Now atmega64 and atmega2561 support

4refr0nt · May 23, 2014 · da1f1c5 · da1f1c5
1 parent 98cb17e
commit da1f1c5
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Showing 11 changed files with 13,186 additions and 4,529 deletions.
diff --git a/bin/er9x-128.hex b/bin/er9x-128.hex
diff --git a/bin/er9x-2561.hex b/bin/er9x-2561.hex
diff --git a/bin/er9x-64.hex b/bin/er9x-64.hex
diff --git a/bin/er9x.hex b/bin/er9x.hex
diff --git a/source/er9x-frsky/compile-128.bat b/source/er9x-frsky/compile-128.bat
@@ -0,0 +1,4 @@
+rm ../../bin/er9x-128.hex
+make clean
+make CPU=128 EXT=FRSKY
+mv er9x.hex ../../bin/er9x-128.hex
diff --git a/source/er9x-frsky/compile-2561.bat b/source/er9x-frsky/compile-2561.bat
@@ -0,0 +1,4 @@
+rm ../../bin/er9x-2561.hex
+make clean
+make CPU=2561 EXT=FRSKY
+mv er9x.hex ../../bin/er9x-2561.hex
diff --git a/source/er9x-frsky/compile-64.bat b/source/er9x-frsky/compile-64.bat
@@ -0,0 +1,4 @@
+rm ../../bin/er9x-64.hex
+make clean
+make EXT=FRSKY TEMPLATES=NO
+mv er9x.hex ../../bin/er9x-64.hex
diff --git a/source/er9x-frsky/compile.bat b/source/er9x-frsky/compile.bat
diff --git a/source/er9x-frsky/en.h b/source/er9x-frsky/en.h
@@ -410,26 +410,26 @@
 #define AUTOTUNE    15                  // autotune the vehicle's roll and pitch gains
 #define HYBRID      16                  // hybrid - position hold with manual override
 */
-#define STR_MAV_FM_0     	 "STABILIZE "
-#define STR_MAV_FM_1     	 "  ACRO    "
-#define STR_MAV_FM_2     	 " ALTHOLD  "
-#define STR_MAV_FM_3     	 "  AUTO    "
-#define STR_MAV_FM_4     	 " GUIDED   "
-#define STR_MAV_FM_5     	 " LOITER   "
-#define STR_MAV_FM_6   		 "   RTL    "
-#define STR_MAV_FM_7     	 " CIRCLE   "
-#define STR_MAV_FM_9 		 "  LAND    "
-#define STR_MAV_FM_10     	 "OF LOITER "
-#define STR_MAV_FM_11		 "  DRIFT   "
-#define STR_MAV_FM_13		 "  SPORT   "
-#define STR_MAV_FM_14		 "   FLIP   "
-#define STR_MAV_FM_15 		 "AUTOTUNE  "
-#define STR_MAV_FM_16 		 " HYBRID   "
-#define STR_MAV_FM_97 		 " Unknown  "
-#define STR_MAV_FM_98 		 "NO DRIVER "
-#define STR_MAV_FM_99 		 "  NO MAV  "
-#define STR_MAV_ARMED  		 "   ARMED  "
-#define STR_MAV_DISARMED  	 " Disarmed "
+#define STR_MAV_FM_0     	 "STABILIZE"
+#define STR_MAV_FM_1     	 "  ACRO   "
+#define STR_MAV_FM_2     	 " ALTHOLD "
+#define STR_MAV_FM_3     	 "  AUTO   "
+#define STR_MAV_FM_4     	 " GUIDED  "
+#define STR_MAV_FM_5     	 " LOITER  "
+#define STR_MAV_FM_6   		 "   RTL   "
+#define STR_MAV_FM_7     	 " CIRCLE  "
+#define STR_MAV_FM_9 		 "  LAND   "
+#define STR_MAV_FM_10     	 "OF LOITER"
+#define STR_MAV_FM_11		 "  DRIFT  "
+#define STR_MAV_FM_13		 "  SPORT  "
+#define STR_MAV_FM_14		 "   FLIP  "
+#define STR_MAV_FM_15 		 "AUTOTUNE "
+#define STR_MAV_FM_16 		 " HYBRID  "
+#define STR_MAV_FM_97 		 " Unknown "
+#define STR_MAV_FM_98 		 "NO DRIVER"
+#define STR_MAV_FM_99 		 "  NO MAV "
+#define STR_MAV_ARMED  		 "   ARMED "
+#define STR_MAV_DISARMED  	 " Disarmed"
 #define STR_MAV_GPS      	 "GPS:"
 #define STR_MAV_GPS_3DFIX	 "3D Fix"
 #define STR_MAV_GPS_2DFIX	 "2D Fix"

diff --git a/source/er9x-frsky/menus.cpp b/source/er9x-frsky/menus.cpp
@@ -950,6 +950,28 @@ void MState2::check_simple(uint8_t event, uint8_t curr, const MenuFuncP *menuTab
     check(event, curr, menuTab, menuTabSize, 0, 0, maxrow);
 }
 
+#if !defined(CPUM128) && !defined(CPUM2561)
+const int8_t COS[] = { 100,97,87,71,50,26,0,-26,-50,-71,-87,-97,-100,-97,-87,-71,-50,-26,0,26,50,71,87,97,100 };
+const int8_t SIN[] = { 0,26,50,71,87,97,100,97,87,71,50,26,0,-26,-50,-71,-87,-97,-100,-97,-87,-71,-50,-26,0   };
+
+uint16_t normalize( int16_t alpha )
+{
+   if ( alpha > 360 ) alpha -= 360;
+   if ( alpha <   0 ) alpha = 360 + alpha;
+   alpha /= 15;
+   return alpha ;
+}
+int8_t rcos100( int16_t alpha )
+{
+   alpha = normalize( alpha );
+   return COS[alpha];
+}
+int8_t rsin100( int16_t alpha )
+{
+   alpha = normalize( alpha );
+   return SIN[alpha];
+}
+#endif
 //void MState2::check_submenu_simple(uint8_t event, uint8_t maxrow)
 //{
 //    check_simple(event, 0, 0, 0, maxrow);
@@ -6786,7 +6808,6 @@ const static prog_uint8_t APM xt[4] = {128*1/4+2, 4, 128-4, 128*3/4-2};
 								lcd_hbar( 65, 57, 49, 6, FrskyHubData[FR_TXRSI_COPY] ) ;
 				// THROTTLE bar, %
 				lcd_vbar( 0, 1 * FH, 4, 6 * FH - 1, FrskyHubData[FR_RPM] ) ;
-#if defined(CPUM128) || defined(CPUM2561)
 				uint8_t x0 = 119;
 				uint8_t y0 = 30;
 				uint8_t r  = 8;
@@ -6803,16 +6824,18 @@ const static prog_uint8_t APM xt[4] = {128*1/4+2, 4, 128-4, 128*3/4-2};
 				}
 				hdg = hdg - hdg_home + 270 ; // use SIMPLE mode 
 //				lcd_outdez( 15 * FW, 3 * FH, hdg ) ;
-//				if ( hdg > 360 ) hdg -= 360;
-//				if ( hdg < 0 ) hdg = 360 + hdg;
 				for (int8_t i = -3; i < r; i++)
 					{
-						x = x0 + i * cos ( hdg * PI / 180.0 ); // TODO: sin & cos -> tables for smaller binary
+#if defined(CPUM128) || defined(CPUM2561)
+						x = x0 + i * cos ( hdg * PI / 180.0 );
 						y = y0 + i * sin ( hdg * PI / 180.0 );
+#else
+						x = x0 + ( i * rcos100 ( hdg ) ) / 100; 
+						y = y0 + ( i * rsin100 ( hdg ) ) / 100;
+#endif
 						lcd_plot(x, y);
 					}
 
-#endif
             }
 /* Extra data for Mavlink via FrSky */
             else		// Custom screen

diff --git a/source/er9x-frsky/stamp-er9x.h b/source/er9x-frsky/stamp-er9x.h
@@ -1,6 +1,6 @@
 //Automatically generated file - do not edit
-#define DATE_STR "22.05.2014"
-#define TIME_STR "01:44:55"
-#define SUB_VERS 44
+#define DATE_STR "24.05.2014"
+#define TIME_STR "02:24:03"
+#define SUB_VERS 86
 #define SVN_VERS "er9x-mav-r13"
 #define MOD_VERS "FRSKY   128  "