIDTH_MIN 900 +#define RX_WIDTH_LOW_FULL 1000 +#define RX_WIDTH_LOW_NORM 1100 +#define RX_WIDTH_LOW_TRACK 1250 +#define RX_WIDTH_MID 1500 +#define RX_WIDTH_HIGH_TRACK 1750 +#define RX_WIDTH_HIGH_NORM 1900 +#define RX_WIDTH_HIGH_FULL 2000 +#define RX_WIDTH_MAX 2100 + +volatile int16_t ail_in = RX_WIDTH_MID; +volatile int16_t ele_in = RX_WIDTH_MID; +volatile int16_t rud_in = RX_WIDTH_MID; +volatile int16_t ailr_in = RX_WIDTH_MID; +volatile int16_t aux_in = RX_WIDTH_LOW_FULL; // assume max RATE MODE gain if no aux_in +volatile int16_t aux2_in = RX_WIDTH_MID; +volatile int16_t thr_in = RX_WIDTH_LOW_FULL; +volatile int16_t flp_in = RX_WIDTH_MID; +int16_t ail_in2, ailr_in2, ele_in2, rud_in2, aux_in2, aux2_in2, thr_in2, flp_in2; + +int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position offsets +int16_t ele_in2_mid = RX_WIDTH_MID; // +int16_t rud_in2_mid = RX_WIDTH_MID; // +int16_t ailr_in2_mid = RX_WIDTH_MID; // + +// switch +int8_t ail_sw = false; +int8_t ele_sw = false; +int8_t rud_sw = false; +int8_t vtail_sw = false; +int8_t delta_sw = false; +int8_t aux_sw = false; +int8_t dummy_sw = false; // used to set pins to input mode + +// servo +volatile int16_t ail_out; +volatile int16_t ele_out; +volatile int16_t rud_out; +volatile int16_t ailr_out; +volatile int16_t thr_out; +volatile int16_t flp_out; +volatile int16_t aux2_out; +int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2; + +// imu +int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets +int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec +int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO) + +// stabilizer output +int16_t correction[3] = {0, 0, 0}; +int16_t mixer_out2_low_limit[4]; +int16_t mixer_out2_high_limit[4]; + +// configuration +struct _eeprom_cfg cfg; + +// local copy of config +enum WING_MODE wing_mode; + +// serialrx_* modes +const int8_t rx_chan_size = 8; +volatile int16_t *rx_chan[][rx_chan_size] = { + {&rud_in, &ele_in, &thr_in, &ail_in, &aux_in, &ailr_in, &aux2_in, &flp_in}, // SERIALRX_RETA1a2F (FrSky) + {&thr_in, &ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, &aux2_in, &flp_in}, // SERIALRX_TAER1a2F (JR/Spektrum) + {&ail_in, &ele_in, &thr_in, &rud_in, &aux_in, &ailr_in, &aux2_in, &flp_in} // SERIALRX_AETR1a2F (Futaba) +}; + +// stabilization mode +enum STAB_MODE {STAB_RATE, STAB_HOLD}; +enum STAB_MODE stab_mode = STAB_RATE; + +const int16_t stick_gain_max = 400; // [1100-1500] or [1900-1500] => [0-STICK_GAIN_MAX] +const int16_t master_gain_max = 400; // [1500-1100] or [1500-1900] => [0-MASTER_GAIN_MAX] + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +const int32_t minimum_servo_frame_time = 18000; // min time between servo updates in us, + // serial bus updates are too fast for analog servos +#else +const int32_t minimum_servo_frame_time = 0; // no min time, so sync with the rx +#endif +const int32_t maximum_rx_frame_time = 30000; // max time to wait for rx_frame_sync in us + +/*************************************************************************************************************** + * TIMER1 AND MISC + ***************************************************************************************************************/ + +volatile uint16_t timer1_high = 0; +volatile uint8_t timer1_ovf = 0; + +ISR(TIMER1_OVF_vect) +{ + if (!++timer1_high) + timer1_ovf++; +} + +uint32_t micros1() +{ + uint16_t th, tl; + uint8_t to; +#if 0 + // interrupt-disable version + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + } +#else + // lock-free version. read twice, ensure low order counter did not overflow and + // high order bits remain unchanged + while (true) { + tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + th = timer1_high; + to = timer1_ovf; + if (!((tl ^ TCNT1) & 0x8000) && th == timer1_high && to == timer1_ovf) + break; + } +#endif +#if F_CPU == F_16MHZ + return ((uint32_t)to << 31) | ((uint32_t)th << 15) | (tl >> 1); +#else + return ((uint32_t)th << 16) | tl; +#endif +} + +void delay1(uint32_t ms) +{ + uint32_t us = ms * 1000; + uint32_t t = micros1(); + while ((int32_t)(micros1() - t) < us); +} + +void init_clock() +{ + // set clock prescaler to /2 when (F_XTAL, F_CPU) = (16M, 8M) +#if F_XTAL == F_16MHZ && F_CPU == F_8MHZ + uint8_t saveSREG = SREG; + cli(); + CLKPR = (1 << CLKPCE); + CLKPR = (1 << CLKPS0); + SREG = saveSREG; +#endif +} + +int get_free_sram() +{ + extern int __heap_start, *__brkval; + int v; + return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval); +} + +bool boot_check(int8_t in_pin, int8_t out_pin) +{ + pinMode(out_pin, OUTPUT); + pinMode(in_pin, INPUT); + digitalWrite(in_pin, HIGH); // enable pullup + delay1(10); + + bool result = true; + for (int8_t i=0; i<8; i++) { + int8_t level = i & 1 ? HIGH : LOW; + digitalWrite(out_pin, level); + if (digitalRead(in_pin) != level) { + result = false; + break; + } + } + pinMode(out_pin, INPUT); + return result; +} + + +/*************************************************************************************************************** + * LED + ***************************************************************************************************************/ +/* + 4 LED message slots + slot 0 for operation mode + slot 1 for operation mode + slot 2 for error condition + slot 3 for error condition + + slot 0 + 1 LONG = MIX_NORMAL + 2 LONG = MIX_DELTA + 3 LONG = MIX_VTAIL + + slot 1 + 1 SHORT = rx calibrating + 2 SHORT = imu calibrating + 3 SHORT = both calibrating + 4 SHORT = STAB_HOLD mode (else STAB_RATE) + + slot 2 + 5 SHORT = gyro init error + 20 VERY SHORT = low sram + + slot 3 + 50 VERY SHORT = eeprom reset + +*/ + +int8_t led_pulse_count[4]; +int16_t led_pulse_msec[4]; + +void init_led() +{ + LED_DDR |= (1 << LED_BIT); +} + +void set_led(int8_t i) +{ +#if !defined(LED_TIMING) + switch (i ^ LED_XOR) { + case LED_ON: LED_PORT |= (1 << LED_BIT); break; + case LED_OFF: LED_PORT &= ~(1 << LED_BIT); break; + default: LED_PORT ^= (1 << LED_BIT); break; + } +#endif +} + +void set_led_msg(int8_t slot, int8_t pulse_count, int16_t pulse_msec) { + led_pulse_count[slot] = pulse_count; + led_pulse_msec[slot] = pulse_msec; +} + +void update_led(uint32_t now) +{ + static int8_t slot; + static int8_t step; + static uint32_t next_time; + + if ((int32_t)(next_time - now) > 0) + return; + + if (step == 0) { + slot = (slot + 1) & 0x3; + step = led_pulse_count[slot] << 1; + next_time = now + 1000000; + return; + } + + step--; + set_led(step & 0x1 ? LED_ON : LED_OFF); + next_time = now + ((uint32_t)led_pulse_msec[slot] << 10); +} + +/*************************************************************************************************************** + * I2CLIGHT / MPU6050 / ITG3205 + ***************************************************************************************************************/ + +uint16_t i2c_errors = 0; + +void i2c_init(int8_t pullup, uint32_t freq) +{ + if (pullup) { + // scl and sda + digitalWrite(SCL_PIN, HIGH); + digitalWrite(SDA_PIN, HIGH); + } + TWSR = 0; // prescaler = 1 + TWBR = ((F_CPU / freq) - 16) >> 1; // baud rate +} + +void i2c_wait() +{ + int16_t timeout = 255; + while (!(TWCR & (1 << TWINT))) { + if (!timeout--) { + TWCR = 0; // disable twi + i2c_errors++; + break; + } + } +} + +void i2c_start(uint8_t addr) +{ + TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // repeated start + i2c_wait(); + TWDR = addr; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +void i2c_stop() +{ + TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN); +} + +void i2c_write(uint8_t data) +{ + TWDR = data; + TWCR = (1 << TWINT) | (1 << TWEN); + i2c_wait(); +} + +uint8_t i2c_read(int8_t ack) +{ + uint8_t data; + TWCR = (1 << TWINT) | (1 << TWEN) | (ack ? (1 << TWEA) : 0); + i2c_wait(); + data = TWDR; + if (!ack) i2c_stop(); + return data; +} + +void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_write(data); // write data + i2c_stop(); +} + +uint8_t i2c_read_reg(uint8_t addr, uint8_t reg) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_start((addr << 1) | 1); // read data + return i2c_read(true); +} + +void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size) +{ + i2c_start((addr << 1) | 1); // read data + while (size--) { + *buf++ = i2c_read(size > 0); + } +} + +void i2c_read_buf_reg(uint8_t addr, uint8_t reg, uint8_t *buf, int8_t size) +{ + i2c_start(addr << 1); // write reg + i2c_write(reg); + i2c_read_buf(addr, buf, size); +} + +#define MPU6050_ADDR 0x68 + +int8_t mpu6050_init() +{ + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset + delay1(50); + i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(MPU6050_ADDR, 0x1A, 0x0); // accel_bw/delay=260hz/0ms gyro_bw/delay/sample=256hz/0.98ms/8khz + //i2c_write_reg(MPU6050_ADDR, 0x1A, 0x6); // accel_bw/delay=5hz/19ms gyro_bw/delay/sample=5hz/18.6ms/1khz + i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s + + return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id +} + +void mpu6050_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x43, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +void mpu6050_read_accel(int16_t *ax, int16_t *ay, int16_t *az) +{ + uint8_t buf[6]; + i2c_read_buf_reg(MPU6050_ADDR, 0x3B, buf, sizeof(buf)); + *ax = (buf[0] << 8) | (buf[1]); + *ay = (buf[2] << 8) | (buf[3]); + *az = (buf[4] << 8) | (buf[5]); +} + +#if !defined(ITG3205_ADDR) +#define ITG3205_ADDR 0x68 +#endif + +int8_t itg3205_init() +{ + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset + delay1(50); + i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref + i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | 0x6); // fs=2000deg/s | lpf=5hz sample=1khz + + return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id +} + +void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + i2c_read_buf_reg(ITG3205_ADDR, 0x1D, buf, sizeof(buf)); + *gx = (buf[0] << 8) | (buf[1]); + *gy = (buf[2] << 8) | (buf[3]); + *gz = (buf[4] << 8) | (buf[5]); +} + +/*************************************************************************************************************** + * ANALOG IN (VR) + ***************************************************************************************************************/ + +const int8_t adc_portc_size = 6; +volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC; + +void start_adc(uint8_t ch) +{ + ADMUX = (ADMUX & ~0x07) | ch; // set adc channel + ADCSRA |= (1 << ADSC); // adc start conversion +} + +void start_next_adc(uint8_t ch) +{ + while (ch < adc_portc_size) { // start next adc channel that has a valid mapping + if (adc_portc[ch]) { + start_adc(ch); + break; + } + ch++; + } +} + +ISR(ADC_vect) +{ + uint8_t ch = ADMUX & 0x07; // extract the channel of the ADC result + *adc_portc[ch] = ADCH; // save only the 8 msbs + start_next_adc(ch+1); +} + +void init_analog_in() +{ + int8_t i; + for (i=0; i bit for non-CPPM, rx_chan[cfg.serialrx_order-2][] var for CPPM +// non cppm mode +const int8_t rx_port_size = 8; +volatile int16_t *rx_portb[rx_port_size] = RX_PORTB; +volatile int16_t *rx_portd[rx_port_size] = RX_PORTD; + +// PORTB PCINT0-PCINT7 +inline void pcint0_vect() +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINB; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portb[i] = width; + if (i == rx_frame_sync_ref) + rx_frame_sync = true; + } + } + } + } +} + +// interrupt handler for CPPM stream on non-ICP pin +// CPPM_PINREG and CPPM_PINBIT must be defined +// port/pin must be set up for interrupt on edge change and input mode in init_digital_in_rx() +inline void non_icp_cppm_vect() +{ + static int8_t ch0_synced = false; + static uint16_t fall_time; + static uint8_t last_pin; + static uint8_t ch; + uint16_t now; + uint8_t pin, last_pin2, fall; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = CPPM_PINREG; + last_pin = pin; + sei(); + + fall = ~pin & last_pin2; // falling edge as reference + + if (fall & (1 << CPPM_PINBIT)) { + uint16_t width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + rx_frame_sync_ref = ch - 1; + ch = 0; + ch0_synced = true; + } else if (ch0_synced && ch < rx_chan_size && width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_chan[cfg.serialrx_order-2][ch] = width; + if (ch == rx_frame_sync_ref) + rx_frame_sync = true; + ch++; + } + } +} + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) +#if defined(SERIALRX_CPPM) + +#if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) +// cppm stream on non-ICP pin, must be in PORT D (PCINT2) +ISR(PCINT2_vect) +{ + non_icp_cppm_vect(); +} +#else +// cppm stream on ICP pin +ISR(TIMER1_CAPT_vect) +{ + static int8_t ch0_synced = false; + static uint16_t fall_time; + static uint8_t ch; + uint16_t now; + uint16_t width; + + now = ICR1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + sei(); + + width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0); + fall_time = now; + if (width > 3000) { + rx_frame_sync_ref = ch - 1; + ch = 0; + ch0_synced = true; + } else if (ch0_synced && ch < rx_chan_size && width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_chan[cfg.serialrx_order-2][ch] = width; + if (ch == rx_frame_sync_ref) + rx_frame_sync = true; + ch++; + } +} +#endif // MINI_MWC && !MINI_MWC_EXTERNAL_RX +#endif // SERIALRX_CPPM + +#if !(defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +// PORTB PCINT0-PCINT7 +ISR(PCINT0_vect) +{ + pcint0_vect(); +} + +// PORTD PCINT16-PCINT23 +ISR(PCINT2_vect) +{ + static uint16_t rise_time[rx_port_size]; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, diff, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PIND; + last_pin = pin; + sei(); + + diff = pin ^ last_pin2; + rise = pin & ~last_pin2; + + for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + *rx_portd[i] = width; + } + } + } + } +} +#endif // !(SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS) +#endif //__AVR_ATmega168__ || __AVR_ATmega328__ + +#if defined(NANOWII) +#if defined(SERIALRX_CPPM) +// PE6 = cppm_in +ISR(INT6_vect) +{ + // cppm stream on non-icp pin + non_icp_cppm_vect(); +} +#endif // SERIALRX_CPPM + +#if !(defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) +// PORTB PCINT0-PCINT7 +ISR(PCINT0_vect) +{ + pcint0_vect(); +} + +// PE6 = aux2_in +ISR(INT6_vect) +{ + static uint16_t rise_time; + static uint8_t last_pin; + uint16_t now; + uint8_t pin, last_pin2, rise; + + now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M + last_pin2 = last_pin; + pin = PINE; + last_pin = pin; + sei(); + + rise = pin & ~last_pin2; + if (rise & (1 << 6)) { + rise_time = now; + } else { + uint16_t width = (now - rise_time) >> (F_CPU == F_16MHZ ? 1 : 0); + if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) { + aux2_in = width; + } + } +} +#endif // !(SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS) +#endif // NANOWII + +void init_digital_in_rx() +{ +#if defined(SERIALRX_CPPM) +#if defined(NANOWII) + // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINE, 6) + EICRB |= (1 << ISC60); // interrupt on pin change + EIMSK |= (1 << INT6); + DDRE &= ~(1 << CPPM_PINBIT); + PORTE |= (1 << CPPM_PINBIT); +#elif defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) + // MINI_MWC CPPM is on D2 (INTERNAL RX) + // (CPPM_PINREG, CPPM_PINBIT) MUST be (PIND, 2) + PCICR |= (1 << PCIE2); // interrupt on pin change + PCMSK2 |= (1 << CPPM_PINBIT); + DDRD &= ~(1 << CPPM_PINBIT); // set input mode + PORTD |= (1 << CPPM_PINBIT); // enable internal pullup +#else // !NANO_WII && !(MINI_MWC && !MINI_MWC_EXTERNAL_RX) + // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINB, 0) + TIMSK1 |= (1 << ICIE1); // enable interrupt on ICP + TCCR1B |= (1 << ICNC1); // enable noise canceler and interrupt on falling edge +#endif + rx_frame_sync_ref = 3; // sync on rx_chan[][3] first, but isr will track the sync gap + return; +#endif // SERIALRX_CPPM + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + return; +#endif + + // from this point we are setting up standard RX IN + // rx_portb and rx_portd (and PE6 for nanowii) + + // PORTB RX + PCICR |= (1 << PCIE0); // interrupt on pin change + for (int8_t i=0; i= 0) { + tcnt1 = TCNT1; + digitalWrite(pwm_out_pin[rise_ch], HIGH); + wait = (*pwm_out_var[rise_ch] - 2) << (F_CPU == F_16MHZ ? 1 : 0); + fall_ch = rise_ch; + // two consecutive null entries to indicate end of list + if (!pwm_out_var[++rise_ch] && !pwm_out_var[++rise_ch]) { + rise_ch = -1; + } + OCR1A = tcnt1 + wait; + } else { + rise_ch = 0; + servo_busy = false; + TIMSK1 &= ~(1 << OCIE1A); // disable further interrupt on TCNT1 == OCR1A + } +} + +void init_digital_out() +{ + int8_t i = -1; + while (true) { + // two consecutive null entries to indicate end of list + if (!pwm_out_var[++i] && !pwm_out_var[++i]) + break; + pinMode(pwm_out_pin[i], OUTPUT); + } +} + +/*************************************************************************************************************** + * PID + ***************************************************************************************************************/ + +#define PID_PERIOD 10000 +// relative exponential weights kp:ki:kd +#define PID_KP_SHIFT 3 +#define PID_KI_SHIFT 6 +#define PID_KD_SHIFT 2 + +// struct _pid_param defined in FlightStab.h + +struct _pid_state { + // setpoint, input [-8192, 8191] + int16_t setpoint[3]; + int16_t input[3]; + int16_t last_err[3]; + int32_t sum_err[3]; + int32_t i_limit[3]; + int16_t output[3]; +}; + +struct _pid_state pid_state; // pid engine state + +void compute_pid(struct _pid_state *ppid_state, struct _pid_param *ppid_param) +{ + for (int8_t i=0; i<3; i++) { + int32_t err, sum_err, diff_err, pterm, iterm, dterm; + err = ppid_state->input[i] - ppid_state->setpoint[i]; + // accumulate the error up to an i_limit threshold + sum_err = ppid_state->sum_err[i] = constrain(ppid_state->sum_err[i] + err, -ppid_state->i_limit[i], ppid_state->i_limit[i]); + diff_err = err - ppid_state->last_err[i]; // difference the error + ppid_state->last_err[i] = err; + + pterm = (ppid_param->kp[i] * err) >> PID_KP_SHIFT; + iterm = (ppid_param->ki[i] * sum_err) >> PID_KI_SHIFT; + dterm = (ppid_param->kd[i] * diff_err) >> PID_KD_SHIFT; + ppid_state->output[i] = (pterm + iterm + dterm) >> ppid_param->output_shift; + +#if defined(SERIAL_DEBUG) && 0 + if (i == 2) { + Serial.print(ppid_state->input[i]); Serial.print('\t'); + Serial.print(err); Serial.print('\t'); + Serial.print(diff_err); Serial.print('\t'); + Serial.print(pterm); Serial.print('\t'); + Serial.print(iterm); Serial.print('\t'); + Serial.print(ppid_state->sum_err[i]); Serial.print('\t'); + Serial.print(dterm); Serial.print('\t'); + Serial.println(ppid_state->output[i]); + } +#endif + } +} + +/*************************************************************************************************************** + * EEPROM + ***************************************************************************************************************/ + +const uint16_t eeprom_stats_addr = 128; +const uint16_t eeprom_cfg1_addr = 0; +const uint16_t eeprom_cfg2_addr = 256+0; + +uint8_t eeprom_compute_chksum(void *buf, int8_t len) +{ + uint8_t chksum = 0; + for (int8_t i=0; ichksum = eeprom_compute_chksum(pcfg, sizeof(*pcfg)-1); + eeprom_write_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); +} + +int8_t eeprom_read_cfg(struct _eeprom_cfg *pcfg, uint16_t eeprom_addr, uint8_t expect_ver) +{ + eeprom_read_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg)); + if (pcfg->ver != expect_ver) { + return -1; + } + if (eeprom_compute_chksum(pcfg, sizeof(*pcfg)) != 0) { + return -2; + } + return 0; +} + + + +/*************************************************************************************************************** + * IMU SENSOR + ***************************************************************************************************************/ + +void read_imu() +{ + int16_t gx, gy, gz, tmp; +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + accelgyro.getRotation(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_gyro.getRotation(&gx, &gy, &gz); +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + mpu6050_read_gyro(&gx, &gy, &gz); +#elif defined(USE_ITG3200) + itg3205_read_gyro(&gx, &gy, &gz); +#endif +#endif + GYRO_ORIENTATION(gx, gy, gz); + switch (cfg.mount_orient) { + case MOUNT_NORMAL: break; + case MOUNT_ROLL_90_LEFT: + tmp = gyro[1]; + gyro[1] = gyro[2]; + gyro[2] = -tmp; + break; + case MOUNT_ROLL_90_RIGHT: + tmp = gyro[1]; + gyro[1] = -gyro[2]; + gyro[2] = tmp; + break; + } +} + +void init_imu() +{ +#if defined(USE_I2CDEVLIB) +#if defined(USE_MPU6050) + Wire.begin(); + accelgyro.initialize(); + if (!accelgyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } + accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); + accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); + accelgyro.setDLPFMode(MPU6050_DLPF_BW_256); + accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO); +#elif defined(USE_ITG3200) + Wire.begin(); + itg3205_gyro.initialize(); + itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO); + itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000); + itg3205_gyro.setDLPFBandwidth(ITG3200_DLPF_BW_5); +// gyro.setDLPFBandwidth(ITG3200_DLPF_BW_256); + if (!itg3205_gyro.testConnection()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif + +#if defined(USE_I2CLIGHT) +#if defined(USE_MPU6050) + i2c_init(true, F_I2C); + if (!mpu6050_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#elif defined(USE_ITG3200) + i2c_init(true, F_I2C); + if (!itg3205_init()) { + set_led_msg(2, 5, LED_SHORT); + } +#endif +#endif +} + +/*************************************************************************************************************** + * CALIBRATION + ***************************************************************************************************************/ + +int8_t calibration_wag_count; +uint32_t last_calibration_wag_time; + +struct _calibration { + int8_t done; + int16_t num_elements; // 3 for imu, 4 for rx + int16_t low[4]; + int16_t high[4]; + int32_t sum[4]; + int16_t mean[4]; + int16_t num_samples; +}; + +void calibrate_set_led(struct _calibration *prx_cal, struct _calibration *pimu_cal) { + set_led_msg(1, (pimu_cal->done ? 0 : 2) + (prx_cal->done ? 0 : 1), LED_SHORT); +} + +void calibrate_init_stat(struct _calibration *pcal, int8_t num_elements) +{ + pcal->done = false; + pcal->num_elements = num_elements; + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = 32767; + pcal->high[i] = -32768; + pcal->sum[i] = 0; + } + pcal->num_samples = 0; +} + +void calibrate_update_stat(struct _calibration *pcal, int16_t *psample) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->low[i] = min(pcal->low[i], psample[i]); + pcal->high[i] = max(pcal->high[i], psample[i]); + pcal->sum[i] += psample[i]; + } +} + +void calibrate_compute_mean(struct _calibration *pcal) +{ + for (int8_t i=0; i < pcal->num_elements; i++) { + pcal->mean[i] = pcal->sum[i] / pcal->num_samples; + } +} + +int8_t calibrate_check_stat(struct _calibration *pcal, int16_t range) +{ + int8_t good = 0; + for (int8_t i=0; i < pcal->num_elements; i++) { + if (pcal->high[i] - pcal->low[i] < range) + good++; + } + return (good == pcal->num_elements); +} + +void calibrate_print_stat(struct _calibration *pcal) +{ +#if defined(SERIAL_DEBUG) && 0 + Serial.println(pcal->num_samples); + for (int8_t i=0; i < pcal->num_elements; i++) { + Serial.print(pcal->low[i]); Serial.print('\t'); + Serial.print(pcal->mean[i]); Serial.print('\t'); + Serial.println(pcal->high[i]); + } +#endif +} + +void calibrate_rx(struct _calibration *prx_cal) +{ + int16_t sample[4]; + int8_t is_calibrating = true; + + sample[0] = ail_in2; + sample[1] = ele_in2; + sample[2] = rud_in2; + sample[3] = ailr_in2; + calibrate_update_stat(prx_cal, sample); + + if (++prx_cal->num_samples == 100) { + if (calibrate_check_stat(prx_cal, 20)) { + calibrate_compute_mean(prx_cal); + ail_in2_mid = prx_cal->mean[0]; + ele_in2_mid = prx_cal->mean[1]; + rud_in2_mid = prx_cal->mean[2]; + ailr_in2_mid = prx_cal->mean[3]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("RX"); + calibrate_print_stat(prx_cal); +#endif + prx_cal->done = true; // done + } else { + calibrate_init_stat(prx_cal, 4); // reset and try again + } + } +} + +void calibrate_imu(struct _calibration *pimu_cal) +{ + int16_t sample[3]; + int8_t is_calibrating = true; + + sample[0] = gyro[0]; + sample[1] = gyro[1]; + sample[2] = gyro[2]; + calibrate_update_stat(pimu_cal, sample); + + if (++pimu_cal->num_samples == 300) { + if (calibrate_check_stat(pimu_cal, 50)) { + calibrate_compute_mean(pimu_cal); + for (int8_t i=0; i<3; i++) + gyro0[i] = pimu_cal->mean[i]; +#if defined(SERIAL_DEBUG) && 0 + Serial.println("GY"); + calibrate_print_stat(pimu_cal); +#endif + pimu_cal->done = true; // done + } else { + calibrate_init_stat(pimu_cal, 3); // reset and try again + } + } +} + +/*************************************************************************************************************** + * RX IN - MIXER - SERVO OUT + ***************************************************************************************************************/ + +void copy_rx_in() +{ + // lock-free method to copy isr-owned *_in vars to *_in2 vars + int16_t tmp; + ail_in2 = (tmp = ail_in) == ail_in ? tmp : ail_in2; + ele_in2 = (tmp = ele_in) == ele_in ? tmp : ele_in2; + rud_in2 = (tmp = rud_in) == rud_in ? tmp : rud_in2; + ailr_in2 = (tmp = ailr_in) == ailr_in ? tmp : ailr_in2; + aux_in2 = (tmp = aux_in) == aux_in ? tmp : aux_in2; + aux2_in2 = (tmp = aux2_in) == aux2_in ? tmp : aux2_in2; + thr_in2 = (tmp = thr_in) == thr_in ? tmp : thr_in2; + flp_in2 = (tmp = flp_in) == flp_in ? tmp : flp_in2; + + if (wing_mode == WING_SINGLE_AIL) + ailr_in2 = ail_in2; +} + +void apply_mixer_change(int16_t *change) +{ + // *_in2 => [change] => *_out2 + + // for delta/vtail + // tx = MID + (stick[x] + change[x]) * mult, where mult = 1/1, 3/2, 5/4 + + // mixer + int16_t tmp0, tmp1, tmp2; + switch (wing_mode) { + case WING_SINGLE_AIL: + case WING_DUAL_AIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + ele_out2 = ele_in2 + change[1]; + rud_out2 = rud_in2 + change[2]; + break; + case WING_DELTA: + tmp0 = ail_in2 + change[0]; + tmp1 = ele_in2 + change[1]; + // apply 100% (1/1) + //ail_out2 = ((tmp0 + tmp1) >> 1); + //ele_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID; + // apply 125% (5/4) + tmp2 = tmp0 + tmp1; + ail_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2); + tmp2 = tmp0 - tmp1; + ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID; + // apply 150% (3/2) + //tmp2 = tmp0 + tmp1; + //ail_out2 = tmp2 - (tmp2 >> 2) - (RX_WIDTH_MID >> 1); + //tmp2 = tmp0 - tmp1; + //ele_out2 = tmp2 - (tmp2 >> 2) + RX_WIDTH_MID; + rud_out2 = rud_in2 + change[2]; + break; + case WING_VTAIL: + ail_out2 = ail_in2 + change[0]; + ailr_out2 = ailr_in2 + change[0]; + tmp1 = ele_in2 + change[1]; + tmp2 = rud_in2 + change[2]; + // apply 125% (5/4) + tmp0 = tmp2 + tmp1; + ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2); + tmp0 = tmp2 - tmp1; + rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID; + break; + } + + // throttle, flap and aux2 pass through + thr_out2 = thr_in2; + flp_out2 = flp_in2; + aux2_out2 = aux2_in2; +} + +void set_mixer_limits(int16_t low, int16_t high) +{ + for (int8_t i=0; i<4; i++) { + mixer_out2_low_limit[i] = low; + mixer_out2_high_limit[i] = high; + } +} + +void apply_mixer() +{ + // *_in2 => [correction] => *_out2 + + static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2}; + int8_t i; + + // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through) + if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) { + const int16_t zero_correction[4] = {0, 0, 0, 0}; + apply_mixer_change((int16_t *)zero_correction); + for (i=0; i<4; i++) { + mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]); + mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]); + } + } + + // apply mixer with actual correction and clamp servo output to limits + apply_mixer_change(correction); + for (i=0; i<4; i++) { + *pout2[i] = constrain(*pout2[i], mixer_out2_low_limit[i], mixer_out2_high_limit[i]); + } +} + +void start_servo_frame() +{ + // copy *_out2 vars to isr-owned *_out vars + servo_busy = true; + ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { + ail_out = ail_out2; + ele_out = ele_out2; + rud_out = rud_out2; + ailr_out = ailr_out2; + thr_out = thr_out2; + flp_out = flp_out2; + aux2_out = aux2_out2; + + TIMSK1 |= (1 << OCIE1A); // enable interrupt on TCNT1 == OCR1A + TIFR1 |= (1 << OCF1A); // clear any pending interrupt + OCR1A = TCNT1 + 4; // force interrupt condition + } // reenable global interrupts +} + +/*************************************************************************************************************** + * DUMP SENSORS + ***************************************************************************************************************/ + +#if defined(DUMP_SENSORS) +void dump_sensors() +{ + uint32_t t; + uint32_t last_rx_frame_time = 0; + uint32_t last_servo_frame_time = 0; + int8_t servo_sync = false; + int16_t servo_out = RX_WIDTH_MID; + int8_t servo_dir = 20; + + while (true) { + t = micros1(); + +#if defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + if (serialrx_update()) + rx_frame_sync = true; +#endif + + if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + last_rx_frame_time = t; + } + + Serial.print(" RX "); + Serial.print(ail_in2); Serial.print(' '); + Serial.print(ele_in2); Serial.print(' '); + Serial.print(rud_in2); Serial.print(' '); + Serial.print(ailr_in2); Serial.print(' '); + Serial.print(aux_in2); Serial.print(' '); + Serial.print(aux2_in2); Serial.print(' '); + Serial.print(thr_in2); Serial.print(' '); + Serial.print(flp_in2); Serial.print('\t'); + + uint8_t ail_vr2, ele_vr2, rud_vr2; + ail_vr2 = ail_vr; + ele_vr2 = ele_vr; + rud_vr2 = rud_vr; + start_next_adc(0); + + Serial.print("VR "); + Serial.print(ail_vr2, HEX); Serial.print(' '); + Serial.print(ele_vr2, HEX); Serial.print(' '); + Serial.print(rud_vr2, HEX); Serial.print('\t'); + + read_switches(); + Serial.print("SW "); + Serial.print((bool)ail_sw); Serial.print(' '); + Serial.print((bool)ele_sw); Serial.print(' '); + Serial.print((bool)rud_sw); Serial.print(' '); + Serial.print((bool)vtail_sw); Serial.print(' '); + Serial.print((bool)delta_sw); Serial.print(' '); + Serial.print((bool)aux_sw); Serial.print('\t'); + + read_imu(); + Serial.print("GY "); + Serial.print(gyro[0]); Serial.print('\t'); + Serial.print(gyro[1]); Serial.print('\t'); + Serial.print(gyro[2]); Serial.print('\t'); + + servo_out += servo_dir; + if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) { + servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); + servo_dir = -servo_dir; + } + ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out; +// ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = RX_WIDTH_MID; + + // sync servo frame when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + start_servo_frame(); + last_servo_frame_time = t; + } + + Serial.print("MISC "); + Serial.print(i2c_errors); Serial.print(' '); + Serial.print(cfg.wing_mode); Serial.print(' '); + Serial.print(wing_mode); Serial.print(' '); + Serial.print(cfg.mixer_epa_mode); Serial.print(' '); + Serial.print(cfg.serialrx_order); Serial.print(' '); + Serial.print(cfg.mount_orient); Serial.print(' '); + Serial.print(get_free_sram()); Serial.print(' '); + Serial.print(servo_out); Serial.print(' '); + Serial.println(); + + set_led(LED_INVERT); + delay1(50); + } +} +#endif + +/*************************************************************************************************************** +* STICK CONFIGURATION +***************************************************************************************************************/ +// telephone pad mapping +// 1 2 3 +// 4 5 6 +// 7 8 9 + + struct _stick_zone { + int8_t zx, zy; + uint8_t curr, prev; // zone [1-9] telephone pad mapping + uint8_t move; // 0x + bool zx_rev, zy_rev; + bool zx_sided, zy_sided; +}; + +void stick_zone_init(struct _stick_zone *psz) +{ + psz->zx = psz->zy = 1; // neutral zone + psz->curr = 5; // center + psz->zx_rev = psz->zy_rev = false; // rev=false => top/left == narrow AIL/ELE pulse + psz->zx_sided = psz->zy_sided = false; // have not found a side yet +} + +int8_t stick_zone(int16_t pwm, bool rev) +{ + int8_t zone; + if (pwm <= 1200) zone = 0; + else if (pwm >= 1300 && pwm <= 1700) zone = 1; + else if (pwm >= 1800) zone = 2; + else zone = -1; // in the hysteresis region + + if (zone >= 0 && rev) + zone = 2 - zone; + return zone; +} + +bool stick_zone_update(struct _stick_zone *psz) +{ + int8_t tmp; + bool moved; + + psz->prev = psz->curr; + psz->zx = (tmp = stick_zone(ail_in2, psz->zx_rev)) >= 0 ? tmp : psz->zx; // hysteresis + psz->zy = (tmp = stick_zone(ele_in2, psz->zy_rev)) >= 0 ? tmp : psz->zy; + + // we assume that the first corner visited bottom left (position 7) + // so stick on the left if the AIL pulse is at either horizontal end + if (!psz->zx_sided && (psz->zx == 0 || psz->zx == 2)) { + if (psz->zx == 2) { + psz->zx_rev = true; + psz->zx = 2 - psz->zx; + } + psz->zx_sided = true; + } + // and stick is on the bottom if the ELE pulse is at either vertical end + if (!psz->zy_sided && (psz->zy == 0 || psz->zy == 2)) { + if (psz->zy == 0) { + psz->zy_rev = true; + psz->zy = 2 - psz->zy; + } + psz->zy_sided = true; + } + + psz->curr = psz->zy * 3 + psz->zx + 1; + // telephone pad mapping + // 1 2 3 + // 4 5 6 + // 7 8 9 + moved = (psz->curr != psz->prev); + if (moved) { + psz->move = (psz->prev << 4) | psz->curr; // move = 0x[prev digit][curr digit] +#if defined(SERIAL_DEBUG) && 0 + Serial.print("stick_zone "); + Serial.print(psz->zx); Serial.print(' '); + Serial.print(psz->zy); Serial.print(' '); + Serial.print(psz->zx_rev); Serial.print(' '); + Serial.print(psz->zy_rev); Serial.print(' '); + Serial.print(psz->move, HEX); + Serial.println(); +#endif + } + return moved; +} + +void stick_config(struct _stick_zone *psz) +{ +// 1= wing_mode (see enum WING_MODE) +// 2= mixer_epa_mode (see enum MIXER_EPA_MODE) +// 3= serialrx_order (see enum SERIALRX_ORDER) +// 4= mount_orient (see enum MOUNT_ORIENT) +// 5= stick_gain_throw (see enum STICK_GAIN_THROW) +// 6= max_rotate (see enum MAX_ROTATE) +// 7= rate_mode_stick_rotate (see enum RATE_MODE_STICK_ROTATE) +// 8= inflight_calibrate (see enum INFLIGHT_CALIBRATE) +// 9= exit + +// note: be careful about off-by-one errors in this function + + const int8_t param_ymin[] = { + WING_USE_DIPSW, + MIXER_EPA_FULL, + SERIALRX_NONE, + MOUNT_NORMAL, + STICK_GAIN_THROW_FULL, + MAX_ROTATE_VLOW, + RATE_MODE_STICK_ROTATE_DISABLE, + INFLIGHT_CALIBRATE_DISABLE, + 1 // exit_option + }; + const int8_t param_ymax[] = { + WING_DUAL_AIL, + MIXER_EPA_TRACK, + SERIALRX_AETR1a2F, + MOUNT_ROLL_90_RIGHT, + STICK_GAIN_THROW_QUARTER, + MAX_ROTATE_VHIGH, + RATE_MODE_STICK_ROTATE_ENABLE, + INFLIGHT_CALIBRATE_ENABLE, + 2 // exit_option + }; + const int8_t param_xcount = sizeof(param_ymin)/sizeof(param_ymin[0]); + int8_t *pparam_yval[param_xcount]; + int8_t exit_option = 1; + + const int16_t servo_swing = 300; + const int32_t servo_interval[] = {100000L, 400000L}; + + int8_t x = 0; // 0-based, x=0 => wing_mode + int8_t servo_sync = false; + uint32_t last_servo_update_time = 0; + int32_t wait_interval = servo_interval[1]; + + pparam_yval[0] = (int8_t *) &cfg.wing_mode; + pparam_yval[1] = (int8_t *) &cfg.mixer_epa_mode; + pparam_yval[2] = (int8_t *) &cfg.serialrx_order; + pparam_yval[3] = (int8_t *) &cfg.mount_orient; + pparam_yval[4] = (int8_t *) &cfg.stick_gain_throw; + pparam_yval[5] = (int8_t *) &cfg.max_rotate; + pparam_yval[6] = (int8_t *) &cfg.rate_mode_stick_rotate; + pparam_yval[7] = (int8_t *) &cfg.inflight_calibrate; + pparam_yval[8] = &exit_option; + + int8_t update_x = (x + 1) << 1; + int8_t update_y = *pparam_yval[x] << 1; + while (true) { + uint32_t t = micros1(); + + if ((int32_t)(t - last_servo_update_time) > wait_interval) { + if (update_x > 0) { + ele_out2 = RX_WIDTH_MID + (update_x & 1 ? 0 : servo_swing); + ail_out2 = RX_WIDTH_MID; + wait_interval = servo_interval[update_x & 1]; + update_x--; + } else { + if (update_y != 0) { + int8_t sign = update_y > 0 ? 1 : -1; + int16_t signed_change = sign > 0 ? servo_swing : -servo_swing; + ail_out2 = RX_WIDTH_MID + (update_y & 1 ? 0 : signed_change); + wait_interval = servo_interval[update_y & 1]; + update_y -= sign; + } + } + last_servo_update_time = t; + } + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + if (rx_frame_sync) { + rx_frame_sync = false; + copy_rx_in(); + servo_sync = true; + } + if (servo_sync && !servo_busy) { + servo_sync = false; + start_servo_frame(); + } + + if (update_x == 0 && /*update_y == 0 &&*/ stick_zone_update(psz)) { + + bool refresh_x = false; + bool refresh_y = false; + + switch (psz->move) { + case 0x54: x = max(x - 1, 0); refresh_x = true; break; // left + case 0x56: x = min(x + 1, param_xcount - 1); refresh_x = true; break; // right + case 0x52: *pparam_yval[x] = min(*pparam_yval[x] + 1, param_ymax[x]); refresh_y = true; break; // up + case 0x58: *pparam_yval[x] = max(*pparam_yval[x] - 1, param_ymin[x]); refresh_y = true; break; // down + } + + // check if update_x and/or update_y need to be refreshed + if (refresh_x || refresh_y) { + update_y = *pparam_yval[x] << 1; + if (refresh_x) + update_x = (x + 1) << 1; + } + + // check for exit option + if (exit_option == 2) { + break; + } + + #if defined(SERIAL_DEBUG) && 0 + Serial.print("param "); + Serial.print(psz->prev, HEX); Serial.print(' '); + Serial.print(psz->curr, HEX); Serial.print(' '); + Serial.print(x); Serial.print(' '); + Serial.print(*pparam_yval[x]); Serial.print(' '); + Serial.println(); + #endif + } + } + + // write eeprom; + eeprom_write_cfg(&cfg, eeprom_cfg1_addr); + eeprom_write_cfg(&cfg, eeprom_cfg2_addr); +} + + +/*************************************************************************************************************** + * SETUP + ***************************************************************************************************************/ + +void setup() +{ + int8_t i; + + init_clock(); + init_led(); + if (get_free_sram() < 128) + set_led_msg(2, 20, LED_VERY_SHORT); + +#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS) +#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM)) + serialrx_init(); +#else + Serial.begin(115200L); +#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM)) +#endif + +#if defined(SERIAL_DEBUG) && 0 + Serial.println("Serial Port Initialized."); +#endif + + +#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) + // clear wd reset bit and disable wdt in case it was enabled due to stick config reboot + MCUSR &= ~(1 << WDRF); + wdt_disable(); +#endif // __AVR_ATmega168__ || __AVR_ATmega328__ + +#if defined(NANO_WII) || defined(MINI_MWC) + // set up default parameters for No DIPSW and No POT + cfg.wing_mode = WING_DUAL_AIL; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = 60; + } +#else + // set up default parameters + cfg.wing_mode = WING_USE_DIPSW; + for (i=0; i<3; i++) { + cfg.vr_gain[i] = vr_gain_use_pot; + } +#endif + cfg.mixer_epa_mode = MIXER_EPA_FULL; +#if defined(SERIALRX_CPPM) +#if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX) + cfg.serialrx_order = SERIALRX_TAER1a2F; // mini mwc with spektrum rf plugin board that emits cppm TAER* +#else + cfg.serialrx_order = SERIALRX_RETA1a2F; +#endif +#elif defined(SERIALRX_SPEKTRUM) + cfg.serialrx_order = SERIALRX_TAER1a2F; +#elif defined(SERIALRX_SBUS) + cfg.serialrx_order = SERIALRX_AETR1a2F; +#else + cfg.serialrx_order = SERIALRX_NONE; +#endif + cfg.mount_orient = MOUNT_NORMAL; + cfg.stick_gain_throw = STICK_GAIN_THROW_FULL; + cfg.max_rotate = MAX_ROTATE_MED; + cfg.rate_mode_stick_rotate = RATE_MODE_STICK_ROTATE_DISABLE; + cfg.inflight_calibrate = INFLIGHT_CALIBRATE_ENABLE; + + // set up default RATE pid parameters + for (i=0; i<3; i++) { + cfg.pid_param_rate.kp[i] = 500; + cfg.pid_param_rate.ki[i] = 0; + cfg.pid_param_rate.kd[i] = 500; + } + cfg.pid_param_rate.output_shift = 8; + + // set up default HOLD pid parameters + for (i=0; i<3; i++) { + cfg.pid_param_hold.kp[i] = 500; + cfg.pid_param_hold.ki[i] = 500; + cfg.pid_param_hold.kd[i] = 500; + } + cfg.pid_param_hold.output_shift = 8; + + // eeprom processing + struct _eeprom_cfg eeprom_cfg1, eeprom_cfg2; + struct _eeprom_stats eeprom_stats; + + // ret + // bit0 = boot_check (reboot after cfg reset) + // bit1 = write cfg1 + // bit2 = write cfg2 + // bit3 = write stats + uint8_t ret = boot_check(EEPROM_RESET_IN_PIN, EEPROM_RESET_OUT_PIN) ? 0x07 : 0x00; + + eeprom_read_block(&eeprom_stats, (void *)eeprom_stats_addr, sizeof(eeprom_stats)); + if (ret || (eeprom_stats.device_id != DEVICE_ID || eeprom_stats.device_ver != DEVICE_VER)) { + // initialize eeprom stats + eeprom_stats.device_id = DEVICE_ID; + eeprom_stats.device_ver = DEVICE_VER; + eeprom_stats.eeprom_cfg1_err = 0; + eeprom_stats.eeprom_cfg2_err = 0; + eeprom_stats.eeprom_cfg12_reset = 0; + ret |= 0x08; // mark to update stats + } + + if (eeprom_read_cfg(&eeprom_cfg1, eeprom_cfg1_addr, eeprom_cfg_ver) < 0) + ret |= 0x02; // mark to update cfg1 + if (eeprom_read_cfg(&eeprom_cfg2, eeprom_cfg2_addr, eeprom_cfg_ver) < 0) + ret |= 0x04; // mark to update cfg2 + + calibration_wag_count = 3; + struct _eeprom_cfg *pcfg = NULL; + switch (ret & 0x06) { + case 0x00: // both copy 1 and 2 good + pcfg = &eeprom_cfg1; + break; + case 0x02: // copy 1 bad, copy 2 good + pcfg = &eeprom_cfg2; + eeprom_write_cfg(pcfg, eeprom_cfg1_addr); + eeprom_stats.eeprom_cfg1_err++; + break; + case 0x04: // copy 1 good, copy 2 bad + pcfg = &eeprom_cfg1; + eeprom_write_cfg(pcfg, eeprom_cfg2_addr); + eeprom_stats.eeprom_cfg2_err++; + break; + default: // both copy 1 and 2 bad (ret=0x06) + cfg.ver = eeprom_cfg_ver; + eeprom_write_cfg(&cfg, eeprom_cfg1_addr); + eeprom_write_cfg(&cfg, eeprom_cfg2_addr); + eeprom_stats.eeprom_cfg12_reset++; + calibration_wag_count = 9; + break; + } + + if (pcfg) { + // replace main cfg with copy good eeprom cfg + cfg = *pcfg; + } + + if (ret & 0x0e) { + // update stats to eeprom if at least one cfg, or stats, was marked for update + eeprom_write_block(&eeprom_stats, (void *)eeprom_stats_addr, sizeof(eeprom_stats)); + } + + if (ret & 0x01) { + // boot_check initiated, halt and flash led indefinitely + while (true) { + set_led(LED_INVERT); + delay(100); + } + } + +#if !defined(NO_ONEWIRE) + // check for program box, reboot on return if connected + // cannot disable TIMER0 or init TIMER1 before this call + if (ow_loop()) { + wdt_enable(WDTO_1S); + while (true); + } +#endif // !NO_ONEWIRE + + // init TIMER1 + TCCR1A = 0; // normal counting mode + TCCR1B = (1 << CS11); // clkio/8 + TIMSK1 = (1 << TOIE1); // enable overflow interrupt + // TIMSK1 |= (1 << OCIE1A); // enable interrupt on TCNT1 == OCR1A + + // disable TIMER0 + TCCR0B &= ~((1 << CS00) | (1 << CS01) | (1 << CS02)); // clock stopped + // TIMSK0 &= ~(1 << TOIE0); // disable overflow interrupt + +#if !defined(SERIAL_DEBUG) && !defined(DUMP_SENSORS) +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) + serialrx_init(); +#endif +#endif + + // set mixer limits based on configuration + switch (cfg.mixer_epa_mode) { + case MIXER_EPA_FULL: // 1000-2000 + set_mixer_limits(RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL); + break; + case MIXER_EPA_NORM: // 1100-1900 + set_mixer_limits(RX_WIDTH_LOW_NORM, RX_WIDTH_HIGH_NORM); + break; + case MIXER_EPA_TRACK: // 1250-1750 initially and track + set_mixer_limits(RX_WIDTH_LOW_TRACK, RX_WIDTH_HIGH_TRACK); + break; + } + + // init digital in for dip switches to read config settings + init_digital_in_sw(); // sw + read_switches(); + + // device-specific modes and pin assignment differences + + const enum WING_MODE dip_sw_to_wing_mode_map[] = { + WING_DUAL_AIL, // 0=rev / 0=rev + WING_VTAIL, // 0=rev / 1=norm + WING_DELTA, // 1=norm / 0=rev + WING_SINGLE_AIL // 1=norm / 1=norm + }; + + wing_mode = cfg.wing_mode; + +#if defined(RX3S_V1) + + wing_mode = cfg.wing_mode == WING_USE_DIPSW ? dip_sw_to_wing_mode_map[(ele_sw ? 2 : 0) | (rud_sw ? 1 : 0)] : cfg.wing_mode; + + switch (wing_mode) { + case WING_SINGLE_AIL: + case WING_DELTA: + case WING_VTAIL: + // PD7 7 AUX_IN instead of AILR_OUT + pwm_out_var[3] = NULL; // disable ailr_out + pwm_out_pin[3] = -1; // + rx_portd[7] = &aux_in; // enable aux_in + break; + case WING_DUAL_AIL: + // PB3 11 AUX_IN instead of MOSI + // PB4 12 AILR_IN instead of MISO + rx_portb[3] = &aux_in; // enable aux_in + rx_portb[4] = &ailr_in; // enable ailr_in + break; + } + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + // PB0 8 CPPM_IN instead of AIL_IN for SERIALRX_CPPM + // PB0 8 UNUSED instead of AIL_IN for SERIALRX_SPEKTRUM/SERIALRX_SBUS + // PB2 9 FLP_OUT instead of ELE_IN + // PB2 10 THR_OUT instead of RUD_IN + rx_portb[0] = NULL; // disable ail_in + rx_portb[1] = NULL; // disable ele_in + rx_portb[2] = NULL; // disable rud_in + pwm_out_var[4] = &thr_out; // enable thr_out + pwm_out_pin[4] = THR_OUT_PIN; // + pwm_out_var[5] = &flp_out; // enable flp_out + pwm_out_pin[5] = FLP_OUT_PIN; // +#endif // SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS +#endif // RX3S_V1 + +#if defined(RX3S_V2) || defined(RX3SM) + + wing_mode = cfg.wing_mode == WING_USE_DIPSW ? dip_sw_to_wing_mode_map[(vtail_sw ? 2 : 0) | (delta_sw ? 1 : 0)] : cfg.wing_mode; + + if (wing_mode == WING_DUAL_AIL) { + if (ele_sw) { + // WING_DUAL_AIL mode A + // PB3 11 AILR_IN instead of AUX_IN + rx_portb[3] = &ailr_in; // replace aux_in + } else { + // WING_DUAL_AIL mode B + // PD1 1 AILR_IN instead of AIL_SW + din_portd[1] = NULL; // disable ail_sw + rx_portd[1] = &ailr_in; // enable ailr_in + } + } + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + // PB0 8 CPPM_IN instead of AIL_IN for SERIALRX_CPPM + // PB0 8 UNUSED instead of AIL_IN for SERIALRX_SPEKTRUM/SERIALRX_SBUS + // PB1 9 FLP_OUT instead of ELE_IN + // PB2 10 THR_OUT instead of RUD_IN + // PB3 11 AUX2_OUT instead of AUX_IN + rx_portb[0] = NULL; // disable ail_in + rx_portb[1] = NULL; // disable ele_in + rx_portb[2] = NULL; // disable rud_in + rx_portb[3] = NULL; // disable aux_in + pwm_out_var[4] = &thr_out; // enable thr_out + pwm_out_pin[4] = THR_OUT_PIN; // + pwm_out_var[5] = &flp_out; // enable flp_out + pwm_out_pin[5] = FLP_OUT_PIN; // + pwm_out_var[6] = &aux2_out; // enable aux2_out + pwm_out_pin[6] = AUX2_OUT_PIN; // +#endif // SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS +#endif // RX3S_V2 || RX3SM + +#if defined(NANOWII) +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + // PE6 7 CPPM_IN instead of THR/AUX2_IN for SERIALRX_CPPM + // PE6 7 UNUSED instead of THR/AUX2_IN for SERIALRX_SPEKTRUM/SERIALRX_SBUS + // PC6 5 THR_OUT instead of M + // PD7 6 FLP_OUT instead of M + pwm_out_var[4] = &thr_out; // enable thr_out + pwm_out_pin[4] = THR_OUT_PIN; // + pwm_out_var[5] = &flp_out; // enable flp_out + pwm_out_pin[5] = FLP_OUT_PIN; // +#endif // SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS +#endif // NANOWII + +#if defined(EAGLE_A3PRO) // TODO(noobee): can be folded into rx3s v1? + + wing_mode = cfg.wing_mode == WING_USE_DIPSW ? dip_sw_to_wing_mode_map[(ele_sw ? 2 : 0) | (rud_sw ? 1 : 0)] : cfg.wing_mode; + + switch (wing_mode) { + case WING_DUAL_AIL: + // PB3 11 AUX_IN instead of MOSI + // PB4 12 AILR_IN instead of MISO + rx_portb[3] = &aux_in; // enable aux_in + rx_portb[4] = &ailr_in; // enable ailr_in + break; + } + +#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) + // PB0 8 CPPM_IN instead of AIL_IN for SERIALRX_CPPM + // PB0 8 UNUSED instead of AIL_IN for SERIALRX_SPEKTRUM/SERIALRX_SBUS + // PB2 9 FLP_OUT instead of ELE_IN + // PB2 10 THR_OUT instead of RUD_IN + // PB3 11 AUX2_OUT instead of AUX_IN + rx_portb[0] = NULL; // disable ail_in + rx_portb[1] = NULL; // disable ele_in + rx_portb[2] = NULL; // disable rud_in + rx_portb[3] = NULL; // disable aux_in + pwm_out_var[4] = &thr_out; // enable thr_out + pwm_out_pin[4] = THR_OUT_PIN; // + pwm_out_var[5] = &flp_out; // enable flp_out + pwm_out_pin[5] = FLP_OUT_PIN; // + pwm_out_var[6] = &aux2_out; // enable aux2_out + pwm_out_pin[6] = AUX2_OUT_PIN; // +#endif // SERIALRX_CPPM || SERIALRX_SPEKTRUM || SERIALRX_SBUS +#endif // EAGLE_A3PRO + + set_led_msg(0, wing_mode, LED_LONG); + + init_analog_in(); // vr + init_digital_in_rx(); // rx + init_digital_out(); // servo + init_imu(); // gyro/accelgyro + + copy_rx_in(); // init *_in2 vars + apply_mixer(); // init *_out2 vars + +#if defined(DUMP_SENSORS) + dump_sensors(); +#endif + //struct _stick_zone sz; + //stick_config(&sz); +} + +/*************************************************************************************************************** + * LOOP + ***************************************************************************************************************/ + + void loop() +{ + int8_t i; + uint32_t t = micros1(); + uint32_t last_rx_frame_time = t; + uint32_t last_servo_frame_time = t; + uint32_t last_imu_time = t; + uint32_t last_pid_time = t; + uint32_t last_vr_time = t; + int8_t servo_sync = false; + + int16_t vr_gain[3]= {0, 0, 0}; + int16_t stick_gain[3]; + int16_t master_gain; + +#if !defined(NO_STICKCONFIG) + uint32_t stick_config_check_time = t; + struct _stick_zone stick_zone; + const uint8_t stick_config_seq[] = {0x78, 0x89, 0x98, 0x87, 0x78, 0x89, 0x98, 0x87, 0xff}; // 7-9-7-9-7 + int8_t stick_config_seq_i = 0; + int8_t stick_configurable = true; + + stick_zone_init(&stick_zone); // stick zone setup +#endif // !NO_STICKCONFIG + + struct _calibration rx_cal; + struct _calibration imu_cal; + + // calibration setup + calibrate_init_stat(&rx_cal, 4); + calibrate_init_stat(&imu_cal, 3); + last_calibration_wag_time = t; + + // inflight calibration + uint32_t last_stab_mode_time = t; + int8_t stab_mode_count; + +again: + t = micros1(); + update_led(t); + +#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) + if (serialrx_update()) { + rx_frame_sync = true; + } +#endif + + // update rx frame data with rx ISR received reference channel or after timeout + if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) { + rx_frame_sync = false; + copy_rx_in(); + if (!rx_cal.done) { + calibrate_rx(&rx_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + servo_sync = true; + last_rx_frame_time = t; + } + + // sync servo frame with rx frame immediately when servo ISR is idle + // but ensure minimum time between servo frames, or Analog servos will not be happy!!! + if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) { + servo_sync = false; + apply_mixer(); + start_servo_frame(); + last_servo_frame_time = t; + } + + // schedule imu read just after servo pulse start, if needed. + // takes around 1ms at 100khz, 250us at 400khz + if ((int32_t)(t - last_imu_time) > PID_PERIOD) { + read_imu(); + if (!imu_cal.done) { + calibrate_imu(&imu_cal); + calibrate_set_led(&rx_cal, &imu_cal); + } + last_imu_time = t; + } + +#if !defined(NO_STICKCONFIG) + if (stick_configurable && stick_zone_update(&stick_zone)) { + stick_config_seq_i = (stick_zone.move == stick_config_seq[stick_config_seq_i]) ? stick_config_seq_i + 1 : 0; + if (stick_config_seq[stick_config_seq_i] == 0xff) { + stick_config(&stick_zone); // completed sequence, enter stick config mode + // RESET SYSTEM ON RETURN + wdt_enable(WDTO_1S); + while (true); + } + if ((int32_t)(t - stick_config_check_time) > 15000000L) // 15 sec to enter config mode + stick_configurable = false; + } +#endif // !NO_STICKCONFIG + + // short circuit rest of the loop if calibration not done, do not compute correction[] + if (!rx_cal.done || !imu_cal.done) { + goto again; + } + + if ((int32_t)(t - last_pid_time) > PID_PERIOD) { + + // stabilization mode + enum STAB_MODE stab_mode2 = + (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MID - 25) ? STAB_RATE : + (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis + + if (stab_mode2 != stab_mode) { + stab_mode = stab_mode2; + set_led_msg(1, (stab_mode == STAB_RATE) ? 0 : 4, LED_SHORT); + + // reset attitude error and i_limit threshold on mode change + for (i=0; i<3; i++) { + pid_state.sum_err[i] = 0; + pid_state.i_limit[i] = 0; + } + + // check for inflight rx calibration + if (cfg.inflight_calibrate == INFLIGHT_CALIBRATE_ENABLE) { + if ((int32_t)(t - last_stab_mode_time) > 500000L) { + stab_mode_count = 0; + } + last_stab_mode_time = t; + + if (++stab_mode_count >= 3) { + ail_in2_mid = ail_in2; + ele_in2_mid = ele_in2; + rud_in2_mid = rud_in2; + ailr_in2_mid = ailr_in2; + } + } + } + + // determine how much sticks are off center (from neutral) + int16_t ail_stick_pos = abs(((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1); + int16_t ele_stick_pos = abs(ele_in2 - ele_in2_mid); + int16_t rud_stick_pos = abs(rud_in2 - rud_in2_mid); + + // vr_gain[] [-128, 128] from VRs or config + + // see enum STICK_GAIN_THROW. shift=0 => FULL, shift=1 => HALF, shift=2 => QUARTER + int8_t shift = cfg.stick_gain_throw - 1; + + // stick_gain[] [1100, _in2_mid, 1900] => [0%, 100%, 0%] = [0, STICK_GAIN_MAX, 0] + stick_gain[0] = stick_gain_max - min(ail_stick_pos << shift, stick_gain_max); + stick_gain[1] = stick_gain_max - min(ele_stick_pos << shift, stick_gain_max); + stick_gain[2] = stick_gain_max - min(rud_stick_pos << shift, stick_gain_max); + + // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX] + master_gain = constrain(abs(aux_in2 - RX_WIDTH_MID), 0, master_gain_max); + if (master_gain < 25) master_gain = 0; // deadband + + // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign) + if (stab_mode == STAB_HOLD || + (stab_mode == STAB_RATE && cfg.rate_mode_stick_rotate == RATE_MODE_STICK_ROTATE_ENABLE)) { + // stick controlled roll rate + // cfg.max_rotate shift = [1, 5] + // eg. max stick == 400, cfg.max_rotate == 4. then 400 << 4 = 6400 => 6400/32768*2000 = 391deg/s (32768 == 2000deg/s) + int16_t sp[3]; + sp[0] = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) << (cfg.max_rotate - 1); + sp[1] = (ele_in2 - ele_in2_mid) << cfg.max_rotate; + sp[2] = (rud_in2 - rud_in2_mid) << cfg.max_rotate; + for (i=0; i<3; i++) + pid_state.setpoint[i] = vr_gain[i] < 0 ? sp[i] : -sp[i]; + } else { + // zero roll rate, stabilization only + for (i=0; i<3; i++) + pid_state.setpoint[i] = 0; + } + + if (stab_mode == STAB_HOLD) { + // max attitude error (bounding box) + for (i=0; i<3; i++) { + // 2000 deg/s == 32768 units, so 1 deg/(PID_PERIOD=10ms) == 32768/20 units + pid_state.i_limit[i] = ((int32_t)30 * (32768 / 2 / (PID_PERIOD / 1000)) * stick_gain[i]) >> 9; + } + } + + // measured angular rate (from the gyro and apply calibration offset) + pid_state.input[0] = constrain(gyro[0] - gyro0[0], -8192, 8191); + pid_state.input[1] = constrain(gyro[1] - gyro0[1], -8192, 8191); + pid_state.input[2] = constrain(gyro[2] - gyro0[2], -8192, 8191); + + // apply PID control + compute_pid(&pid_state, (stab_mode == STAB_RATE) ? &cfg.pid_param_rate : &cfg.pid_param_hold); + + // apply vr_gain, stick_gain and master_gain + for (i=0; i<3; i++) { + // vr_gain [-128,0,127]/128, stick_gain [0,400,0]/512, master_gain [400,0,400]/512 + correction[i] = ((((int32_t)pid_state.output[i] * vr_gain[i] >> 7) * stick_gain[i]) >> 9) * master_gain >> 9; + } + + // calibration wag on all surfaces if needed + if (calibration_wag_count > 0) { + if ((int32_t)(t - last_calibration_wag_time) > 200000L) { + calibration_wag_count--; + last_calibration_wag_time = t; + } + for (i=0; i<3; i++) + correction[i] += (calibration_wag_count & 1) ? 150 : -150; + } + +#if defined(SERIAL_DEBUG) && 0 + Serial.print(correction[0]); Serial.print('\t'); + Serial.print(correction[1]); Serial.print('\t'); + Serial.print(correction[2]); Serial.println('\t'); +#endif + last_pid_time = t; + } + + if ((int32_t)(t - last_vr_time) > 500123) { + // *_vr are adc channel output + // vr_gain[] [-128, 0, 127] => [-100%, 0%, 100%] = [-128, 0, 127] + vr_gain[0] = (cfg.vr_gain[0] == vr_gain_use_pot) ? (int16_t)ail_vr - 128 : cfg.vr_gain[0]; + vr_gain[1] = (cfg.vr_gain[1] == vr_gain_use_pot) ? (int16_t)ele_vr - 128 : cfg.vr_gain[1]; + vr_gain[2] = (cfg.vr_gain[2] == vr_gain_use_pot) ? (int16_t)rud_vr - 128 : cfg.vr_gain[2]; + + // deadband filter + const int16_t vr_deadband = 8; + for (i=0; i<3; i++) { + if (abs(vr_gain[i]) < vr_deadband) + vr_gain[i] = 0; + } + + start_next_adc(0); + last_vr_time = t; + } + + goto again; // the dreaded "goto" statement :O +} diff --git a/FlightStab/OneWireSerial.ino b/FlightStab/OneWireSerial.ino new file mode 100644 index 0000000..db909ff --- /dev/null +++ b/FlightStab/OneWireSerial.ino @@ -0,0 +1,213 @@ +/* FlightStab **************************************************************************************************/ + +/*************************************************************************************************************** +* ONE-WIRE SERIAL +***************************************************************************************************************/ + +// required OW_* definitions +//#define OW_BIT ? +//#define OW_DDR DDR? +//#define OW_PORT PORT? +//#define OW_PINREG PIN? +//#define OW_FIRST_CONNECT_WAIT mmm // Time in Milliseconds +//#define OW_HEARTBEAT_WAIT mmm // Time in Milliseconds + +#if !defined(OW_FIRST_CONNECT_WAIT) +// TODO(noobee): check why 600 and not lower? (previously 100) +#define OW_FIRST_CONNECT_WAIT 600 // in ms +#endif + +#if !defined(OW_HEARTBEAT_WAIT) +#define OW_HEARTBEAT_WAIT 500 // in ms +#endif + +const uint16_t ow_pulse_width_ticks = 139; // 1/115200 at 16mhz == 139 ticks + +void ow_write(uint8_t b) +{ + uint16_t w = (0xff00 | (uint16_t) b) << 1; // insert start and stop bits around 'b' + uint8_t oldSREG = SREG; + cli(); + uint16_t t = TCNT1 + 16*4; // fixed 4us later to allow time to first while() check + for (int8_t i=0; i<10; i++) { + while ((int16_t)(t - TCNT1) > 0); + if (w & 1) { + OW_DDR &= ~(1 << OW_BIT); // set input mode, external pull up to 1 + } else { + OW_DDR |= (1 << OW_BIT); // set output mode, internal pull down to 0 + } + w >>= 1; + t += ow_pulse_width_ticks; + } + SREG = oldSREG; +} + +// return 0x8000 = timeout, 0x4000 = link down on entry, 0x00XX = received ch +uint16_t ow_read(int16_t timeout_ms) +{ + uint16_t w, t; + uint8_t oldSREG = SREG; + cli(); + do { + + // check for link already down on entry + if (!(OW_PINREG & (1 << OW_BIT))) { + w = 0x4000; + break; + } + + // wait for start edge, or time out in timeout_ms + while (timeout_ms-- > 0) { + t = TCNT1 + 16000; // 1ms interval from current time + while ((int16_t)(t - TCNT1) > 0) { + if (!(OW_PINREG & (1 << OW_BIT))) { + // found start edge (high to low) + timeout_ms = -1; + break; + } + } + } + + // timeout_ms == -1 if time out, -2 if found start pulse edge + if (timeout_ms == -1) { + w = 0x8000; + break; + } + + // delay 1.5 pulse widths - 3us, then read 8 bits consecutively + w = 0; + t = TCNT1 + ow_pulse_width_ticks*3/2 - 16*3; + for (int8_t i=0; i<8; i++) { + w >>= 1; + while ((int16_t)(t - TCNT1) > 0); + //PORTB ^= (1 << 5); + w |= (OW_PINREG & (1 << OW_BIT)) ? 0x80 : 0; + t += ow_pulse_width_ticks; + } + } while (0); + SREG = oldSREG; + return w; +} + +bool ow_send_msg(void *buf, int8_t buf_len) { + uint8_t chksum = buf_len; + ow_write('$'); + ow_write(buf_len); + for (int8_t i=0; iavailable()) { + uint8_t ch = pSerial->read(); + + #if defined (SERIALRX_SPEKTRUM) + #warning SERIALRX_SPEKTRUM defined // emit device name + //jrb add for debug + #if defined(SERIAL_DEBUG) && 0 + Serial.println("Serial Spektrum"); + #endif + + t = micros1(); + // we assume loop() calls to serialrx_update() in << 7ms intervals + if ((int32_t)(t - last_rx_time) > 7000) { + index = 0; // found pause before new frame, resync + } + last_rx_time = t; + buf[index++] = ch; + + if (index >= 15) { + +/*jrb +// Satellites alone never return frame size information in buf[1] the best I can tell +// Data always seems to be 2048 bits, even with 9XR transmitter. The following +// should be removed and 10 or 11 bit format saved as configuration data +// if ((buf[2] & 0x80) == 0x00) { +// // single frame type or 1st frame of two, contains "transmitter type" +// rshift = (buf[1] & 0x10) ? 11 : 10; // 11 or 10 bit data +// } +jrb*/ + + if (rshift > 0) { + // 10 bit == f 0 c3 c2 c1 c0 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 + // 11 bit == f c3 c2 c1 c0 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 + for (int8_t i=2; i<2+2*7; i+=2) { + uint16_t w = ((uint16_t)buf[i] << 8) | (uint16_t)buf[i+1]; + int8_t chan = (w >> rshift) & 0xf; + if (chan < rx_chan_size) { + *rx_chan[cfg.serialrx_order-2][chan] = ((w << (11 - rshift) & 0x7ff) - 1024 + 1500); // scale to 11 bits 1024 +/- 684; + } + } + } + index = 0; + + //jrb add for debug + #if defined(SERIAL_DEBUG) && 0 + if (RXcount > 100) + { + Serial.print("rshift = "); + Serial.print(rshift); + if ((buf[2] & 0x80) == 0x00) { + Serial.println(" Low Channels"); + } + else { + Serial.println(" High Channels"); + } + + for (PrintIndex = 0; PrintIndex < 8; PrintIndex++) + { + Serial.print(*rx_chan[cfg.serialrx_order-2][PrintIndex]); Serial.print(' '); + } + Serial.println(' '); + + for (PrintIndex = 0; PrintIndex < 16; PrintIndex += 2) + { + work = (buf[PrintIndex]<<8)+ buf[PrintIndex + 1]; + Serial.print(work,HEX); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + RXcount++; + #endif + return (true); + } + else + return (false); + } + #endif // SERIALRX_SPEKTRUM + + + + #if defined (SERIALRX_SBUS) + #warning SERIALRX_SBUS defined // emit device name + //jrb add for debug + #if defined(SERIAL_DEBUG) && 0 + Serial.println("Serial S.BUS"); + #endif + + if (index == 0 && ch != 0x0f) { // SBUS_SYNCBYTE + break; + } + buf[index++] = ch; + if (index >= 25) { + volatile int16_t **p = rx_chan[cfg.serialrx_order-2]; + *p[0] = (((((uint16_t)buf[1] >> 0) | ((uint16_t)buf[2] << 8)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[1] = (((((uint16_t)buf[2] >> 3) | ((uint16_t)buf[3] << 5)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[2] = (((((uint16_t)buf[3] >> 6) | ((uint16_t)buf[4] << 2) | ((uint16_t)buf[5] << 10)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[3] = (((((uint16_t)buf[5] >> 1) | ((uint16_t)buf[6] << 7)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[4] = (((((uint16_t)buf[6] >> 4) | ((uint16_t)buf[7] << 4)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[5] = (((((uint16_t)buf[7] >> 7) | ((uint16_t)buf[8] << 1) | ((uint16_t)buf[9] << 9)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[6] = (((((uint16_t)buf[9] >> 2) | ((uint16_t)buf[10] << 6)) & 0x7ff) >> 1) + SBUS_OFFSET; + *p[7] = (((((uint16_t)buf[10] >> 5) | ((uint16_t)buf[11] << 3)) & 0x7ff) >> 1) + SBUS_OFFSET; + + index = 0; + sbus_return = true; + } + + //jrb add for debug + #if defined(SERIAL_DEBUG) && 1 + if (RXcount > 100) + { + for (index = 0; index < 8; index++) + { + Serial.print(*rx_chan[cfg.serialrx_order-2][index]); Serial.print(' '); + } + Serial.println(' '); + RXcount = 0; + } + RXcount++; + #endif + } + return (sbus_return); + #endif // SERIALRX_SBUS +} +#endif // SERIALRX_SPEKTRUM) || SERIALRX_SBUS + diff --git a/FlightStabGUI/FlightStabGUI.pde b/FlightStabGUI/FlightStabGUI.pde new file mode 100644 index 0000000..8f53991 --- /dev/null +++ b/FlightStabGUI/FlightStabGUI.pde @@ -0,0 +1,512 @@ +import controlP5.*; +import processing.serial.Serial; +import processing.opengl.*; + +ControlP5 cp5; + +Serial serialPort; +int serialPortIndex; +public static final int + IDLE_STATE = 0, + HEADER_STATE = 1, + LENGTH_STATE = 2; +int serialRxState = IDLE_STATE; + +byte[] serialRxBuf = new byte[64]; +int serialRxi=0; +int serialRxlen=0; + +byte[] serialTxBuf = new byte[64]; +int serialTxi=0; + +int serialRequest = 0; + + +int RC_MIN = 900; +int RC_MID = 1500; +int RC_MAX = 2100; + +int VR_MIN = -128; +int VR_MID = 0; +int VR_MAX = 127; + +int PID_MIN = 0; +int PID_MAX = 511; + +/*************************************************************************************************************** +* +***************************************************************************************************************/ + +ListBox comList; +Button cmdConnect, cmdDisconnect, cmdRead, cmdWrite, cmdDefault; + +Numberbox pidRollP, pidRollI, pidRollD, pidPitchP, pidPitchI, pidPitchD, pidYawP, pidYawI, pidYawD; +Slider stkRate, stkGain; +Slider oscThres; +Slider rxMidAil, rxMidEle, rxMidRud; + +CheckBox swCheckbox; + +Slider rxAil, rxEle, rxRud, rxAux; +Slider vrAil, vrEle, vrRud; + +Slider sxAil, sxEle, sxRud; + +cData gyRoll, gyPitch, gyYaw; +boolean drawgyRoll, drawgyPitch, drawgyYaw; + + +Button addCmdButton(String name, int x, int y) { + return cp5.addButton("id_cmd" + name) + .setLabel(name) + .setPosition(x, y) + .setSize(110,18) + ; +} + + +Textlabel addTextLabel(String name, int x, int y, int c) { + return cp5.addTextlabel("id_txt" + name) + .setText(name) + .setPosition(x, y) + .setColorValue(c) + ; +} + +Slider addSlider(String prefix, String name, int x, int y, int low, int high) { + return cp5.addSlider(prefix + name) + .setLabel(name) + .setPosition(x, y) + .setSize(150, 18) + .setRange(low, high) + .setValue(low) + .setDecimalPrecision(0) + .lock() + ; +} + +Slider addCfgSlider(String name, int x, int y, int low, int high) { + Slider s = addSlider("id_cfg", name, x, y, low, high); + s.unlock(); + return s; +} + +Slider addRxSlider(String name, int x, int y) { + return addSlider("id_rx", name, x, y, RC_MIN, RC_MAX); +} + +Slider addSxSlider(String name, int x, int y) { + return addSlider("id_sx", name, x, y, RC_MIN, RC_MAX); +} + +Slider addVrSlider(String name, int x, int y) { + return addSlider("id_vr", name, x, y, VR_MIN, VR_MAX); +} + +Numberbox addPIDBox(String name, int x, int y, int spacing) { + return cp5.addNumberbox("id_pid" + name) + .setPosition(x, y) + .setSize(spacing-10, 18) + .setRange(PID_MIN, PID_MAX) + .setValue(PID_MIN) + .setDirection(Controller.HORIZONTAL) // change the control direction to left/right + .setDecimalPrecision(0) + .setLabel("") + .setLabelVisible(false) + ; +} + + + +void serialPortInit(int index) { + println("serialPortInit " + index); + serialPortIndex = index; + for (int i=0; i0) + line(graphX + i*graphdX, y0, graphX + (i+1)*graphdX, y); + y0 = y; + } +} + + + +void drawGraphs() { + fill(0); + stroke(0); + rect(graphX, graphY, graphWidth, graphHeight); + + drawGraph(gyRoll, color(255, 0, 0)); + drawGraph(gyPitch, color(0, 255, 0)); + drawGraph(gyYaw, color(0, 0, 255)); + +} + + +void draw() { + //println("Draw"); +// fill(123 % 100); +// rect(0,0,500,500); +// nb.setValue(nb.getValue()+1); +// rxAil.setValue(rxAil.getValue()+1).show(); + + drawGraphs(); +} + +void keyPressed() { + println("keyPressed()"); + //cp5.getController("Ail").setValue(0); + swCheckbox.activate(2); + + println(cp5.getAll()); + gyRoll.appendValue(random(100)); +} + +void controlEvent(ControlEvent theEvent) { + println("controlEvent " + theEvent.name()); + if (theEvent.name() == "id_swCheckbox") + println(swCheckbox.getState(0)); + + if (theEvent.isGroup() && theEvent.name() == "id_serial") + serialPortInit((int)theEvent.group().value()); + +} + + +/*************************************************************************************************************** +* +***************************************************************************************************************/ + +void serialSendBuf(byte[] buf, int len) +{ + byte checksum; + int i; + + if (serialRequest > 0) { + println("serialRequest > 0"); + } + + checksum = (byte)(len+1); + for (i=0; i> 8) & 0xff); +} + +void put32(int v) +{ + put16(v & 0xffff); + put16((v >> 16) & 0xffff); +} + + +int get_unsigned8() +{ + return serialRxBuf[serialRxi++] & 0xff; +} + +int get_signed16() { + return (serialRxBuf[serialRxi++] & 0xff) | (serialRxBuf[serialRxi++] << 8); +} + +int get_signed32() { + return (serialRxBuf[serialRxi++] & 0xff) | + ((serialRxBuf[serialRxi++] & 0xff) << 8) | + ((serialRxBuf[serialRxi++] & 0xff) << 16) | + (serialRxBuf[serialRxi++] << 24); +} + + +void handleResponse() +{ + println("handleResponse"); + serialRxi = 0; + switch (get_unsigned8()) { + case 101: + int gRoll = get_signed16(); + int gPitch = get_signed16(); + int gYaw = get_signed16(); + + gyRoll.appendValue(gRoll); + gyPitch.appendValue(gPitch); + gyYaw.appendValue(gYaw); + break; + } + + + // decide next request message + sendGetGyro(); +} + +void serialEvent(Serial serialPort) +{ + while (serialPort.available() > 0) { + byte ch = (byte) serialPort.read(); + //println(hex(ch)); + switch(serialRxState) { + case IDLE_STATE: + if (ch == (byte)'$') + serialRxState = HEADER_STATE; + break; + case HEADER_STATE: + if (2 <= ch && ch <= serialRxBuf.length) { + serialRxlen = ch; + serialRxi = 0; + serialRxState = LENGTH_STATE; + } else { + serialRxState = IDLE_STATE; + } + break; + case LENGTH_STATE: + serialRxBuf[serialRxi++] = ch; + if (--serialRxlen == 0) { + byte checksum = (byte)serialRxi; + for (int i=0; i" then the following +# directory structure is considered a Arduino library: +# +# LibraryName/ +# |- LibraryName.h +# `- LibraryName.c +# +# If such a directory is found then all sources within that directory are considred +# to be part of that Arduino library. +# +#=============================================================================# +function(find_arduino_libraries VAR_NAME SRCS ARDLIBS) + set(ARDUINO_LIBS ) + foreach(SRC ${SRCS}) + + # Skipping generated files. They are, probably, not exist yet. + # TODO: Maybe it's possible to skip only really nonexisting files, + # but then it wiil be less deterministic. + get_source_file_property(_srcfile_generated ${SRC} GENERATED) + # Workaround for sketches, which are marked as generated + get_source_file_property(_sketch_generated ${SRC} GENERATED_SKETCH) + + if(NOT ${_srcfile_generated} OR ${_sketch_generated}) + if(NOT (EXISTS ${SRC} OR + EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${SRC} OR + EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${SRC})) + message(FATAL_ERROR "Invalid source file: ${SRC}") + endif() + file(STRINGS ${SRC} SRC_CONTENTS) + + foreach(LIBNAME ${ARDLIBS}) + list(APPEND SRC_CONTENTS "#include <${LIBNAME}.h>") + endforeach() + + foreach(SRC_LINE ${SRC_CONTENTS}) + if("${SRC_LINE}" MATCHES "^ *#include *[<\"](.*)[>\"]") + get_filename_component(INCLUDE_NAME ${CMAKE_MATCH_1} NAME_WE) + get_property(LIBRARY_SEARCH_PATH + DIRECTORY # Property Scope + PROPERTY LINK_DIRECTORIES) + foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries ${ARDUINO_EXTRA_LIBRARIES_PATH}) + if(EXISTS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}/${CMAKE_MATCH_1}) + list(APPEND ARDUINO_LIBS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}) + break() + endif() + endforeach() + endif() + endforeach() + endif() + endforeach() + if(ARDUINO_LIBS) + list(REMOVE_DUPLICATES ARDUINO_LIBS) + endif() + set(${VAR_NAME} ${ARDUINO_LIBS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_library(VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS) +# +# VAR_NAME - Vairable wich will hold the generated library names +# BOARD_ID - Board ID +# LIB_PATH - Path of the library +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Link flags +# +# Creates an Arduino library, with all it's library dependencies. +# +# ${LIB_NAME}_RECURSE controls if the library will recurse +# when looking for source files. +# +#=============================================================================# + +# For known libraries can list recurse here +set(Wire_RECURSE True) +set(Ethernet_RECURSE True) +set(SD_RECURSE True) +function(setup_arduino_library VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS) + set(LIB_TARGETS) + set(LIB_INCLUDES) + + get_filename_component(LIB_NAME ${LIB_PATH} NAME) + set(TARGET_LIB_NAME ${BOARD_ID}_${LIB_NAME}) + if(NOT TARGET ${TARGET_LIB_NAME}) + string(REGEX REPLACE ".*/" "" LIB_SHORT_NAME ${LIB_NAME}) + + # Detect if recursion is needed + if (NOT DEFINED ${LIB_SHORT_NAME}_RECURSE) + set(${LIB_SHORT_NAME}_RECURSE False) + endif() + + find_sources(LIB_SRCS ${LIB_PATH} ${${LIB_SHORT_NAME}_RECURSE}) + if(LIB_SRCS) + + arduino_debug_msg("Generating Arduino ${LIB_NAME} library") + add_library(${TARGET_LIB_NAME} STATIC ${LIB_SRCS}) + + get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} FALSE) + + find_arduino_libraries(LIB_DEPS "${LIB_SRCS}" "") + + foreach(LIB_DEP ${LIB_DEPS}) + setup_arduino_library(DEP_LIB_SRCS ${BOARD_ID} ${LIB_DEP} "${COMPILE_FLAGS}" "${LINK_FLAGS}") + list(APPEND LIB_TARGETS ${DEP_LIB_SRCS}) + list(APPEND LIB_INCLUDES ${DEP_LIB_SRCS_INCLUDES}) + endforeach() + + set_target_properties(${TARGET_LIB_NAME} PROPERTIES + COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${LIB_INCLUDES} -I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\" ${COMPILE_FLAGS}" + LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}") + list(APPEND LIB_INCLUDES "-I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\"") + + target_link_libraries(${TARGET_LIB_NAME} ${BOARD_ID}_CORE ${LIB_TARGETS}) + list(APPEND LIB_TARGETS ${TARGET_LIB_NAME}) + + endif() + else() + # Target already exists, skiping creating + list(APPEND LIB_TARGETS ${TARGET_LIB_NAME}) + endif() + if(LIB_TARGETS) + list(REMOVE_DUPLICATES LIB_TARGETS) + endif() + set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE) + set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_libraries(VAR_NAME BOARD_ID SRCS COMPILE_FLAGS LINK_FLAGS) +# +# VAR_NAME - Vairable wich will hold the generated library names +# BOARD_ID - Board ID +# SRCS - source files +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Linker flags +# +# Finds and creates all dependency libraries based on sources. +# +#=============================================================================# +function(setup_arduino_libraries VAR_NAME BOARD_ID SRCS ARDLIBS COMPILE_FLAGS LINK_FLAGS) + set(LIB_TARGETS) + set(LIB_INCLUDES) + + find_arduino_libraries(TARGET_LIBS "${SRCS}" ARDLIBS) + foreach(TARGET_LIB ${TARGET_LIBS}) + # Create static library instead of returning sources + setup_arduino_library(LIB_DEPS ${BOARD_ID} ${TARGET_LIB} "${COMPILE_FLAGS}" "${LINK_FLAGS}") + list(APPEND LIB_TARGETS ${LIB_DEPS}) + list(APPEND LIB_INCLUDES ${LIB_DEPS_INCLUDES}) + endforeach() + + set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE) + set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_target(TARGET_NAME ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL) +# +# TARGET_NAME - Target name +# BOARD_ID - Arduino board ID +# ALL_SRCS - All sources +# ALL_LIBS - All libraries +# COMPILE_FLAGS - Compile flags +# LINK_FLAGS - Linker flags +# MANUAL - (Advanced) Only use AVR Libc/Includes +# +# Creates an Arduino firmware target. +# +#=============================================================================# +function(setup_arduino_target TARGET_NAME BOARD_ID ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL) + + add_executable(${TARGET_NAME} ${ALL_SRCS}) + set_target_properties(${TARGET_NAME} PROPERTIES SUFFIX ".elf") + + get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} ${MANUAL}) + + set_target_properties(${TARGET_NAME} PROPERTIES + COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${COMPILE_FLAGS}" + LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}") + target_link_libraries(${TARGET_NAME} ${ALL_LIBS} "-lc -lm") + + set(TARGET_PATH ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}) + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_OBJCOPY} + ARGS ${ARDUINO_OBJCOPY_EEP_FLAGS} + ${TARGET_PATH}.elf + ${TARGET_PATH}.eep + COMMENT "Generating EEP image" + VERBATIM) + + # Convert firmware image to ASCII HEX format + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_OBJCOPY} + ARGS ${ARDUINO_OBJCOPY_HEX_FLAGS} + ${TARGET_PATH}.elf + ${TARGET_PATH}.hex + COMMENT "Generating HEX image" + VERBATIM) + + # Display target size + add_custom_command(TARGET ${TARGET_NAME} POST_BUILD + COMMAND ${CMAKE_COMMAND} + ARGS -DFIRMWARE_IMAGE=${TARGET_PATH}.elf + -DMCU=${${BOARD_ID}.build.mcu} + -DEEPROM_IMAGE=${TARGET_PATH}.eep + -P ${ARDUINO_SIZE_SCRIPT} + COMMENT "Calculating image size" + VERBATIM) + + # Create ${TARGET_NAME}-size target + add_custom_target(${TARGET_NAME}-size + COMMAND ${CMAKE_COMMAND} + -DFIRMWARE_IMAGE=${TARGET_PATH}.elf + -DMCU=${${BOARD_ID}.build.mcu} + -DEEPROM_IMAGE=${TARGET_PATH}.eep + -P ${ARDUINO_SIZE_SCRIPT} + DEPENDS ${TARGET_NAME} + COMMENT "Calculating ${TARGET_NAME} image size") + +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_upload(BOARD_ID TARGET_NAME PORT) +# +# BOARD_ID - Arduino board id +# TARGET_NAME - Target name +# PORT - Serial port for upload +# PROGRAMMER_ID - Programmer ID +# AVRDUDE_FLAGS - avrdude flags +# +# Create an upload target (${TARGET_NAME}-upload) for the specified Arduino target. +# +#=============================================================================# +function(setup_arduino_upload BOARD_ID TARGET_NAME PORT PROGRAMMER_ID AVRDUDE_FLAGS) + setup_arduino_bootloader_upload(${TARGET_NAME} ${BOARD_ID} ${PORT} "${AVRDUDE_FLAGS}") + + # Add programmer support if defined + if(PROGRAMMER_ID AND ${PROGRAMMER_ID}.protocol) + setup_arduino_programmer_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}") + setup_arduino_bootloader_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}") + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_upload(TARGET_NAME BOARD_ID PORT) +# +# TARGET_NAME - target name +# BOARD_ID - board id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Set up target for upload firmware via the bootloader. +# +# The target for uploading the firmware is ${TARGET_NAME}-upload . +# +#=============================================================================# +function(setup_arduino_bootloader_upload TARGET_NAME BOARD_ID PORT AVRDUDE_FLAGS) + set(UPLOAD_TARGET ${TARGET_NAME}-upload) + set(AVRDUDE_ARGS) + + setup_arduino_bootloader_args(${BOARD_ID} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude bootloader args, aborting!") + return() + endif() + + list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex") + list(APPEND AVRDUDE_ARGS "-Ueeprom:w:${TARGET_NAME}.eep:i") + add_custom_target(${UPLOAD_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + DEPENDS ${TARGET_NAME}) + + # Global upload target + if(NOT TARGET upload) + add_custom_target(upload) + endif() + + add_dependencies(upload ${UPLOAD_TARGET}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_programmer_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) +# +# TARGET_NAME - name of target to burn +# BOARD_ID - board id +# PROGRAMMER - programmer id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Sets up target for burning firmware via a programmer. +# +# The target for burning the firmware is ${TARGET_NAME}-burn . +# +#=============================================================================# +function(setup_arduino_programmer_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) + set(PROGRAMMER_TARGET ${TARGET_NAME}-burn) + + set(AVRDUDE_ARGS) + + setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude programmer args, aborting!") + return() + endif() + + list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex") + + add_custom_target(${PROGRAMMER_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + DEPENDS ${TARGET_NAME}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) +# +# TARGET_NAME - name of target to burn +# BOARD_ID - board id +# PROGRAMMER - programmer id +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# +# Create a target for burning a bootloader via a programmer. +# +# The target for burning the bootloader is ${TARGET_NAME}-burn-bootloader +# +#=============================================================================# +function(setup_arduino_bootloader_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS) + set(BOOTLOADER_TARGET ${TARGET_NAME}-burn-bootloader) + + set(AVRDUDE_ARGS) + + setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS) + + if(NOT AVRDUDE_ARGS) + message("Could not generate default avrdude programmer args, aborting!") + return() + endif() + + foreach( ITEM unlock_bits high_fuses low_fuses path file) + if(NOT ${BOARD_ID}.bootloader.${ITEM}) + message("Missing ${BOARD_ID}.bootloader.${ITEM}, not creating bootloader burn target ${BOOTLOADER_TARGET}.") + return() + endif() + endforeach() + + if(NOT EXISTS "${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}") + message("${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}") + message("Missing bootloader image, not creating bootloader burn target ${BOOTLOADER_TARGET}.") + return() + endif() + + # Erase the chip + list(APPEND AVRDUDE_ARGS "-e") + + # Set unlock bits and fuses (because chip is going to be erased) + list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.unlock_bits}:m") + if(${BOARD_ID}.bootloader.extended_fuses) + list(APPEND AVRDUDE_ARGS "-Uefuse:w:${${BOARD_ID}.bootloader.extended_fuses}:m") + endif() + list(APPEND AVRDUDE_ARGS + "-Uhfuse:w:${${BOARD_ID}.bootloader.high_fuses}:m" + "-Ulfuse:w:${${BOARD_ID}.bootloader.low_fuses}:m") + + # Set bootloader image + list(APPEND AVRDUDE_ARGS "-Uflash:w:${${BOARD_ID}.bootloader.file}:i") + + # Set lockbits + list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.lock_bits}:m") + + # Create burn bootloader target + add_custom_target(${BOOTLOADER_TARGET} + ${ARDUINO_AVRDUDE_PROGRAM} + ${AVRDUDE_ARGS} + WORKING_DIRECTORY ${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path} + DEPENDS ${TARGET_NAME}) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_programmer_args(BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) +# +# BOARD_ID - board id +# PROGRAMMER - programmer id +# TARGET_NAME - target name +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# OUTPUT_VAR - name of output variable for result +# +# Sets up default avrdude settings for burning firmware via a programmer. +#=============================================================================# +function(setup_arduino_programmer_args BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) + set(AVRDUDE_ARGS ${${OUTPUT_VAR}}) + + if(NOT AVRDUDE_FLAGS) + set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS}) + endif() + + list(APPEND AVRDUDE_ARGS "-C${ARDUINO_AVRDUDE_CONFIG_PATH}") + + #TODO: Check mandatory settings before continuing + if(NOT ${PROGRAMMER}.protocol) + message(FATAL_ERROR "Missing ${PROGRAMMER}.protocol, aborting!") + endif() + + list(APPEND AVRDUDE_ARGS "-c${${PROGRAMMER}.protocol}") # Set programmer + + if(${PROGRAMMER}.communication STREQUAL "usb") + list(APPEND AVRDUDE_ARGS "-Pusb") # Set USB as port + elseif(${PROGRAMMER}.communication STREQUAL "serial") + list(APPEND AVRDUDE_ARGS "-P${PORT}") # Set port + if(${PROGRAMMER}.speed) + list(APPEND AVRDUDE_ARGS "-b${${PROGRAMMER}.speed}") # Set baud rate + endif() + endif() + + if(${PROGRAMMER}.force) + list(APPEND AVRDUDE_ARGS "-F") # Set force + endif() + + if(${PROGRAMMER}.delay) + list(APPEND AVRDUDE_ARGS "-i${${PROGRAMMER}.delay}") # Set delay + endif() + + list(APPEND AVRDUDE_ARGS "-p${${BOARD_ID}.build.mcu}") # MCU Type + + list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS}) + + set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_bootloader_args(BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) +# +# BOARD_ID - board id +# TARGET_NAME - target name +# PORT - serial port +# AVRDUDE_FLAGS - avrdude flags (override) +# OUTPUT_VAR - name of output variable for result +# +# Sets up default avrdude settings for uploading firmware via the bootloader. +#=============================================================================# +function(setup_arduino_bootloader_args BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR) + set(AVRDUDE_ARGS ${${OUTPUT_VAR}}) + + if(NOT AVRDUDE_FLAGS) + set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS}) + endif() + + list(APPEND AVRDUDE_ARGS + "-C${ARDUINO_AVRDUDE_CONFIG_PATH}" # avrdude config + "-p${${BOARD_ID}.build.mcu}" # MCU Type + ) + + # Programmer + if(NOT ${BOARD_ID}.upload.protocol OR ${BOARD_ID}.upload.protocol STREQUAL "stk500") + list(APPEND AVRDUDE_ARGS "-cstk500v1") + else() + list(APPEND AVRDUDE_ARGS "-c${${BOARD_ID}.upload.protocol}") + endif() + + set(UPLOAD_SPEED "19200") + if(${BOARD_ID}.upload.speed) + set(UPLOAD_SPEED ${${BOARD_ID}.upload.speed}) + endif() + + list(APPEND AVRDUDE_ARGS + "-b${UPLOAD_SPEED}" # Baud rate + "-P${PORT}" # Serial port + "-D" # Dont erase + ) + + list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS}) + + set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# find_sources(VAR_NAME LIB_PATH RECURSE) +# +# VAR_NAME - Variable name that will hold the detected sources +# LIB_PATH - The base path +# RECURSE - Whether or not to recurse +# +# Finds all C/C++ sources located at the specified path. +# +#=============================================================================# +function(find_sources VAR_NAME LIB_PATH RECURSE) + set(FILE_SEARCH_LIST + ${LIB_PATH}/*.cpp + ${LIB_PATH}/*.c + ${LIB_PATH}/*.cc + ${LIB_PATH}/*.cxx + ${LIB_PATH}/*.h + ${LIB_PATH}/*.hh + ${LIB_PATH}/*.hxx) + + if(RECURSE) + file(GLOB_RECURSE LIB_FILES ${FILE_SEARCH_LIST}) + else() + file(GLOB LIB_FILES ${FILE_SEARCH_LIST}) + endif() + + if(LIB_FILES) + set(${VAR_NAME} ${LIB_FILES} PARENT_SCOPE) + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_serial_target(TARGET_NAME CMD) +# +# TARGET_NAME - Target name +# CMD - Serial terminal command +# +# Creates a target (${TARGET_NAME}-serial) for launching the serial termnial. +# +#=============================================================================# +function(setup_serial_target TARGET_NAME CMD SERIAL_PORT) + string(CONFIGURE "${CMD}" FULL_CMD @ONLY) + add_custom_target(${TARGET_NAME}-serial + COMMAND ${FULL_CMD}) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# detect_arduino_version(VAR_NAME) +# +# VAR_NAME - Variable name where the detected version will be saved +# +# Detects the Arduino SDK Version based on the revisions.txt file. The +# following variables will be generated: +# +# ${VAR_NAME} -> the full version (major.minor.patch) +# ${VAR_NAME}_MAJOR -> the major version +# ${VAR_NAME}_MINOR -> the minor version +# ${VAR_NAME}_PATCH -> the patch version +# +#=============================================================================# +function(detect_arduino_version VAR_NAME) + if(ARDUINO_VERSION_PATH) + file(READ ${ARDUINO_VERSION_PATH} RAW_VERSION) + if("${RAW_VERSION}" MATCHES " *[0]+([0-9]+)") + set(PARSED_VERSION 0.${CMAKE_MATCH_1}.0) + elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+[.][0-9]+)") + set(PARSED_VERSION ${CMAKE_MATCH_1}) + elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+)") + set(PARSED_VERSION ${CMAKE_MATCH_1}.0) + endif() + + if(NOT PARSED_VERSION STREQUAL "") + string(REPLACE "." ";" SPLIT_VERSION ${PARSED_VERSION}) + list(GET SPLIT_VERSION 0 SPLIT_VERSION_MAJOR) + list(GET SPLIT_VERSION 1 SPLIT_VERSION_MINOR) + list(GET SPLIT_VERSION 2 SPLIT_VERSION_PATCH) + + set(${VAR_NAME} "${PARSED_VERSION}" PARENT_SCOPE) + set(${VAR_NAME}_MAJOR "${SPLIT_VERSION_MAJOR}" PARENT_SCOPE) + set(${VAR_NAME}_MINOR "${SPLIT_VERSION_MINOR}" PARENT_SCOPE) + set(${VAR_NAME}_PATCH "${SPLIT_VERSION_PATCH}" PARENT_SCOPE) + endif() + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# load_arduino_style_settings(SETTINGS_LIST SETTINGS_PATH) +# +# SETTINGS_LIST - Variable name of settings list +# SETTINGS_PATH - File path of settings file to load. +# +# Load a Arduino style settings file into the cache. +# +# Examples of this type of settings file is the boards.txt and +# programmers.txt files located in ${ARDUINO_SDK}/hardware/arduino. +# +# Settings have to following format: +# +# entry.setting[.subsetting] = value +# +# where [.subsetting] is optional +# +# For example, the following settings: +# +# uno.name=Arduino Uno +# uno.upload.protocol=stk500 +# uno.upload.maximum_size=32256 +# uno.build.mcu=atmega328p +# uno.build.core=arduino +# +# will generate the follwoing equivalent CMake variables: +# +# set(uno.name "Arduino Uno") +# set(uno.upload.protocol "stk500") +# set(uno.upload.maximum_size "32256") +# set(uno.build.mcu "atmega328p") +# set(uno.build.core "arduino") +# +# set(uno.SETTINGS name upload build) # List of settings for uno +# set(uno.upload.SUBSETTINGS protocol maximum_size) # List of sub-settings for uno.upload +# set(uno.build.SUBSETTINGS mcu core) # List of sub-settings for uno.build +# +# The ${ENTRY_NAME}.SETTINGS variable lists all settings for the entry, while +# ${ENTRY_NAME}.SUBSETTINGS variables lists all settings for a sub-setting of +# a entry setting pair. +# +# These variables are generated in order to be able to programatically traverse +# all settings (for a example see print_board_settings() function). +# +#=============================================================================# +function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH) + + if(NOT ${SETTINGS_LIST} AND EXISTS ${SETTINGS_PATH}) + file(STRINGS ${SETTINGS_PATH} FILE_ENTRIES) # Settings file split into lines + + foreach(FILE_ENTRY ${FILE_ENTRIES}) + if("${FILE_ENTRY}" MATCHES "^[^#]+=.*") + string(REGEX MATCH "^[^=]+" SETTING_NAME ${FILE_ENTRY}) + string(REGEX MATCH "[^=]+$" SETTING_VALUE ${FILE_ENTRY}) + string(REPLACE "." ";" ENTRY_NAME_TOKENS ${SETTING_NAME}) + string(STRIP "${SETTING_VALUE}" SETTING_VALUE) + + list(LENGTH ENTRY_NAME_TOKENS ENTRY_NAME_TOKENS_LEN) + + # Add entry to settings list if it does not exist + list(GET ENTRY_NAME_TOKENS 0 ENTRY_NAME) + list(FIND ${SETTINGS_LIST} ${ENTRY_NAME} ENTRY_NAME_INDEX) + if(ENTRY_NAME_INDEX LESS 0) + # Add entry to main list + list(APPEND ${SETTINGS_LIST} ${ENTRY_NAME}) + endif() + + # Add entry setting to entry settings list if it does not exist + set(ENTRY_SETTING_LIST ${ENTRY_NAME}.SETTINGS) + list(GET ENTRY_NAME_TOKENS 1 ENTRY_SETTING) + list(FIND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING} ENTRY_SETTING_INDEX) + if(ENTRY_SETTING_INDEX LESS 0) + # Add setting to entry + list(APPEND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING}) + set(${ENTRY_SETTING_LIST} ${${ENTRY_SETTING_LIST}} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board settings list") + endif() + + set(FULL_SETTING_NAME ${ENTRY_NAME}.${ENTRY_SETTING}) + + # Add entry sub-setting to entry sub-settings list if it does not exists + if(ENTRY_NAME_TOKENS_LEN GREATER 2) + set(ENTRY_SUBSETTING_LIST ${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS) + list(GET ENTRY_NAME_TOKENS 2 ENTRY_SUBSETTING) + list(FIND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING} ENTRY_SUBSETTING_INDEX) + if(ENTRY_SUBSETTING_INDEX LESS 0) + list(APPEND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING}) + set(${ENTRY_SUBSETTING_LIST} ${${ENTRY_SUBSETTING_LIST}} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board sub-settings list") + endif() + set(FULL_SETTING_NAME ${FULL_SETTING_NAME}.${ENTRY_SUBSETTING}) + endif() + + # Save setting value + set(${FULL_SETTING_NAME} ${SETTING_VALUE} + CACHE INTERNAL "Arduino ${ENTRY_NAME} Board setting") + + + endif() + endforeach() + set(${SETTINGS_LIST} ${${SETTINGS_LIST}} + CACHE STRING "List of detected Arduino Board configurations") + mark_as_advanced(${SETTINGS_LIST}) + endif() +endfunction() + +#=============================================================================# +# print_settings(ENTRY_NAME) +# +# ENTRY_NAME - name of entry +# +# Print the entry settings (see load_arduino_syle_settings()). +# +#=============================================================================# +function(PRINT_SETTINGS ENTRY_NAME) + if(${ENTRY_NAME}.SETTINGS) + + foreach(ENTRY_SETTING ${${ENTRY_NAME}.SETTINGS}) + if(${ENTRY_NAME}.${ENTRY_SETTING}) + message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}}") + endif() + if(${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS) + foreach(ENTRY_SUBSETTING ${${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS}) + if(${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}) + message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}}") + endif() + endforeach() + endif() + message(STATUS "") + endforeach() + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# print_list(SETTINGS_LIST) +# +# SETTINGS_LIST - Variables name of settings list +# +# Print list settings and names (see load_arduino_syle_settings()). +#=============================================================================# +function(PRINT_LIST SETTINGS_LIST) + if(${SETTINGS_LIST}) + set(MAX_LENGTH 0) + foreach(ENTRY_NAME ${${SETTINGS_LIST}}) + string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH) + if(CURRENT_LENGTH GREATER MAX_LENGTH) + set(MAX_LENGTH ${CURRENT_LENGTH}) + endif() + endforeach() + foreach(ENTRY_NAME ${${SETTINGS_LIST}}) + string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH) + math(EXPR PADDING_LENGTH "${MAX_LENGTH}-${CURRENT_LENGTH}") + set(PADDING "") + foreach(X RANGE ${PADDING_LENGTH}) + set(PADDING "${PADDING} ") + endforeach() + message(STATUS " ${PADDING}${ENTRY_NAME}: ${${ENTRY_NAME}.name}") + endforeach() + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_example(TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR) +# +# TARGET_NAME - Target name +# LIBRARY_NAME - Library name +# EXAMPLE_NAME - Example name +# OUTPUT_VAR - Variable name to save sketch path. +# +# Creates a Arduino example from a the specified library. +#=============================================================================# +function(SETUP_ARDUINO_EXAMPLE TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR) + set(EXAMPLE_SKETCH_PATH ) + + get_property(LIBRARY_SEARCH_PATH + DIRECTORY # Property Scope + PROPERTY LINK_DIRECTORIES) + foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries) + if(EXISTS "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}") + set(EXAMPLE_SKETCH_PATH "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}") + break() + endif() + endforeach() + + if(EXAMPLE_SKETCH_PATH) + setup_arduino_sketch(${TARGET_NAME} ${EXAMPLE_SKETCH_PATH} SKETCH_CPP) + set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE) + else() + message(FATAL_ERROR "Could not find example ${EXAMPLE_NAME} from library ${LIBRARY_NAME}") + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_sketch(TARGET_NAME SKETCH_PATH OUTPUT_VAR) +# +# TARGET_NAME - Target name +# SKETCH_PATH - Path to sketch directory +# OUTPUT_VAR - Variable name where to save generated sketch source +# +# Generates C++ sources from Arduino Sketch. +#=============================================================================# +function(SETUP_ARDUINO_SKETCH TARGET_NAME SKETCH_PATH OUTPUT_VAR) + get_filename_component(SKETCH_NAME "${SKETCH_PATH}" NAME) + get_filename_component(SKETCH_PATH "${SKETCH_PATH}" ABSOLUTE) + + if(EXISTS "${SKETCH_PATH}") + set(SKETCH_CPP ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}_${SKETCH_NAME}.cpp) + + if (IS_DIRECTORY "${SKETCH_PATH}") + # Sketch directory specified, try to find main sketch... + set(MAIN_SKETCH ${SKETCH_PATH}/${SKETCH_NAME}) + + if(EXISTS "${MAIN_SKETCH}.pde") + set(MAIN_SKETCH "${MAIN_SKETCH}.pde") + elseif(EXISTS "${MAIN_SKETCH}.ino") + set(MAIN_SKETCH "${MAIN_SKETCH}.ino") + else() + message(FATAL_ERROR "Could not find main sketch (${SKETCH_NAME}.pde or ${SKETCH_NAME}.ino) at ${SKETCH_PATH}! Please specify the main sketch file path instead of directory.") + endif() + else() + # Sektch file specified, assuming parent directory as sketch directory + set(MAIN_SKETCH ${SKETCH_PATH}) + get_filename_component(SKETCH_PATH "${SKETCH_PATH}" PATH) + endif() + arduino_debug_msg("sketch: ${MAIN_SKETCH}") + + # Find all sketch files + file(GLOB SKETCH_SOURCES ${SKETCH_PATH}/*.pde ${SKETCH_PATH}/*.ino) + list(REMOVE_ITEM SKETCH_SOURCES ${MAIN_SKETCH}) + list(SORT SKETCH_SOURCES) + + generate_cpp_from_sketch("${MAIN_SKETCH}" "${SKETCH_SOURCES}" "${SKETCH_CPP}") + + # Regenerate build system if sketch changes + add_custom_command(OUTPUT ${SKETCH_CPP} + COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} + WORKING_DIRECTORY ${CMAKE_BINARY_DIR} + DEPENDS ${MAIN_SKETCH} ${SKETCH_SOURCES} + COMMENT "Regnerating ${SKETCH_NAME} Sketch") + set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED TRUE) + # Mark file that it exists for find_file + set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED_SKETCH TRUE) + + set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE) + else() + message(FATAL_ERROR "Sketch does not exist: ${SKETCH_PATH}") + endif() +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# generate_cpp_from_sketch(MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP) +# +# MAIN_SKETCH_PATH - Main sketch file path +# SKETCH_SOURCES - Setch source paths +# SKETCH_CPP - Name of file to generate +# +# Generate C++ source file from Arduino sketch files. +#=============================================================================# +function(GENERATE_CPP_FROM_SKETCH MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP) + file(WRITE ${SKETCH_CPP} "// automatically generated by arduino-cmake\n") + file(READ ${MAIN_SKETCH_PATH} MAIN_SKETCH) + + # remove comments + remove_comments(MAIN_SKETCH MAIN_SKETCH_NO_COMMENTS) + + # find first statement + string(REGEX MATCH "[\n][_a-zA-Z0-9]+[^\n]*" FIRST_STATEMENT "${MAIN_SKETCH_NO_COMMENTS}") + string(FIND "${MAIN_SKETCH}" "${FIRST_STATEMENT}" HEAD_LENGTH) + if ("${HEAD_LENGTH}" STREQUAL "-1") + set(HEAD_LENGTH 0) + endif() + #message(STATUS "FIRST STATEMENT: ${FIRST_STATEMENT}") + #message(STATUS "FIRST STATEMENT POSITION: ${HEAD_LENGTH}") + string(LENGTH "${MAIN_SKETCH}" MAIN_SKETCH_LENGTH) + + string(SUBSTRING "${MAIN_SKETCH}" 0 ${HEAD_LENGTH} SKETCH_HEAD) + #arduino_debug_msg("SKETCH_HEAD:\n${SKETCH_HEAD}") + + # find the body of the main pde + math(EXPR BODY_LENGTH "${MAIN_SKETCH_LENGTH}-${HEAD_LENGTH}") + string(SUBSTRING "${MAIN_SKETCH}" "${HEAD_LENGTH}+1" "${BODY_LENGTH}-1" SKETCH_BODY) + #arduino_debug_msg("BODY:\n${SKETCH_BODY}") + + # write the file head + file(APPEND ${SKETCH_CPP} "#line 1 \"${MAIN_SKETCH_PATH}\"\n${SKETCH_HEAD}") + + # Count head line offset (for GCC error reporting) + file(STRINGS ${SKETCH_CPP} SKETCH_HEAD_LINES) + list(LENGTH SKETCH_HEAD_LINES SKETCH_HEAD_LINES_COUNT) + math(EXPR SKETCH_HEAD_OFFSET "${SKETCH_HEAD_LINES_COUNT}+2") + + # add arduino include header + #file(APPEND ${SKETCH_CPP} "\n#line 1 \"autogenerated\"\n") + file(APPEND ${SKETCH_CPP} "\n#line ${SKETCH_HEAD_OFFSET} \"${SKETCH_CPP}\"\n") + if(ARDUINO_SDK_VERSION VERSION_LESS 1.0) + file(APPEND ${SKETCH_CPP} "#include \"WProgram.h\"\n") + else() + file(APPEND ${SKETCH_CPP} "#include \"Arduino.h\"\n") + endif() + + # add function prototypes + foreach(SKETCH_SOURCE_PATH ${SKETCH_SOURCES} ${MAIN_SKETCH_PATH}) + arduino_debug_msg("Sketch: ${SKETCH_SOURCE_PATH}") + file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE) + remove_comments(SKETCH_SOURCE SKETCH_SOURCE) + + set(ALPHA "a-zA-Z") + set(NUM "0-9") + set(ALPHANUM "${ALPHA}${NUM}") + set(WORD "_${ALPHANUM}") + set(LINE_START "(^|[\n])") + set(QUALIFIERS "[ \t]*([${ALPHA}]+[ ])*") + set(TYPE "[${WORD}]+([ ]*[\n][\t]*|[ ])+") + set(FNAME "[${WORD}]+[ ]?[\n]?[\t]*[ ]*") + set(FARGS "[(]([\t]*[ ]*[*&]?[ ]?[${WORD}](\\[([${NUM}]+)?\\])*[,]?[ ]*[\n]?)*([,]?[ ]*[\n]?)?[)]") + set(BODY_START "([ ]*[\n][\t]*|[ ]|[\n])*{") + set(PROTOTYPE_PATTERN "${LINE_START}${QUALIFIERS}${TYPE}${FNAME}${FARGS}${BODY_START}") + + string(REGEX MATCHALL "${PROTOTYPE_PATTERN}" SKETCH_PROTOTYPES "${SKETCH_SOURCE}") + + # Write function prototypes + file(APPEND ${SKETCH_CPP} "\n//=== START Forward: ${SKETCH_SOURCE_PATH}\n") + foreach(SKETCH_PROTOTYPE ${SKETCH_PROTOTYPES}) + string(REPLACE "\n" " " SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}") + string(REPLACE "{" "" SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}") + arduino_debug_msg("\tprototype: ${SKETCH_PROTOTYPE};") + # " else if(var == other) {" shoudn't be listed as prototype + if(NOT SKETCH_PROTOTYPE MATCHES "(if[ ]?[\n]?[\t]*[ ]*[)])") + file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n") + else() + arduino_debug_msg("\trejected prototype: ${SKETCH_PROTOTYPE};") + endif() + file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n") + endforeach() + file(APPEND ${SKETCH_CPP} "//=== END Forward: ${SKETCH_SOURCE_PATH}\n") + endforeach() + + # Write Sketch CPP source + get_num_lines("${SKETCH_HEAD}" HEAD_NUM_LINES) + file(APPEND ${SKETCH_CPP} "#line ${HEAD_NUM_LINES} \"${MAIN_SKETCH_PATH}\"\n") + file(APPEND ${SKETCH_CPP} "\n${SKETCH_BODY}") + foreach (SKETCH_SOURCE_PATH ${SKETCH_SOURCES}) + file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE) + file(APPEND ${SKETCH_CPP} "\n//=== START : ${SKETCH_SOURCE_PATH}\n") + file(APPEND ${SKETCH_CPP} "#line 1 \"${SKETCH_SOURCE_PATH}\"\n") + file(APPEND ${SKETCH_CPP} "${SKETCH_SOURCE}") + file(APPEND ${SKETCH_CPP} "\n//=== END : ${SKETCH_SOURCE_PATH}\n") + endforeach() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# setup_arduino_size_script(OUTPUT_VAR) +# +# OUTPUT_VAR - Output variable that will contain the script path +# +# Generates script used to display the firmware size. +#=============================================================================# +function(SETUP_ARDUINO_SIZE_SCRIPT OUTPUT_VAR) + set(ARDUINO_SIZE_SCRIPT_PATH ${CMAKE_BINARY_DIR}/CMakeFiles/FirmwareSize.cmake) + + file(WRITE ${ARDUINO_SIZE_SCRIPT_PATH} " + set(AVRSIZE_PROGRAM ${AVRSIZE_PROGRAM}) + set(AVRSIZE_FLAGS -C --mcu=\${MCU}) + + execute_process(COMMAND \${AVRSIZE_PROGRAM} \${AVRSIZE_FLAGS} \${FIRMWARE_IMAGE} \${EEPROM_IMAGE} + OUTPUT_VARIABLE SIZE_OUTPUT) + + + string(STRIP \"\${SIZE_OUTPUT}\" RAW_SIZE_OUTPUT) + + # Convert lines into a list + string(REPLACE \"\\n\" \";\" SIZE_OUTPUT_LIST \"\${SIZE_OUTPUT}\") + + set(SIZE_OUTPUT_LINES) + foreach(LINE \${SIZE_OUTPUT_LIST}) + if(NOT \"\${LINE}\" STREQUAL \"\") + list(APPEND SIZE_OUTPUT_LINES \"\${LINE}\") + endif() + endforeach() + + function(EXTRACT LIST_NAME INDEX VARIABLE) + list(GET \"\${LIST_NAME}\" \${INDEX} RAW_VALUE) + string(STRIP \"\${RAW_VALUE}\" VALUE) + + set(\${VARIABLE} \"\${VALUE}\" PARENT_SCOPE) + endfunction() + function(PARSE INPUT VARIABLE_PREFIX) + if(\${INPUT} MATCHES \"([^:]+):[ \\t]*([0-9]+)[ \\t]*([^ \\t]+)[ \\t]*[(]([0-9.]+)%.*\") + set(ENTRY_NAME \${CMAKE_MATCH_1}) + set(ENTRY_SIZE \${CMAKE_MATCH_2}) + set(ENTRY_SIZE_TYPE \${CMAKE_MATCH_3}) + set(ENTRY_PERCENT \${CMAKE_MATCH_4}) + endif() + + set(\${VARIABLE_PREFIX}_NAME \${ENTRY_NAME} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_SIZE \${ENTRY_SIZE} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_SIZE_TYPE \${ENTRY_SIZE_TYPE} PARENT_SCOPE) + set(\${VARIABLE_PREFIX}_PERCENT \${ENTRY_PERCENT} PARENT_SCOPE) + endfunction() + + list(LENGTH SIZE_OUTPUT_LINES SIZE_OUTPUT_LENGTH) + #message(\"\${SIZE_OUTPUT_LINES}\") + #message(\"\${SIZE_OUTPUT_LENGTH}\") + if (\${SIZE_OUTPUT_LENGTH} STREQUAL 14) + EXTRACT(SIZE_OUTPUT_LINES 3 FIRMWARE_PROGRAM_SIZE_ROW) + EXTRACT(SIZE_OUTPUT_LINES 5 FIRMWARE_DATA_SIZE_ROW) + PARSE(FIRMWARE_PROGRAM_SIZE_ROW FIRMWARE_PROGRAM) + PARSE(FIRMWARE_DATA_SIZE_ROW FIRMWARE_DATA) + + set(FIRMWARE_STATUS \"Firmware Size: \") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_PROGRAM_NAME}: \${FIRMWARE_PROGRAM_SIZE} \${FIRMWARE_PROGRAM_SIZE_TYPE} (\${FIRMWARE_PROGRAM_PERCENT}%)] \") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_DATA_NAME}: \${FIRMWARE_DATA_SIZE} \${FIRMWARE_DATA_SIZE_TYPE} (\${FIRMWARE_DATA_PERCENT}%)]\") + set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} on \${MCU}\") + + EXTRACT(SIZE_OUTPUT_LINES 10 EEPROM_PROGRAM_SIZE_ROW) + EXTRACT(SIZE_OUTPUT_LINES 12 EEPROM_DATA_SIZE_ROW) + PARSE(EEPROM_PROGRAM_SIZE_ROW EEPROM_PROGRAM) + PARSE(EEPROM_DATA_SIZE_ROW EEPROM_DATA) + + set(EEPROM_STATUS \"EEPROM Size: \") + set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_PROGRAM_NAME}: \${EEPROM_PROGRAM_SIZE} \${EEPROM_PROGRAM_SIZE_TYPE} (\${EEPROM_PROGRAM_PERCENT}%)] \") + set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_DATA_NAME}: \${EEPROM_DATA_SIZE} \${EEPROM_DATA_SIZE_TYPE} (\${EEPROM_DATA_PERCENT}%)]\") + set(EEPROM_STATUS \"\${EEPROM_STATUS} on \${MCU}\") + + message(\"\${FIRMWARE_STATUS}\") + message(\"\${EEPROM_STATUS}\\n\") + + if(\$ENV{VERBOSE}) + message(\"\${RAW_SIZE_OUTPUT}\\n\") + elseif(\$ENV{VERBOSE_SIZE}) + message(\"\${RAW_SIZE_OUTPUT}\\n\") + endif() + else() + message(\"\${RAW_SIZE_OUTPUT}\") + endif() + ") + + set(${OUTPUT_VAR} ${ARDUINO_SIZE_SCRIPT_PATH} PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_on() +# +# Enables Arduino module debugging. +#=============================================================================# +function(ARDUINO_DEBUG_ON) + set(ARDUINO_DEBUG True PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_off() +# +# Disables Arduino module debugging. +#=============================================================================# +function(ARDUINO_DEBUG_OFF) + set(ARDUINO_DEBUG False PARENT_SCOPE) +endfunction() + + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# arduino_debug_msg(MSG) +# +# MSG - Message to print +# +# Print Arduino debugging information. In order to enable printing +# use arduino_debug_on() and to disable use arduino_debug_off(). +#=============================================================================# +function(ARDUINO_DEBUG_MSG MSG) + if(ARDUINO_DEBUG) + message("## ${MSG}") + endif() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# remove_comments(SRC_VAR OUT_VAR) +# +# SRC_VAR - variable holding sources +# OUT_VAR - variable holding sources with no comments +# +# Removes all comments from the source code. +#=============================================================================# +function(REMOVE_COMMENTS SRC_VAR OUT_VAR) + string(REGEX REPLACE "[\\./\\\\]" "_" FILE "${NAME}") + + set(SRC ${${SRC_VAR}}) + + #message(STATUS "removing comments from: ${FILE}") + #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_pre_remove_comments.txt" ${SRC}) + #message(STATUS "\n${SRC}") + + # remove all comments + string(REGEX REPLACE "([/][/][^\n]*)|([/][\\*]([^\\*]|([\\*]+[^/\\*]))*[\\*]+[/])" "" OUT "${SRC}") + + #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_post_remove_comments.txt" ${SRC}) + #message(STATUS "\n${SRC}") + + set(${OUT_VAR} ${OUT} PARENT_SCOPE) + +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# get_num_lines(DOCUMENT OUTPUT_VAR) +# +# DOCUMENT - Document contents +# OUTPUT_VAR - Variable which will hold the line number count +# +# Counts the line number of the document. +#=============================================================================# +function(GET_NUM_LINES DOCUMENT OUTPUT_VAR) + string(REGEX MATCHALL "[\n]" MATCH_LIST "${DOCUMENT}") + list(LENGTH MATCH_LIST NUM) + set(${OUTPUT_VAR} ${NUM} PARENT_SCOPE) +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# required_variables(MSG msg VARS var1 var2 .. varN) +# +# MSG - Message to be displayed in case of error +# VARS - List of variables names to check +# +# Ensure the specified variables are not empty, otherwise a fatal error is emmited. +#=============================================================================# +function(REQUIRED_VARIABLES) + cmake_parse_arguments(INPUT "" "MSG" "VARS" ${ARGN}) + error_for_unparsed(INPUT) + foreach(VAR ${INPUT_VARS}) + if ("${${VAR}}" STREQUAL "") + message(FATAL_ERROR "${VAR} not set: ${INPUT_MSG}") + endif() + endforeach() +endfunction() + +#=============================================================================# +# [PRIVATE/INTERNAL] +# +# error_for_unparsed(PREFIX) +# +# PREFIX - Prefix name +# +# Emit fatal error if there are unparsed argument from cmake_parse_arguments(). +#=============================================================================# +function(ERROR_FOR_UNPARSED PREFIX) + set(ARGS "${${PREFIX}_UNPARSED_ARGUMENTS}") + if (NOT ( "${ARGS}" STREQUAL "") ) + message(FATAL_ERROR "unparsed argument: ${ARGS}") + endif() +endfunction() + + + + + + +#=============================================================================# +# C Flags +#=============================================================================# +if (NOT DEFINED ARDUINO_C_FLAGS) + set(ARDUINO_C_FLAGS "-mcall-prologues -ffunction-sections -fdata-sections") +endif (NOT DEFINED ARDUINO_C_FLAGS) +set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "") +set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "") + +#=============================================================================# +# C++ Flags +#=============================================================================# +if (NOT DEFINED ARDUINO_CXX_FLAGS) + set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions") +endif (NOT DEFINED ARDUINO_CXX_FLAGS) +set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_DEBUG "-g ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "") +set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "") + +#=============================================================================# +# Executable Linker Flags # +#=============================================================================# +set(ARDUINO_LINKER_FLAGS "-Wl,--gc-sections -lm") +set(CMAKE_EXE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + +#=============================================================================# +#=============================================================================# +# Shared Lbrary Linker Flags # +#=============================================================================# +set(CMAKE_SHARED_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + +set(CMAKE_MODULE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") +set(CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "") + + +#=============================================================================# +# Arduino Settings +#=============================================================================# +set(ARDUINO_OBJCOPY_EEP_FLAGS -O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load + --no-change-warnings --change-section-lma .eeprom=0 CACHE STRING "") +set(ARDUINO_OBJCOPY_HEX_FLAGS -O ihex -R .eeprom CACHE STRING "") +set(ARDUINO_AVRDUDE_FLAGS -V CACHE STRING "") + +#=============================================================================# +# Initialization +#=============================================================================# +if(NOT ARDUINO_FOUND AND ARDUINO_SDK_PATH) + register_hardware_platform(${ARDUINO_SDK_PATH}/hardware/arduino/) + + find_file(ARDUINO_LIBRARIES_PATH + NAMES libraries + PATHS ${ARDUINO_SDK_PATH} + DOC "Path to directory containing the Arduino libraries.") + + find_file(ARDUINO_VERSION_PATH + NAMES lib/version.txt + PATHS ${ARDUINO_SDK_PATH} + DOC "Path to Arduino version file.") + + find_program(ARDUINO_AVRDUDE_PROGRAM + NAMES avrdude + PATHS ${ARDUINO_SDK_PATH} + PATH_SUFFIXES hardware/tools + NO_DEFAULT_PATH) + + find_program(ARDUINO_AVRDUDE_PROGRAM + NAMES avrdude + DOC "Path to avrdude programmer binary.") + + find_program(AVRSIZE_PROGRAM + NAMES avr-size) + + find_file(ARDUINO_AVRDUDE_CONFIG_PATH + NAMES avrdude.conf + PATHS ${ARDUINO_SDK_PATH} /etc/avrdude + PATH_SUFFIXES hardware/tools + hardware/tools/avr/etc + DOC "Path to avrdude programmer configuration file.") + + set(ARDUINO_DEFAULT_BOARD uno CACHE STRING "Default Arduino Board ID when not specified.") + set(ARDUINO_DEFAULT_PORT CACHE STRING "Default Arduino port when not specified.") + set(ARDUINO_DEFAULT_SERIAL CACHE STRING "Default Arduino Serial command when not specified.") + set(ARDUINO_DEFAULT_PROGRAMMER CACHE STRING "Default Arduino Programmer ID when not specified.") + + # Ensure that all required paths are found + required_variables(VARS + ARDUINO_PLATFORMS + ARDUINO_CORES_PATH + ARDUINO_BOOTLOADERS_PATH + ARDUINO_LIBRARIES_PATH + ARDUINO_BOARDS_PATH + ARDUINO_PROGRAMMERS_PATH + ARDUINO_VERSION_PATH + ARDUINO_AVRDUDE_FLAGS + ARDUINO_AVRDUDE_PROGRAM + ARDUINO_AVRDUDE_CONFIG_PATH + AVRSIZE_PROGRAM + MSG "Invalid Arduino SDK path (${ARDUINO_SDK_PATH}).\n") + + detect_arduino_version(ARDUINO_SDK_VERSION) + set(ARDUINO_SDK_VERSION ${ARDUINO_SDK_VERSION} CACHE STRING "Arduino SDK Version") + set(ARDUINO_SDK_VERSION_MAJOR ${ARDUINO_SDK_VERSION_MAJOR} CACHE STRING "Arduino SDK Major Version") + set(ARDUINO_SDK_VERSION_MINOR ${ARDUINO_SDK_VERSION_MINOR} CACHE STRING "Arduino SDK Minor Version") + set(ARDUINO_SDK_VERSION_PATCH ${ARDUINO_SDK_VERSION_PATCH} CACHE STRING "Arduino SDK Patch Version") + + if(ARDUINO_SDK_VERSION VERSION_LESS 0.19) + message(FATAL_ERROR "Unsupported Arduino SDK (require verion 0.19 or higher)") + endif() + + message(STATUS "Arduino SDK version ${ARDUINO_SDK_VERSION}: ${ARDUINO_SDK_PATH}") + + setup_arduino_size_script(ARDUINO_SIZE_SCRIPT) + set(ARDUINO_SIZE_SCRIPT ${ARDUINO_SIZE_SCRIPT} CACHE INTERNAL "Arduino Size Script") + + #print_board_list() + #print_programmer_list() + + set(ARDUINO_FOUND True CACHE INTERNAL "Arduino Found") + mark_as_advanced( + ARDUINO_CORES_PATH + ARDUINO_VARIANTS_PATH + ARDUINO_BOOTLOADERS_PATH + ARDUINO_LIBRARIES_PATH + ARDUINO_BOARDS_PATH + ARDUINO_PROGRAMMERS_PATH + ARDUINO_VERSION_PATH + ARDUINO_AVRDUDE_FLAGS + ARDUINO_AVRDUDE_PROGRAM + ARDUINO_AVRDUDE_CONFIG_PATH + ARDUINO_OBJCOPY_EEP_FLAGS + ARDUINO_OBJCOPY_HEX_FLAGS + AVRSIZE_PROGRAM) +endif() + From 0c819ce01f2393cdfb8382793d6b0d7daaa594a5 Mon Sep 17 00:00:00 2001 From: John Beidl Date: Mon, 1 Sep 2014 11:44:34 -0400 Subject: [PATCH 02/29] 16 Channel S.BUS fix, Flip 1.5 fix, Minor I2C fix --- AVRootloader/AVR/AVRootloader.asm | 832 ------------- AVRootloader/AVR/AVRootloader.asmproj | 40 - AVRootloader/AVR/AVRootloader.atsln | 17 - AVRootloader/AVR/AVRootloader.inc | 394 ------ AVRootloader/AVR/AvrBuild.bat | 15 - AVRootloader/AVR/Crypt.inc | 259 ---- AVRootloader/AVR/Special.inc | 259 ---- .../AVR/default/AVRootloader_AQUASTAR.hex | 35 - .../AVR/default/AVRootloader_DLUX.hex | 35 - .../AVR/default/AVRootloader_MINI_MWC_A0.hex | 35 - .../AVRootloader_RX3S_V1V2V3_AILR_OUT.hex | 35 - .../AVR/default/AVRootloader_TGY160A.hex | 35 - AVRootloader/Windows/AVRootloader.dev | 108 -- AVRootloader/Windows/AVRootloader.exe | Bin 798208 -> 0 bytes AVRootloader/Windows/AVRootloader.ini | 79 -- AVRootloader/readme.txt | 38 - Builds/20140322_AQUASTAR.hex | 400 ------ Builds/20140322_DLUX.hex | 400 ------ Builds/20140322_EAGLE_A3PRO.hex | 805 ------------ .../20140322_EAGLE_A3PRO_NO_STICKCONFIG.hex | 731 ----------- Builds/20140322_FLIP_1_5.hex | 801 ------------ Builds/20140322_FLIP_1_5_CPPM.hex | 779 ------------ Builds/20140322_FLIP_1_5_SBUS.hex | 880 ------------- Builds/20140322_FLIP_1_5_SPEKTRUM.hex | 861 ------------- Builds/20140322_MINI_MWC_CPPM.hex | 779 ------------ Builds/20140322_MINI_MWC_CPPM_EXTERNAL_RX.hex | 775 ------------ Builds/20140322_MINI_MWC_SBUS.hex | 880 ------------- Builds/20140322_MINI_MWC_SPEKTRUM.hex | 861 ------------- Builds/20140322_NANOWII.hex | 1012 --------------- Builds/20140322_NANOWII_CPPM.hex | 1003 --------------- Builds/20140322_NANOWII_SBUS.hex | 1097 ----------------- Builds/20140322_NANOWII_SPEKTRUM.hex | 1078 ---------------- Builds/20140322_RX3SM.hex | 807 ------------ Builds/20140322_RX3S_V1.hex | 808 ------------ Builds/20140322_RX3S_V1_CPPM.hex | 779 ------------ Builds/20140322_RX3S_V1_SBUS.hex | 884 ------------- Builds/20140322_RX3S_V1_SPEKTRUM.hex | 865 ------------- Builds/20140322_RX3S_V2.hex | 810 ------------ Builds/20140322_RX3S_V2_AILR_IN_ON_RUD_IN.hex | 810 ------------ Builds/20140322_RX3S_V2_CPPM.hex | 782 ------------ Builds/20140322_RX3S_V2_SBUS.hex | 887 ------------- Builds/20140322_RX3S_V2_SPEKTRUM.hex | 868 ------------- Builds/20140322_TGY160A.hex | 498 -------- FlightStab/FlightStab.ino | 8 +- FlightStab/SerialRX.ino | 91 +- 45 files changed, 75 insertions(+), 24180 deletions(-) delete mode 100644 AVRootloader/AVR/AVRootloader.asm delete mode 100644 AVRootloader/AVR/AVRootloader.asmproj delete mode 100644 AVRootloader/AVR/AVRootloader.atsln delete mode 100644 AVRootloader/AVR/AVRootloader.inc delete mode 100644 AVRootloader/AVR/AvrBuild.bat delete mode 100644 AVRootloader/AVR/Crypt.inc delete mode 100644 AVRootloader/AVR/Special.inc delete mode 100644 AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_DLUX.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex delete mode 100644 AVRootloader/AVR/default/AVRootloader_TGY160A.hex delete mode 100644 AVRootloader/Windows/AVRootloader.dev delete mode 100644 AVRootloader/Windows/AVRootloader.exe delete mode 100644 AVRootloader/Windows/AVRootloader.ini delete mode 100644 AVRootloader/readme.txt delete mode 100644 Builds/20140322_AQUASTAR.hex delete mode 100644 Builds/20140322_DLUX.hex delete mode 100644 Builds/20140322_EAGLE_A3PRO.hex delete mode 100644 Builds/20140322_EAGLE_A3PRO_NO_STICKCONFIG.hex delete mode 100644 Builds/20140322_FLIP_1_5.hex delete mode 100644 Builds/20140322_FLIP_1_5_CPPM.hex delete mode 100644 Builds/20140322_FLIP_1_5_SBUS.hex delete mode 100644 Builds/20140322_FLIP_1_5_SPEKTRUM.hex delete mode 100644 Builds/20140322_MINI_MWC_CPPM.hex delete mode 100644 Builds/20140322_MINI_MWC_CPPM_EXTERNAL_RX.hex delete mode 100644 Builds/20140322_MINI_MWC_SBUS.hex delete mode 100644 Builds/20140322_MINI_MWC_SPEKTRUM.hex delete mode 100644 Builds/20140322_NANOWII.hex delete mode 100644 Builds/20140322_NANOWII_CPPM.hex delete mode 100644 Builds/20140322_NANOWII_SBUS.hex delete mode 100644 Builds/20140322_NANOWII_SPEKTRUM.hex delete mode 100644 Builds/20140322_RX3SM.hex delete mode 100644 Builds/20140322_RX3S_V1.hex delete mode 100644 Builds/20140322_RX3S_V1_CPPM.hex delete mode 100644 Builds/20140322_RX3S_V1_SBUS.hex delete mode 100644 Builds/20140322_RX3S_V1_SPEKTRUM.hex delete mode 100644 Builds/20140322_RX3S_V2.hex delete mode 100644 Builds/20140322_RX3S_V2_AILR_IN_ON_RUD_IN.hex delete mode 100644 Builds/20140322_RX3S_V2_CPPM.hex delete mode 100644 Builds/20140322_RX3S_V2_SBUS.hex delete mode 100644 Builds/20140322_RX3S_V2_SPEKTRUM.hex delete mode 100644 Builds/20140322_TGY160A.hex diff --git a/AVRootloader/AVR/AVRootloader.asm b/AVRootloader/AVR/AVRootloader.asm deleted file mode 100644 index 136c814..0000000 --- a/AVRootloader/AVR/AVRootloader.asm +++ /dev/null @@ -1,832 +0,0 @@ -; copyright HR - -.nolist - -#if defined(AQUASTAR) || defined(DLUX) -.include "m8def.inc" ; ATmega8 -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 -#endif - -#if defined(TGY160A) -.include "m168PAdef.inc" ; ATmega168PA -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD0 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD0 -#endif - -#if defined(RX3S_V1V2V3_AILR_OUT) -.include "m168PAdef.inc" ; ATmega168PA -.equ RX_PORT = PORTD ; Receive port and pin -.equ RX = PD7 -.equ TX_PORT = PORTD ; Transmit port and pin -.equ TX = PD7 -#endif - -#if defined(MINI_MWC_A0) -.include "m328Pdef.inc" ; ATmega328P -.equ RX_PORT = PORTC ; Receive port and pin -.equ RX = PC0 -.equ TX_PORT = PORTC ; Transmit port and pin -.equ TX = PC0 -#endif - -; supported devices -;.include "can128def.inc" ; AT90CAN128 -;.include "can32def.inc" ; AT90CAN32 -;.include "can64def.inc" ; AT90CAN64 -;.include "m1280def.inc" ; ATmega1280 -;.include "m1281def.inc" ; ATmega1281 -;.include "m1284Pdef.inc" ; ATmega1284P -;.include "m128Adef.inc" ; ATmega128A -;.include "m128def.inc" ; ATmega128 -;.include "m161def.inc" ; ATmega161 -;.include "m162def.inc" ; ATmega162 -;.include "m163def.inc" ; ATmega163 -;.include "m164PAdef.inc" ; ATmega164PA -;.include "m164Pdef.inc" ; ATmega164P -;.include "m165def.inc" ; ATmega165 -;.include "m165Pdef.inc" ; ATmega165P -;.include "m168def.inc" ; ATmega168 -;.include "m168PAdef.inc" ; ATmega168PA -;.include "m168Pdef.inc" ; ATmega168P -;.include "m169def.inc" ; ATmega169 -;.include "m169Pdef.inc" ; ATmega169P -;.include "m16Adef.inc" ; ATmega16A -;.include "m16def.inc" ; ATmega16 -;.include "m16HVAdef.inc" ; ATmega16HVA -;.include "m16M1def.inc" ; ATmega16M1 -;.include "m16U2def.inc" ; ATmega16U2 -;.include "m16U4def.inc" ; ATmega16U4 -;.include "m2560def.inc" ; ATmega2560 -;.include "m2561def.inc" ; ATmega2561 -;.include "m323def.inc" ; ATmega323 -;.include "m324PAdef.inc" ; ATmega324PA -;.include "m324Pdef.inc" ; ATmega324P -;.include "m3250def.inc" ; ATmega3250 -;.include "m3250Pdef.inc" ; ATmega3250P -;.include "m325def.inc" ; ATmega325 -;.include "m325Pdef.inc" ; ATmega325P -;.include "m328Pdef.inc" ; ATmega328P -;.include "m3290def.inc" ; ATmega3290 -;.include "m3290Pdef.inc" ; ATmega3290P -;.include "m329def.inc" ; ATmega329 -;.include "m329Pdef.inc" ; ATmega329P -;.include "m32Adef.inc" ; ATmega32A -;.include "m32C1def.inc" ; ATmega32C1 -;.include "m32def.inc" ; ATmega32 -;.include "m32HVBdef.inc" ; ATmega32HVB -;.include "m32M1def.inc" ; ATmega32M1 -;.include "m32U2def.inc" ; ATmega32U2 -;.include "m32U4def.inc" ; ATmega32U4 -;.include "m32U6def.inc" ; ATmega32U6 -;.include "m406def.inc" ; ATmega406 -;.include "m48def.inc" ; ATmega48 -;.include "m48PAdef.inc" ; ATmega48PA -;.include "m48Pdef.inc" ; ATmega48P -;.include "m640def.inc" ; ATmega640 -;.include "m644def.inc" ; ATmega644 -;.include "m644Pdef.inc" ; ATmega644P -;.include "m6450def.inc" ; ATmega6450 -;.include "m645def.inc" ; ATmega645 -;.include "m6490def.inc" ; ATmega6490 -;.include "m649def.inc" ; ATmega649 -;.include "m64Adef.inc" ; ATmega64A -;.include "m64C1def.inc" ; ATmega64C1 -;.include "m64def.inc" ; ATmega64 -;.include "m64M1def.inc" ; ATmega64M1 -;.include "m8515def.inc" ; ATmega8515 -;.include "m8535def.inc" ; ATmega8535 -;.include "m88def.inc" ; ATmega88 -;.include "m88PAdef.inc" ; ATmega88PA -;.include "m88Pdef.inc" ; ATmega88P -;.include "m8Adef.inc" ; ATmega8A -;.include "m8def.inc" ; ATmega8 -;.include "m8HVAdef.inc" ; ATmega8HVA -;.include "pwm216def.inc" ; AT90PWM216 -;.include "pwm2Bdef.inc" ; AT90PWM2B -;.include "pwm2def.inc" ; AT90PWM2 -;.include "pwm316def.inc" ; AT90PWM316 -;.include "pwm324def.inc" ; AT90PWM324 -;.include "pwm3Bdef.inc" ; AT90PWM3B -;.include "pwm3def.inc" ; AT90PWM3 -;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used -;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used -;.include "tn167def.inc" ; ATtiny167 -;.include "tn2313def.inc" ; ATtiny2313 -;.include "tn24Adef.inc" ; ATtiny24A -;.include "tn24def.inc" ; ATtiny24 -;.include "tn25def.inc" ; ATtiny25 -;.include "tn261def.inc" ; ATtiny261 -;.include "tn43Udef.inc" ; ATtiny43U -;.include "tn44Adef.inc" ; ATtiny44A -;.include "tn44def.inc" ; ATtiny44 -;.include "tn45def.inc" ; ATtiny45 -;.include "tn461def.inc" ; ATtiny461 -;.include "tn48def.inc" ; ATtiny48 -;.include "tn84def.inc" ; ATtiny84 -;.include "tn85def.inc" ; ATtiny85 -;.include "tn861def.inc" ; ATtiny861 -;.include "tn87def.inc" ; ATtiny87 -;.include "tn88def.inc" ; ATtiny88 -;.include "usb1286def.inc" ; AT90USB1286 -;.include "usb1287def.inc" ; AT90USB1287 -;.include "usb162def.inc" ; AT90USB162 -;.include "usb646def.inc" ; AT90USB646 -;.include "usb647def.inc" ; AT90USB647 -;.include "usb82def.inc" ; AT90USB82 - -; unsupported devices, no self programming or sram to small -;.include "1200def.inc" ; AT90S1200 -;.include "2313def.inc" ; AT90S2313 -;.include "2323def.inc" ; AT90S2323 -;.include "2343def.inc" ; AT90S2343 -;.include "4414def.inc" ; AT90S4414 -;.include "4433def.inc" ; AT90S4433 -;.include "4434def.inc" ; AT90S4434 -;.include "8515def.inc" ; AT90S8515 -;.include "8535def.inc" ; AT90S8535 -;.include "AT86RF401def.inc" ; AT86RF401 -;.include "ATxmega128A1def.inc" ; ATxmega128A1 -;.include "ATxmega128A3def.inc" ; ATxmega128A3 -;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B -;.include "ATxmega256A3def.inc" ; ATxmega256A3 -;.include "ATxmega16A4def.inc" ; ATxmega16A4 -;.include "ATxmega32A4def.inc" ; ATxmega32A4 -;.include "ATxmega64A1def.inc" ; ATxmega64A1 -;.include "ATxmega64A3def.inc" ; ATxmega64A3 -;.include "m103def.inc" ; ATmega103 -;.include "tn10def.inc" ; ATtiny10 -;.include "tn11def.inc" ; ATtiny11 -;.include "tn12def.inc" ; ATtiny12 -;.include "tn15def.inc" ; ATtiny15 -;.include "tn22def.inc" ; ATtiny22 -;.include "tn26def.inc" ; ATtiny26 -;.include "tn28def.inc" ; ATtiny28 - - -.ifndef PageSize -.error "Device don't support Bootloader !" -.else - -#message "compile for" __PART_NAME__ - - -; set follow equ to 0/1 to de/activate.... -.equ UseBootMode = 0 ; 0 = start bootloader always - ; 1 = start on power up reset or by call from application - ; 2 = start on external reset or by call from application - ; 3 = start on watchdog reset or by call from application - ; 4 = start on USB reset or by call from application (only USB Devices) - ; 5 = start only by call from application (not recommended) - ; with these bootmodes you can shorten startup time for application - -.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed) -.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared) - -.equ UseE2Write = 0 ; EEPROM write command (have implicit verify) -.equ UseE2Read = 1 ; EEPROM read command - -.equ UseCrypt = 0 ; cryptography (crypt.inc) -.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH -.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM - -.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated) -.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart) -.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk) - -.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code -.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH -.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS -.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH -.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg - ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs - -.equ UseAutobaud = 1 ; Baudrate detection -.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin. - ; First after BootDelay milliseconds inactivity the application is called. - ; Otherwise the timeout BootDelay defines an overall timeout for connection. - -.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232) -.equ UseRS485 = 0 ; activate RS-485 Data Enable pin -.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit) - -;;.equ RX_PORT = PORTD ; Receive port and pin -;;.equ RX = PD7 -;;.equ TX_PORT = PORTD ; Transmit port and pin -;;.equ TX = PD7 - -.if UseRS485 -.equ DE_PORT = PORTB ; DE enable pin of RS-485 -.equ DE = PB2 ; must be only set if RS485 DE is used -.endif - -.set XTAL = 16000000 ; -.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems) -.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important -.set BootVersion = 6 ; Version 6 (must be not changed) -.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again - ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix) - -;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode - -; now scroll down at end of source to configure BootSign and BootMsg - -.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2) -.message "WARNING: actual settings compromise security !" -.endif - - -.include "AVRootloader.inc" -;.listmac -.list - -.org BootStart -init: cli - xwdr - clr zerol - - ldi cmdl, byte1(RamEnd) - xout SPL, cmdl -.ifdef SPH - ldi cmdl, byte2(RamEnd) - xout SPH, cmdl -.endif ; .if SPH - -.if UseSaveMCUSR || UseBootMode - xin paral, MCUSR -.if UseSaveMCUSR - push paral ; save old MCUSR ontop of stack -.endif ; .if UseSaveMCUSR -.endif ; .if UseSaveMCUSR || UseBootMode - -.if UseWDR -; xin cmdl, WDTCR -; ori cmdl, (1 << WDE) | (1 << WDCE) - ldi cmdl, (1 << WDE) | (1 << WDCE) - ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0) - xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT - xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout - xout WDTCR, cmdh -.elif UseBootMode - xout MCUSR, zerol -.endif ; .if UseWDR - -.if UseBootMode - andi paral, ResetFlags - breq bm1 -.ifdef BootModeFlag - sbrs paral, BootModeFlag -.endif - jmpapp -bm1: -.endif ; .if UseBootMode - -; initialize ports - cbi RX_DDR, RX -.if UseUartInvert && Use1Wire - cbi RX_PORT, RX -.else - sbi RX_PORT, RX -.endif ; .if UseUartInvert && Use1Wire -.if !Use1Wire -.if UseUartInvert - sbi TX_PORT, TX -.else - cbi TX_PORT, TX -.endif ; .if UseUartInvert - sbi TX_DDR, TX -.endif ; .if !Use11Wire - -.if UseRS485 - sbi DE_DDR, DE - de_0 -.endif ; .if UseRS485 - -; initialize crc polynom and RAMPZ - clr zeroh - ldi polyl, byte1(POLYNOM) - ldi polyh, byte2(POLYNOM) -.if BigMega - ldi cmdl, byte3(BootSign *2) - xout RAMPZ, cmdl -.else - xout RAMPZ, zerol -.endif ; .if BigMega - - -; baudrate and identifier scanning -.if UseResetDelay -abd: -.endif - ldi cmdl, byte3(BootDelay / 6) - ldi xh, byte2(BootDelay / 6) - ldi xl, byte1(BootDelay / 6) -.if !UseResetDelay -abd: -.endif - movw crcl, zerol - ldi parah, (BootMsg - BootSign) * 2 - ldi zl, byte1(BootSign * 2) - ldi zh, byte2(BootSign * 2) - -.if UseAutobaud -; baudrate detection -; autobaud based on P.Dannegger with some optimization -; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1 - movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low -ab1: add yl, yl - adc yh, yh - movw cntl, zerol -ab2: sbiw xl, 1 - sbc cmdl, zerol - rx_0 - brne ab2 - breq id2 ; exit -ab3: sbiw yl, 1 - adiw cntl, 2 - brcs exit - rx_1 - rjmp ab3 - asr yl - sbiw yl, BaudTolerance - adiw yl, BaudTolerance * 2 - movw yl, cntl - brcc ab1 - sbiw cntl, UartLoop - brcs ab1 - movw baudl, cntl -.else -; fixed baudrate - ldi yl, byte1(Baudrate) - ldi yh, byte2(Baudrate) - movw baudl, yl -.endif ; .if UseAutobaud - -; identifier (BootSign) scanning with timeout and checksum - -id1: sbiw xl, 1 ; UART getc with timeouts - sbc cmdl, zerol - rx_1 - brne id1 -id2: breq exit -id3: sbiw xl, 1 - sbc cmdl, zerol - rx_0 - brne id3 - breq exit - rcall getx - xlpm r0, z+ - cp r0, paral - brne abd - dec parah - brne id1 - rcall getw - brne abd - -; send info about chip/bootloader (BootMsg + BootInfo) -info: ldi parah, (BootInfo - BootMsg) * 2 +4 -in1: xlpm paral, z+ - rcall putc - dec parah - brne in1 - -.if UseVersioning -;send application software version (AppVersion) -vers: ldi parah, 4 - ldi zl, byte1(AppVerAddr) - ldi zh, byte2(AppVerAddr) -ve1: xlpm paral, z+ - rcall putc - dec parah - brne ve1 -.endif ; .if UseVersioning - - -; main commandloop -; 0=run/restart -; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM -; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive -main: ldi paral, SUCCESS -mai1: rcall putc - movw crcl, zerol - rcall getw - movw cmdl, paral - cpi cmdh, 0xFE - brlo mai2 - rcall getw - movw yl, paral - sbrc cmdh, 0 - movw zl, paral -.if BigMega - sbrc cmdh, 0 - mov zx, cmdl -.endif ; .if BigMega - -mai2: rcall getw -mai3: ldi paral, ERRORCRC - brne mai1 - cpi cmdh, 0xFE - breq setbuf - brsh main - cpse cmdh, zerol - rjmp mai4 -; run application/restart bootloader - cpse cmdl, zerol -exit: jmpapp - rjmp init - -; set buffer -setbuf: -.if UseCrypt - clr flag - cpi cmdl, 0xFE - brlo set3 - bst cmdl, 0 - ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16 - ldi zl, byte1(SRAM_START) - ldi zh, byte2(SRAM_START) - movw xl, feedl - adiw xl, 8 ; last feedback - clr r0 -set1: brtc set2 - ld r0, x+ -set2: st z+, r0 - dec cnt - brne set1 -.endif ; .if UseCrypt - -set3: ldi xl, byte1(SRAM_START + 16) - ldi xh, byte2(SRAM_START + 16) - movw sraml, xl -.if UseSRAM - cpi cmdl, 1 - brne set4 - movw xl, zl -.endif ; .if UseSRAM - -set4: rcall getc - st x+, paral - sbiw yl, 1 - brne set4 -.if !UseCrypt - inc cmdh - rjmp mai2 -.else - rcall getw - brne mai3 - ori flag, 0x01 -set5: - cpi cmdl, 0xFE - brlo proB ; rjmp main - rjmp decrypt -.endif ; .if !UseCrypt - -mai4: cpi cmdh, 3 - brsh mai5 -; program/erase - bst cmdh, 0 -prog: ldi paral, ERRORPROG -.if UseCrypt - brtc pro1 -.if UseCryptFLASH - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptFLASH - brlo pro8 -.endif ; .if UseCrypt - -pro1: movw yl, sraml -pro2: cpi zl, byte1(BootStart *2) - ldi parah, byte2(BootStart *2) - cpc zh, parah -.if BigMega - xout RAMPZ, zx - ldi parah, byte3(BootStart *2) - cpc zx, parah -.endif ; .if BigMega - brsh pro8 - - ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - - brtc pro5 - - ldi cntl, (1 << SPMEN) - ldi cnt, pagesize -pro4: ld r0, y+ - ld r1, y+ -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - - adiw zl, 2 - dec cnt - brne pro4 - - subi zl, byte1(PageSize *2) - sbci zh, byte2(PageSize *2) - subi yl, byte1(PageSize *2) - sbci yh, byte2(PageSize *2) - - ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page -.if BLS - rcall dospm -.else - xout SPMCSR, cntl - spm -.endif ; .if BLS - -pro5: -.if BLS -.ifdef RWWSRE - ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section - rcall dospm -.endif ; .if RWWSRE -.endif ; .if BLS - -.if PageSize * 2 > 256 -.error "PageSize is greater as 256 bytes, check programing loops" -.endif - - ldi cnt, byte1(pagesize * 2) - ldi paral, ERRORVERIFY - ldi parah, 0xFF -pro6: xlpm r0, z+ - brtc pro7 - ld parah, y+ -pro7: cpse parah, r0 -pro8: rjmp mai1 - dec cnt - brne pro6 - -.if BigMega - cp zl, zerol - cpc zh, zeroh - brne pro9 - inc zx -.endif ; .if BigMega - -pro9: brtc proA - cp yl, xl - cpc yh, xh - brlo pro2 - brne pro8 -proA: dec cmdl - brne prog -proB: rjmp main - -mai5: -.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM) - breq mai8 -.elif UseVerify - brne mai6 -veri: ldi paral, ERRORVERIFY -ver1: movw yl, sraml -ver2: ld r0, y+ -.if BigMega - xout RAMPZ, zx - xlpm r1, z - adiw z, 1 - adc zx, zerol -.else - xlpm r1, z+ -.endif ; .if BigMega - cpse r0, r1 - rjmp mai1 - cp yl, xl - cpc yh, xh - brne ver2 - dec cmdl - brne ver1 - rjmp main -.endif ; .if UseVerify - -mai6: -.if UseE2Read && UseE2Write - cpi cmdh, 6 - brsh mai7 - bst cmdh, 0 -.if UseCrypt - brtc ee1 - ldi paral, ERRORPROG -.if UseCryptE2 - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptE2 - brlo maiZ -.endif ; .if UseCrypt - -ee1: ldi paral, ERRORVERIFY - movw yl, sraml -ee2: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - brts ee3 - sbi EECR, EERE - in paral, EEDR - rcall putp - rjmp ee5 -ee3: ld r0, y+ - xout EEDR, r0 - sbi EECR, EEMWE - sbi EECR, EEWE -ee4: xwdr - sbic EECR, EEWE - rjmp ee4 - sbi EECR, EERE - in r1, EEDR - cpse r1, r0 - rjmp maiZ - cp yl, xl - cpc yh, xh - brne ee2 -ee5: dec cmdl - brne ee1 - brts ee6 - rcall putw -ee6: rjmp main -.elif UseE2Read - cpi cmdh, 5 - breq maiY - brsh mai7 -ee1: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - sbi EECR, EERE - in paral, EEDR - rcall putp - dec cmdl - brne ee1 - rcall putw - rjmp main -.elif UseE2Write - cpi cmdh, 5 - brlo maiY - brne mai7 -.if UseCrypt - ldi paral, ERRORPROG -.if UseCryptE2 - cpi flag, 3 -.else - cpi flag, 1 -.endif ; .if UseCryptE2 - brlo maiZ -.endif ; .if UseCrypt - -ee1: ldi paral, ERRORVERIFY - movw yl, sraml -ee2: xout EEARL, zl - xout EEARH, zh - adiw zl, 1 - ld r0, y+ - xout EEDR, r0 - sbi EECR, EEMWE - sbi EECR, EEWE -ee3: xwdr - sbic EECR, EEWE - rjmp ee3 - sbi EECR, EERE - in r1, EEDR - cpse r1, r0 - rjmp maiZ - cp yl, xl - cpc yh, xh - brne ee2 - dec cmdl - brne ee1 - rjmp main -.endif ;.elif UseE2Write - -mai7: -.if UseSRAM -.if !UseE2Read || !UseE2Write - cpi cmdh, 6 -.endif ; .if !UseE2Read || !UseE2Write - - brne mai8 -sram: ld paral, z+ - rcall putp - dec cmdl - brne sram - rcall putw - rjmp main -.endif ; .if UseSRAM - -mai8: -; here new command #7 - -maiY: ldi paral, ERRORCOMMAND -maiZ: rjmp mai1 - - -; send char with crc -.if UseE2Read || UseSRAM -putw: movw paral, crcl - rcall putc - mov paral, parah -putp: eor crcl, paral - ldi cnt, 8 -put1: lsr crch - ror crcl - brcc put2 - eor crch, polyh - eor crcl, polyl -put2: dec cnt - brne put1 -.endif ; .if UseE2Read || UseSRAM - -; send char -putc: xwdr - de_1 - rcall waitf - rcall waitf - ldi cnt, 10 - com paral -put3: tx_out ; 1 - rcall waitf ; 15 - lsr paral ; 1 - brcs put4 ; 1 - tx_0 ; 1 -put4: rcall put5 ; 7 - dec cnt ; 1 - brne put3 ; 2 = 29 + baud -put5: ret - -; receive char/word -getw: rcall getc -getm: mov parah, paral -getc: xwdr - de_0 -get5: rx_1 - rjmp get5 -get1: rx_0 - rjmp get1 -getx: ldi cnt, 8 - movw cntl, baudl - lsr cnth - ror cntl - rcall waith -get2: rcall waitf ; 15 + baud - lsr paral ; 1 - rx_0 ; 1 - ori paral, 0x80 ; 1 - sbrc paral, 7 ; 1 - eor crcl, polyl ; 1 - lsr crch ; 1 - ror crcl ; 1 - brcc get3 ; 1 - eor crch, polyh ; 1 -get3: brcc get4 ; 1 - eor crcl, polyl ; 1 -get4: dec cnt ; 1 - brne get2 ; 2 = 29 + baud - eor crcl, crch - eor crcl, crch - ret - -; UART delays ; by P.Dannegger -waitf: movw cntl, baudl ; 1 -waith: sbiw cntl, 4 ; 2 - brcc waith ; 2/1 - cpi cntl, 0xFD ; 1 - brcs wait1 ; 2/1 (2) - breq wait1 ; 2/1 (3) - cpi cntl, 0xFF ; 1 - breq wait1 ; 2/1 (4/5) -wait1: tx_1 ; 1 - ret ; 4 + 3 (rcall) = 15 - -.if UseCrypt -.include "Crypt.inc" -.endif ; .if UseCrypt - - -BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini -BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars -BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed - -.if UseCrypt -; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature -BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC -.endif ; .if UseCrypt - - -.include "Special.inc" - -.endif ; .ifndef PageSize -> end of source - - diff --git a/AVRootloader/AVR/AVRootloader.asmproj b/AVRootloader/AVR/AVRootloader.asmproj deleted file mode 100644 index 6676d6b..0000000 --- a/AVRootloader/AVR/AVRootloader.asmproj +++ /dev/null @@ -1,40 +0,0 @@ - - - - 2.0 - 6.0 - com.Atmel.AVRAssembler - 52202416-41a7-4c61-892b-f36132641d3c - none - ATmega168PA - AVRootloader - .obj - $(MSBuildProjectDirectory)\$(Configuration) - ASSEMBLY - Executable - Native - - true - false - - 0 - $(MSBuildProjectDirectory)\AVRootloader.asm - 3.5.0 - - - bin\default\ - - - True - Error - ($IncludeFile) - - - - - - - compile - - - \ No newline at end of file diff --git a/AVRootloader/AVR/AVRootloader.atsln b/AVRootloader/AVR/AVRootloader.atsln deleted file mode 100644 index 4b6a147..0000000 --- a/AVRootloader/AVR/AVRootloader.atsln +++ /dev/null @@ -1,17 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 11.00 -# Atmel Studio Solution File, Format Version 11.00 -Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - default|AVR = default|AVR - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR - {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/AVRootloader/AVR/AVRootloader.inc b/AVRootloader/AVR/AVRootloader.inc deleted file mode 100644 index 70a8bee..0000000 --- a/AVRootloader/AVR/AVRootloader.inc +++ /dev/null @@ -1,394 +0,0 @@ -; copyright HR - -.equ RX_DDR = RX_PORT -1 -.equ RX_PIN = RX_PORT -2 -.equ TX_DDR = TX_PORT -1 -.equ TX_PIN = TX_PORT -2 - -.if UseRS485 -.equ DE_DDR = DE_PORT -1 -.endif - -.if RX_PORT == TX_PORT && RX == TX -.set Use1Wire = 1 -.else -.set Use1Wire = 0 -.endif ; .if RX_PORT == TX_PORT && RX == TX - -.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed -.equ BaudTolerance = 3 - -.if !UseAutobaud -.set Baudrate = XTAL / BootBaudrate - UartLoop -.endif ; .if !UseAutobaud - -.set SUCCESS = 0x30 -.set ERRORVERIFY = 0xC0 -.set ERRORCOMMAND = 0xC1 -.set ERRORCRC = 0xC2 -.set ERRORBOUNDS = 0xC3 -.set ERRORCRYPT = 0xC4 -.set ERRORPROG = 0xC5 -.set ERRORVERSION = 0xC6 - -.if UseCrypt -.set SUCCESS = SUCCESS | 0x01 -.if UseCryptFLASH -.set SUCCESS = SUCCESS | 0x02 -.endif ; .if UseCryptFLASH -.if UseCryptE2 -.set SUCCESS = SUCCESS | 0x04 -.endif ; .if UseCryptE2 -.endif ; .if UseCrypt -.if UseVersioning -.set SUCCESS = SUCCESS | 0x08 -.endif ; .if UseVersioning - -.equ POLYNOM = 0xA001 ; CRC Polynom - -.def feedl = r4 ; feedback pointer -.def feedh = r5 -.def zx = r7 ; RAMPZ -.def crcl = r8 ; CRC 16Bit -.def crch = r9 -.def zerol = r10 ; zero -.def zeroh = r11 -.def baudl = r12 ; baudrate -.def baudh = r13 -.def sraml = r14 ; SRAM buffer start -.def sramh = r15 -.def paral = r16 ; params for UART -.def parah = r17 -.def polyl = r18 ; Polynom CRC -.def polyh = r19 -.def cnt = r20 ; counter in UART loops -.def flag = r21 ; flag for crypto -.def cmdl = r22 ; commands -.def cmdh = r23 -.def cntl = r24 ; temp/baudrate -.def cnth = r25 - -.if FlashEnd > 0x7FFF -.set BigMega = 1 ; ATMega with big FLASH -.else -.set BigMega = 0 -.endif ; .if FlashEnd > 0x7FFF - -.ifdef FirstBootStart -.set BLS = 1 ; Bootloader Section supported -.else -.set BLS = 0 -.endif ; .ifdef FirstBootStart - -; calculate Bootloader start address -.ifdef FirstBootStart -.set FirstBoot = FirstBootStart -.else -.set FirstBoot = FlashEnd +1 -.endif ; .ifdef FirstBootStart - -.ifdef SecondBootStart -.set SecondBoot = SecondBootStart -.else -.set SecondBoot = FlashEnd +1 -.endif ; .ifdef SecondBootStart - -.ifdef ThirdBootStart -.set ThirdBoot = ThirdBootStart -.else -.set ThirdBoot = FlashEnd +1 -.endif ; .ifdef ThirdBootStart - -.ifdef FourthBootStart -.set FourthBoot = FourthBootStart -.else -.set FourthBoot = FlashEnd +1 -.endif ; .ifdef FourthBootStart - -.if BootCodeSize -.if BLS -.set FlashSize = FlashEnd +1 -.if FlashSize - FirstBoot >= BootCodeSize >> 1 -.equ BootStart = FirstBoot -.message "Please program Boot Fuse to First Boot Start !" -.elif FlashSize - SecondBoot >= BootCodeSize >> 1 -.equ BootStart = SecondBoot -.message "Please program Boot Fuse to Second Boot Start !" -.elif FlashSize - ThirdBoot >= BootCodeSize >> 1 -.equ BootStart = ThirdBoot -.message "Please program Boot Fuse to Third Boot Start !" -.elif FlashSize - FourthBoot >= BootCodeSize >> 1 -.equ BootStart = FourthBoot -.message "Please program Boot Fuse to Fourth Boot Start !" -.else -.equ BootStart = 0 -.error "BootStart is undefinied !" -.endif ; .if FlashSize ... -.else -.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1 -.equ BootStart = FlashSize - FlashSize % PageSize -.message "Compile Bootloader without Boot Section !" -.endif ; .if BLS -.else -.if (FLASHEND > 1023) -.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2 -.else -.equ BootStart = 0 -.endif -.message "Please set used CSEG to BootSize !" -.endif ; .if BootCodeSize - -; fix bug with parsing HEX files in AVRStudio 4.16 -.if BootCodeSize -.org 0 -.db 0xFF, 0xFF -.endif - -.set BootPages = (FlashEnd +1 - BootStart) / PageSize - -.if UseVersioning -.if BLS -.set AppVerAddr = BootStart * 2 - 4 -.else -.set AppVerAddr = BootStart * 2 - 6 -.endif ; .if BLS -.endif ; .if UseVersioning - -; examine special handling for SPM -.if BLS && (SIGNATURE_000 == 0x1e) -.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161 -.set SPMspecial = 1 -.endif -.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163 -.set SPMspecial = 2 -.endif -.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323 -.set SPMspecial = 3 -.endif -.endif - -; BootMode flags -.if UseBootMode == 1 -.set BootModeFlag = PORF -.elif UseBootMode == 2 -.set BootModeFlag = EXTRF -.elif UseBootMode == 3 -.set BootModeFlag = WDRF -.elif UseBootMode == 4 -.ifndef USBRF -.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined" -.else -.set BootModeFlag = USBRF -.endif -.endif - -.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF) -.ifdef BORF -.set ResetFlags = ResetFlags | (1 << BORF) -.endif -.ifdef JTRF -.set ResetFlags = ResetFlags | (1 << JTRF) -.endif -.ifdef BODRF -.set ResetFlags = ResetFlags | (1 << BODRF) -.endif -.ifdef OCDRF -.set ResetFlags = ResetFlags | (1 << OCDRF) -.endif -.ifdef USBRF -.set ResetFlags = ResetFlags | (1 << USBRF) -.endif - - -; some redefinition of register names or bits -.ifndef MCUSR -.ifndef MCUCSR -.error "no definition for MCU Control Status Register found, look into AVRootloader.inc" -.else -.equ MCUSR = MCUCSR -.endif -.endif ; .ifndef MCUCSR - -.ifndef WDCE -.ifndef WDDE -.equ WDCE = WDTOE -.else -.equ WDCE = WDDE -.endif ; .ifndef WDDE -.endif ; .ifndef WDCE - -.ifndef WDTCR -.equ WDTCR = WDTCSR -.endif ; .ifndef WDTCR - -.ifndef SPMCSR -.equ SPMCSR = SPMCR -.endif ; .ifndef SPMCSR - -.ifndef RWWSRE -.ifdef ASRE -.equ RWWSRE = ASRE -.endif ; .ifdef ASRE -.endif ; .ifndef RWWSRE - -.ifndef SPMEN -.equ SPMEN = SELFPRGEN -.endif ; .ifndef SPMEN - - -.ifndef EEMWE -.equ EEMWE = EEMPE -.endif ; .ifndef EEMWE - -.ifndef EEWE -.equ EEWE = EEPE -.endif ; .ifndef EEWE - -.ifndef EEARL -.equ EEARL = EEAR -.endif ; .ifndef EEARL - -; macros -.macro xout -.ifdef @0 -.if @0 > 0x3F - sts @0, @1 -.else - out @0, @1 -.endif -.endif -.endmacro - -.macro xin -.ifdef @1 -.if @1 > 0x3F - lds @0, @1 -.else - in @0, @1 -.endif -.endif -.endmacro - -.macro xwdr -.if UseWDR - wdr -.endif ; .if UseWDR -.endmacro - -.macro xlpm -.if BigMega - elpm @0, @1 -.else - lpm @0, @1 -.endif -.endmacro - -.macro jmpapp -.if BLS -#if defined(AQUASTAR) || defined(DLUX) - rjmp FLASHEND +1 ; run application -#else - jmp FLASHEND +1 ; run application -#endif -.elif BootStart - rjmp BootStart -1 ; run application -.else - rjmp BootStart ; dummy -.endif ; .if BLS -.endmacro - -.macro bjmp -.if @1 - rjmp @0 -.else - ret -.endif -.endmacro - -.macro rx_0 -.if UseUartInvert - sbic RX_PIN, RX -.else - sbis RX_PIN, RX -.endif ; .if UseUartInvert -.endmacro - -.macro rx_1 -.if UseUartInvert - sbis RX_PIN, RX -.else - sbic RX_PIN, RX -.endif ; .if UseUartInvert -.endmacro - - -.macro tx_1 - -.if (RX != TX) && (RX_PORT == TX_PORT) -.if UseUartInvert -.set tx1 = (1 << RX) -.else -.set tx1 = (1 << TX) | (1 << RX) -.endif ; .if UseUartInvert -.elif UseUartInvert && !Use1Wire -.set tx1 = 0 -.else -.set tx1 = (1 << TX) -.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) -.ifdef DE_PORT -.if !UseRS485Invert && (DE_PORT == TX_PORT) -.set tx1 = tx1 | (1 << DE) -.endif -.endif - ldi cnth, tx1 -.endmacro - -.macro tx_0 -.if (RX != TX) && (RX_PORT == TX_PORT) -.if UseUartInvert -.set tx0 = (1 << TX) | (1 << RX) -.else -.set tx0 = (1 << RX) -.endif ; .if UseUartInvert -.elif UseUartInvert && !Use1Wire -.set tx0 = (1 << TX) -.else -.set tx0 = 0 -.endif ; .if (RX != TX) && (RX_PORT == TX_PORT) -.ifdef DE_PORT -.if !UseRS485Invert && (DE_PORT == TX_PORT) -.set tx0 = tx0 | (1 << DE) -.endif -.endif - ldi cnth, tx0 -.endmacro - - -.macro tx_out -.if Use1Wire - xout TX_DDR, cnth -.else - xout TX_PORT, cnth -.endif ; .if Use1Wire -.endmacro - -.macro de_0 -.if UseRS485 -.if UseRS485Invert - sbi DE_PORT, DE -.else - cbi DE_PORT, DE -.endif -.endif -.endmacro - -.macro de_1 -.if UseRS485 -.if UseRS485Invert - cbi DE_PORT, DE -.else - sbi DE_PORT, DE -.endif -.endif -.endmacro - diff --git a/AVRootloader/AVR/AvrBuild.bat b/AVRootloader/AVR/AvrBuild.bat deleted file mode 100644 index cdc98e0..0000000 --- a/AVRootloader/AVR/AvrBuild.bat +++ /dev/null @@ -1,15 +0,0 @@ -@ECHO OFF -set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler - -call :buildhex AQUASTAR -call :buildhex DLUX -call :buildhex TGY160A -call :buildhex RX3S_V1V2V3_AILR_OUT -call :buildhex MINI_MWC_A0 -goto :eof - -:buildhex -set OUT=default\AVRootloader_%~1 -echo %OUT% -"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm" -goto :eof \ No newline at end of file diff --git a/AVRootloader/AVR/Crypt.inc b/AVRootloader/AVR/Crypt.inc deleted file mode 100644 index 74c73fd..0000000 --- a/AVRootloader/AVR/Crypt.inc +++ /dev/null @@ -1,259 +0,0 @@ -; copyright HR -; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code -.nolist - -.undef feedl -.undef feedh -.undef crcl -.undef crch -.undef paral -.undef parah -.undef polyl -.undef polyh -.undef zx -.undef cmdl -.undef cmdh -.undef cntl -.undef cnth - -.def a0 = r0 -.def a1 = r1 -.def a2 = r2 -.def a3 = r3 -.def b0 = r4 ; feedl -.def b1 = r5 ; feedh -.def b2 = r6 -.def b3 = r7 ; zx -.def t0 = r8 ; crcl -.def t1 = r9 ; crch -;.def zerol = r10 ; zerol -;.def zeroh = r11 ; zeroh -;.def baudl = r12 ; baudl -;.def baudh = r13 ; baudl -;.def sraml = r14 ; SRAM buffer start -;.def sramh = r15 -.def s0 = r16 ; paral -.def s1 = r17 ; parah -.def s2 = r18 ; polyl, restored -.def s3 = r19 ; polyh, restored -;.def cnt = r20 ; cnt -;.def flag = r21 ; flag -.def round = r22 ; cmdl -.def t4 = r23 ; cmdh -.def t2 = r24 ; cntl -.def t3 = r25 ; cnth -;.def XL = r26 ; buffer_endl -;.def XH = r27 ; buffer_endh -;.def YL = r28 ; unused -;.def YH = r29 ; unused -;.def ZL = r30 ; overwritten Address -;.def ZH = r31 ; -.list - - -; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup -; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback -; X points after buffer -; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption -; cycles: -; 698 * 8 Bytes -1 = 5583 one data block -; + 98 for CMDL=0xFE=init -; + 76 for CMDL=0xFF=data -; thus average throughput by 8Mhz is 11kByte/sec - -decrypt: - movw yl, sraml - sbiw yl, 16 - movw sraml, yl - sbiw xl, 16 -.if BigMega - ldi cnt, byte3(BootKey * 2) - xout RAMPZ, cnt -.endif ; .if BigMega - -tea1: ldi cnt, 8 - movw zl, zerol ; zerol, z points to register file r0-r7 = a,b -tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock - ldd t1, y +16 ; in next round buffer is feedback - eor t0, t1 - std y +8, t0 - st z+, t1 ; setup a,b = cipherblock - adiw yl, 1 - dec cnt - brne tea2 - - ldi s0, 0x20 ; sum = 32 * delta - ldi s1, 0x37 - ldi s2, 0xef - ldi s3, 0xc6 - - rcall teadec ; first 16 rounds - -tea3: ld t0, z ; ciphertext = ciphertext xor feedback - ld t1, y+ - eor t0, t1 - st z+, t0 - dec cnt - brne tea3 - - rcall teadec ; second 16 rounds - -tea4: ld t0, z+ ; plaintext = ciphertext xor feedback - ld t1, y - eor t0, t1 - st y+, t0 - dec cnt - brne tea4 - - cp yl, xl ; sram buffer end reached ? - cpc yh, xh - brlo tea1 - ldi s0, ERRORCRYPT - brcs tea7 ; overflow, datasize not a multiple of 8 - - sbiw yl, 8 ; points to signature + dummy + address - -.if UseVersioning - brts tea80 - - ldi zl, byte1(AppVerAddr) ; check version number - ldi zh, byte2(AppVerAddr) - ldi cnt, 4 - sbiw yl, 4 - ldi s2, 0xFF - ldi s3, 0xFF - -tea8: ld r0, y+ - xlpm r1, z+ - and s3, r1 - cpse r0, s2 - cpc r0, r1 - dec cnt - brne tea8 - - ldi s0, ERRORVERSION - cpse s3, s2 - brcs tea7 - ldi s0, ERRORCRYPT -tea80: -.endif ;.if UseVersioning - - ori flag, 0x02 ; success crypt - - ldi zl, byte1(BootKey * 2) - ldi zh, byte2(BootKey * 2) - movw xl, yl - ldi cnt, 4 ; check signature - brts tea5 - sbiw zl, 4 - ldi cnt, 8 ; check BootInfo and signature -tea5: ld r0, y+ - xlpm r1, z+ - cpse r0, r1 - clr flag ; signature don't match - dec cnt - brne tea5 - - movw b0, xl ; feedback - - brtc tea6 - ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data - sub xl, s1 - sbc xh, zerol - ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF - ldd zh, y +2 - ldd zl, y +3 - -tea6: sbrc flag, 1 - ldi s0, SUCCESS -tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom - ldi s3, byte2(POLYNOM) - rjmp mai1 - - -; plain XTEA decryption -teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext - movw t0, a0 - movw t2, a2 - -dec1: clr t4 ; t = (a shr 4) xor (a shl 5) - ldi cnt, 3 -dec2: lsl t0 - rol t1 - rol t2 - rol t3 - rol t4 - dec cnt - brne dec2 - - lsl t0 - eor t0, t1 - rol t1 - eor t1, t2 - rol t2 - eor t2, t3 - rol t3 - eor t3, t4 - - add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a - adc t1, a1 - adc t2, a2 - adc t3, a3 - - ldi zl, low(BootKey *2) - ldi zh, high(BootKey *2) - - sbrc round, 0 - rjmp dec3 - - sbrc s1, 3 ; k = key[(sum shr 11) and 3] - adiw zl, 4 - sbrc s1, 4 - adiw zl, 8 - - rjmp dec4 - -dec3: subi s0, 0xB9 ; sum = sum - delta - sbci s1, 0x79 - sbci s2, 0x37 - sbci s3, 0x9E - - sbrc s0, 0 ; k = key[sum and 3] - adiw zl, 4 - sbrc s0, 1 - adiw zl, 8 - -dec4: xlpm t4, z+ ; t = t xor (sum + k) - add t4, s0 - eor t0, t4 - xlpm t4, z+ - adc t4, s1 - eor t1, t4 - xlpm t4, z+ - adc t4, s2 - eor t2, t4 - xlpm t4, z+ - adc t4, s3 - eor t3, t4 - - sub b0, t0 ; b = b - t - sbc b1, t1 - sbc b2, t2 - sbc b3, t3 - - movw t0, b0 ; b = a, a = b - movw t2, b2 - movw b0, a0 - movw b2, a2 - movw a0, t0 - movw a2, t2 - - dec round - brne dec1 - - ldi cnt, 8 - movw zl, zerol - sbiw yl, 8 - - ret - diff --git a/AVRootloader/AVR/Special.inc b/AVRootloader/AVR/Special.inc deleted file mode 100644 index 6ba25f5..0000000 --- a/AVRootloader/AVR/Special.inc +++ /dev/null @@ -1,259 +0,0 @@ -.nolist -; copyright HR -; special functions to provide for application code access to FLASH -; can be expanded with own functions and place a rjmp vector at end of this file - -; First calculate size of code to align code at end of FLASH, better solution possible ? - -; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader. -; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm -; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and -; thus the last FLASH page should be always unchanged. With a own application and help of -; dospm function can the remaining bootloader section repogrammed. Please remember that -; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own -; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page) -; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function -; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider -; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits -; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash. -; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to -; use SPM in application code. - - -.set SpecialSize = 0 - -.if UseSpecialWrite -.set SpecialSize = SpecialSize +48 -.if UseSpecialWriteBoot -.set SpecialSize = SpecialSize +5 -.endif -.if BigMega -.set SpecialSize = SpecialSize +4 -.endif -.if BLS -.set SpecialSize = SpecialSize +5 -.ifdef SPMSpecial -.set SpecialSize = SpecialSize +3 -.endif -.ifdef RWWSRE -.set SpecialSize = SpecialSize +2 -.endif -.else -.set SpecialSize = SpecialSize +8 -.endif -.if UseWDR -.set SpecialSize = SpecialSize +1 -.endif -.endif - -.if UseSpecialRead -.set SpecialSize = SpecialSize +9 -.if BigMega -.set SpecialSize = SpecialSize +1 -.endif -.endif - -.if UseSpecialMsg -.set SpecialSize = SpecialSize +5 -.endif - -; rjmp vector table -.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg -.set SpecialSize = SpecialSize +5 -.elif UseSpecialBootVect -.set SpecialSize = SpecialSize +1 -.if BLS -.set SpecialSize = SpecialSize +1 -.endif -.endif - -; dospm -.if SpecialSize > 0 -.if BLS -.set SpecialSize = SpecialSize +6 -.ifdef SPMSpecial -.set SpecialSize = SpecialSize +3 -.endif -.endif - -; align follow code at flash end -.if BootCodeSize -.org (FLASHEND +1) - SpecialSize -.endif -.endif ; .if SpecialSize > 0 - -; end of size calculation -.list - - -.if UseSpecialMsg -getbootmsg: -; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas - ldi r22, byte1(BootMsg * 2) - ldi r23, byte2(BootMsg * 2) - ldi r24, byte3(BootMsg * 2) - ldi r25, (BootInfo - BootMsg) * 2 - ret -.endif ;.if UseSpecialMsg - - -.if UseSpecialRead -readflash: -; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer); -; r25:r24:r23:r22, r21:r20, r19:r18 -.if BigMega - xout RAMPZ, r24 -.endif - movw zl, r22 - movw xl, r18 - movw r24, r20 -rf1: sbiw r24, 1 - brcs rf2 - xlpm r23, z+ - st x+, r23 - rjmp rf1 -rf2: ret -.endif ;.if UseSpecialRead - - -.if UseSpecialWrite -writeflash: -; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer); -; r25:r24:r23:r22, r21:r20, r19:r18 - -.if PageSize * 2 > 256 -.error "PageSize is greater as 256 bytes, check programing loops" -.endif - - movw zl, r22 ; address to r24:Z - movw xl, r18 ; SRAM buffer to X - movw r18, yl ; save Y to r18 - movw yl, r20 ; size to Y - movw r20, r16 ; save r17:r16 to r21:r20 - movw r16, r24 ; - xin r23, SREG ; save SREG to r23 - cli ; disable IRQs -.if UseSpecialWriteBoot - clt ; set T flag if MSB of address is a magic to deactivate - cpi r17, 0xAC ; write cheks to bootloader section - brne wf1 - set -.endif ; .if UseSpecialWriteBoot - -wf1: sbic EECR, EEWE ; wait for EEPROM - rjmp wf1 - - andi r22, PageSize *2 -1 ; align address - sub zl, r22 - -wf2: ldi r17, PageSize -.if UseSpecialWriteBoot - brts wf3 ; if T flag is set ignore sanity check -.endif - cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader - ldi r24, byte2(BootStart *2) - cpc zh, r24 -.if BigMega - ldi r24, byte3(BootStart * 2) - cpc r16, r24 -.endif - brsh wf8 - -wf3: ldi r24, (1 << SPMEN) -.if BigMega - xout RAMPZ, r16 -.endif -wf4: xlpm r0, z+ ; first load word from FLASH - xlpm r1, z - sbiw z, 1 - sbiw yl, 0 ; size = 0 ? - breq wf7 - cpi r22, 1 - brlo wf5 - breq wf6 - subi r22, 2 - rjmp wf7 -wf5: ld r0, x+ - sbiw yl, 1 - breq wf7 -wf6: ld r1, x+ - sbiw yl, 1 - clr r22 -wf7: xwdr -.if BLS - rcall dospm ; fill FLASH buffer -.else - xout SPMCSR, r24 - spm -.endif - adiw z, 2 - dec r17 ; PageSize - brne wf4 - - subi zl, byte1(PageSize *2) - sbci zh, byte2(PageSize *2) -.if BLS - ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page - rcall dospm - ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page - rcall dospm -.ifdef RWWSRE - ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page - rcall dospm -.endif -.else - ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page - xout SPMCSR, r24 - spm - ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page - xout SPMCSR, r24 - spm -.endif - subi zl, byte1(-PageSize *2) - sbci zh, byte2(-PageSize *2) -.if BigMega - sbci r16, byte3(-PageSize *2) -.endif - sbiw yl, 0 ; size = 0 ? - brne wf2 - -wf8: clr r1 ; restore r1=zero - movw yl, r18 ; restore Y - movw r16, r20 ; restore r17:r16 - xout SREG, r23 ; restore SREG - ret -.endif ;.if UseSpecialWrite - - -; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page -; r25=cnth destroyed, r24=cntl unchanged -.if BLS -dospm: xout SPMCSR, r24 - spm -.ifdef SPMspecial -.dw $FFFF - nop -.endif -dspm1: xin r25, SPMCSR - sbrc r25, SPMEN - rjmp dspm1 - ret -.endif ; .if BLS - - -.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg -; rjmp vectors for support from application code -; can be expanded with own vectors to own code, look into AVRootloader.h how to call -; please don't reorder this jump table, but you can expand it to own code -; if you expand it remember to update above SpecialSize calculation - bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret - bjmp readflash, UseSpecialRead - bjmp writeflash, UseSpecialWrite - bjmp dospm, BLS - rjmp bootstart -.elif UseSpecialBootVect -.if BLS - rjmp dospm -.endif - rjmp bootstart -.endif diff --git a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex deleted file mode 100644 index 0e6bcc3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:101E0000F894A895AA246FE56DBF64E06EBF68E101 -:101E10007FE0A4BE61BD71BD88989098BB2421E08D -:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 -:101E3000E501CC0FDD1FC50111976A098099E1F713 -:101E400089F021970296A8F1809BFBCFC595239737 -:101E50002696EC0170F74D9760F36C0111976A09B3 -:101E6000809BE1F731F111976A098099E1F709F157 -:101E700096D005900016C1F61A9581F789D0A1F683 -:101E800014E0059177D01A95E1F700E373D045018E -:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 -:101EA00077D002EC99F77E3F31F078F77A110CC0C9 -:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D -:101EC0002197E1F77395ECCF733060F570FB05EC6B -:101ED000E701E0301EE1F107D0F483E087D076F42B -:101EE00081E040E20990199081D032964A95D1F76D -:101EF000E054F040C054D04085E078D081E176D005 -:101F000040E400EC1FEF05900EF419911011BECFC4 -:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 -:101F2000B1F6B3CF61F400ECE70109901590011010 -:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 -:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 -:101F50006A95C1F703D099CF01EC98CF84010AD0DC -:101F6000012F802648E09694879410F493268226C9 -:101F70004A95C9F7A89529D028D04AE0009591BB89 -:101F800024D0069508F090E002D04A95C1F7089554 -:101F900001D0102FA895809BFECF8099FECF48E0FE -:101FA000C6019695879512D010D006958099006845 -:101FB00007FD82269694879408F4932608F48226D7 -:101FC0004A9591F7892489240895C6010497F0F76A -:101FD0008D3F18F011F08F3F01F091E00895424FCE -:101FE0004F544C4F414445529307060887BFE8952C -:081FF00097B790FDFDCF0895A5 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/AVRootloader/AVR/default/AVRootloader_DLUX.hex deleted file mode 100644 index 0e6bcc3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_DLUX.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:101E0000F894A895AA246FE56DBF64E06EBF68E101 -:101E10007FE0A4BE61BD71BD88989098BB2421E08D -:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131 -:101E3000E501CC0FDD1FC50111976A098099E1F713 -:101E400089F021970296A8F1809BFBCFC595239737 -:101E50002696EC0170F74D9760F36C0111976A09B3 -:101E6000809BE1F731F111976A098099E1F709F157 -:101E700096D005900016C1F61A9581F789D0A1F683 -:101E800014E0059177D01A95E1F700E373D045018E -:101E90007FD0B8017E3F20F07BD0E80170FDF801D3 -:101EA00077D002EC99F77E3F31F078F77A110CC0C9 -:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D -:101EC0002197E1F77395ECCF733060F570FB05EC6B -:101ED000E701E0301EE1F107D0F483E087D076F42B -:101EE00081E040E20990199081D032964A95D1F76D -:101EF000E054F040C054D04085E078D081E176D005 -:101F000040E400EC1FEF05900EF419911011BECFC4 -:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4 -:101F2000B1F6B3CF61F400ECE70109901590011010 -:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1 -:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7 -:101F50006A95C1F703D099CF01EC98CF84010AD0DC -:101F6000012F802648E09694879410F493268226C9 -:101F70004A95C9F7A89529D028D04AE0009591BB89 -:101F800024D0069508F090E002D04A95C1F7089554 -:101F900001D0102FA895809BFECF8099FECF48E0FE -:101FA000C6019695879512D010D006958099006845 -:101FB00007FD82269694879408F4932608F48226D7 -:101FC0004A9591F7892489240895C6010497F0F76A -:101FD0008D3F18F011F08F3F01F091E00895424FCE -:101FE0004F544C4F414445529307060887BFE8952C -:081FF00097B790FDFDCF0895A5 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex b/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex deleted file mode 100644 index 905bb71..0000000 --- a/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:107E0000F894A895AA246FEF6DBF68E06EBF68E193 -:107E10007FE0A4BE60936000709360003898409843 -:107E2000BB2421E030EA64E1B8E5A5E545011AE0AC -:107E3000E4EEFFE7E501CC0FDD1FC50111976A09EC -:107E40003099E1F789F021970296A8F1309BFBCF9A -:107E5000C59523972696EC0170F74D9760F36C015A -:107E600011976A09309BE1F731F111976A0930994E -:107E7000E1F709F197D005900016C1F61A9581F740 -:107E80008AD0A1F614E0059178D01A95E1F700E3C5 -:107E900074D0450180D0B8017E3F20F07CD0E8014D -:107EA00070FDF80178D002EC99F77E3F39F078F751 -:107EB0007A110DC06A110C940040A2CFA0E1B1E08C -:107EC0007D016BD00D932197E1F77395EBCF733064 -:107ED00060F570FB05ECE701E0301EE7F107D0F438 -:107EE00083E087D076F481E040E40990199081D056 -:107EF00032964A95D1F7E058F040C058D04085E01E -:107F000078D081E176D040E800EC1FEF05900EF4C8 -:107F100019911011BDCF4A95C9F726F4CA17DB078E -:107F2000D8F2C1F76A95B1F6B2CF61F400ECE7017F -:107F3000099015900110ACCFCA17DB07C9F76A95F5 -:107F4000B1F7A5CF753059F050F4E1BDF2BD3196CF -:107F5000F89A00B509D06A95C1F703D098CF01EC23 -:107F600097CF84010AD0012F802648E09694879409 -:107F700010F4932682264A95C9F7A89529D028D0CF -:107F80004AE0009597B924D0069508F090E002D019 -:107F90004A95C1F7089501D0102FA895309BFECFC8 -:107FA0003099FECF48E0C6019695879512D010D043 -:107FB00006953099006807FD82269694879408F408 -:107FC000932608F482264A9591F7892489240895F6 -:107FD000C6010497F0F78D3F18F011F08F3F01F0C4 -:107FE00091E00895424F4F544C4F41444552950FF4 -:0E7FF000060487BFE89597B790FDFDCF089572 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex b/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex deleted file mode 100644 index f3fc8c1..0000000 --- a/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 -:103E10007FE0A4BE609360007093600057985F9845 -:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC -:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 -:103E40004F99E1F789F021970296A8F14F9BFBCF9C -:103E5000C59523972696EC0170F74D9760F36C019A -:103E600011976A094F9BE1F731F111976A094F9950 -:103E7000E1F709F197D005900016C1F61A9581F780 -:103E80008AD0A1F614E0059178D01A95E1F700E305 -:103E900074D0450180D0B8017E3F20F07CD0E8018D -:103EA00070FDF80178D002EC99F77E3F39F078F791 -:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC -:103EC0007D016BD00D932197E1F77395EBCF7330A4 -:103ED00060F570FB05ECE701E0301EE3F107D0F47C -:103EE00083E087D076F481E040E40990199081D096 -:103EF00032964A95D1F7E058F040C058D04085E05E -:103F000078D081E176D040E800EC1FEF05900EF408 -:103F100019911011BDCF4A95C9F726F4CA17DB07CE -:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF -:103F3000099015900110ACCFCA17DB07C9F76A9535 -:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F -:103F5000F89A00B509D06A95C1F703D098CF01EC63 -:103F600097CF84010AD0012F802648E09694879449 -:103F700010F4932682264A95C9F7A89529D028D00F -:103F80004AE000959AB924D0069508F090E002D056 -:103F90004A95C1F7089501D0102FA8954F9BFECFE9 -:103FA0004F99FECF48E0C6019695879512D010D064 -:103FB00006954F99006807FD82269694879408F429 -:103FC000932608F482264A9591F789248924089536 -:103FD000C6010497F0F78D3F18F011F08F3F01F004 -:103FE00090E80895424F4F544C4F41444552940B32 -:0E3FF000060487BFE89597B790FDFDCF0895B2 -:00000001FF diff --git a/AVRootloader/AVR/default/AVRootloader_TGY160A.hex b/AVRootloader/AVR/default/AVRootloader_TGY160A.hex deleted file mode 100644 index c827fd3..0000000 --- a/AVRootloader/AVR/default/AVRootloader_TGY160A.hex +++ /dev/null @@ -1,35 +0,0 @@ -:020000020000FC -:02000000FFFF00 -:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7 -:103E10007FE0A4BE60936000709360005098589853 -:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC -:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930 -:103E40004899E1F789F021970296A8F1489BFBCFAA -:103E5000C59523972696EC0170F74D9760F36C019A -:103E600011976A09489BE1F731F111976A0948995E -:103E7000E1F709F197D005900016C1F61A9581F780 -:103E80008AD0A1F614E0059178D01A95E1F700E305 -:103E900074D0450180D0B8017E3F20F07CD0E8018D -:103EA00070FDF80178D002EC99F77E3F39F078F791 -:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC -:103EC0007D016BD00D932197E1F77395EBCF7330A4 -:103ED00060F570FB05ECE701E0301EE3F107D0F47C -:103EE00083E087D076F481E040E40990199081D096 -:103EF00032964A95D1F7E058F040C058D04085E05E -:103F000078D081E176D040E800EC1FEF05900EF408 -:103F100019911011BDCF4A95C9F726F4CA17DB07CE -:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF -:103F3000099015900110ACCFCA17DB07C9F76A9535 -:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F -:103F5000F89A00B509D06A95C1F703D098CF01EC63 -:103F600097CF84010AD0012F802648E09694879449 -:103F700010F4932682264A95C9F7A89529D028D00F -:103F80004AE000959AB924D0069508F090E002D056 -:103F90004A95C1F7089501D0102FA895489BFECFF0 -:103FA0004899FECF48E0C6019695879512D010D06B -:103FB00006954899006807FD82269694879408F430 -:103FC000932608F482264A9591F789248924089536 -:103FD000C6010497F0F78D3F18F011F08F3F01F004 -:103FE00091E00895424F4F544C4F41444552940B39 -:0E3FF000060487BFE89597B790FDFDCF0895B2 -:00000001FF diff --git a/AVRootloader/Windows/AVRootloader.dev b/AVRootloader/Windows/AVRootloader.dev deleted file mode 100644 index 90b3139..0000000 --- a/AVRootloader/Windows/AVRootloader.dev +++ /dev/null @@ -1,108 +0,0 @@ -ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4 -9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0 -9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0 -9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0 -9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0 -9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0 -920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0 -9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32 -9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16 -9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32 -9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 -9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32 -9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16 -930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0 -930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32 -9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0 -9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0 -9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32 -9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32 -9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0 -9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16 -9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16 -940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0 -9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 -9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32 -9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0 -9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32 -9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32 -9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32 -9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32 -9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32 -9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32 -9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 -9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32 -958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32 -9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32 -9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32 -9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 -9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32 -9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32 -9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32 -9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 -9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32 -9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 -9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32 diff --git a/AVRootloader/Windows/AVRootloader.exe b/AVRootloader/Windows/AVRootloader.exe deleted file mode 100644 index 125bd95ce21f6c6824ea9eba02fdc6eaf11f0cb8..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 798208 zcmd3Pd3;pW`S+bA$q)u+fUpON8WdzPF(^wwhlB}XpCklA*hC=)MBta)0n`AK4r#eL zrcJHwYg_G4sP!@Aoz$tOQjChCm=&864lBwwnCZ`<^wSML_B1HUcDvGb;Om{Qs+WR+G zR?aG1R-CZ9Xw^eSiyujN#9gc=Jg_vO$h|Vby>iLYqJ%liR;Jw5B{p%?kCFX<>E?1O 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