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IMPORTANT: PPM/DSM2 protocols BROKEN for several revisioins before this one.

Browse Source 
WARNING: All protocols shoul dbe testing on stock board again.

Fixed a number of problems relating to the (dis)enabling of hardware 
switched PPM_OUT for the G9XV4 board. I also broke a lot of stuff along 
the way over several previous commits, as I slowly learned how all the 
code went together and the 'whys' for some stuff. My bad.

In other words, this commit finally has DSM2=PPM mode working on the 
G9XV4 board without breaking a bunch of other stuff -- hopefully.

!! STOCK BOARD TESTING NEEDED !!
I am pretty sure I have not broken anything for the stock board code -- 
BUT it MUST be tested before the next release, because I have made quite 
a few changes in and around that code.
This commit is contained in:
gruvin@gmail.com
2012-08-26 23:18:44 +00:00
parent 2bd7cfae95
commit 2f7f0806dc
1 changed files with 88 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/pulses_avr.cpp
+88 -92
View File
@@ -61,37 +61,29 @@ void set_timer3_ppm( void ) ;
void startPulses()
{
#ifdef SIMU
s_current_protocol = g_model.protocol;
#else
setupPulses();
#ifdef DSM2_SERIAL
if (g_model.protocol != PROTO_DSM2)
#endif
{
#if defined(PCBV4)
// TODO g: There has to be a better place for this bug fix
OCR1B = 0xffff; /* Prevent any PPM_PUT pin toggle before the TCNT1 interrupt
fires for the first time and sets up the pulse period. */
// TCCR1A |= (1<<COM1B0); // (COM1B1=0 and COM1B0=1 in TCCR1A) toogle the state of PB6(OC1B) on each TCNT1==OCR1B
TCCR1A = (3<<COM1B0); // Connect OC1B to PPM_OUT pin (SET the state of PB6(OC1B) on next TCNT1==OCR1B)
fires for the first time and sets up the pulse period.
*** Prevents WDT reset loop. */
#endif
}
#if defined(PCBV4)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#ifdef SIMU
s_current_protocol = g_model.protocol;
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#endif
setupPulses();
#endif // SIMU
}
#define PULSES_SIZE 144
uint8_t pulses2MHz[PULSES_SIZE] = {0}; // TODO check this length, pulled from er9x, perhaps too big.
// G: Yes, too big. The PPM DSM2 code doesn't even use this any more, far as I can see.
// I'm pretty sure the original code put DSM2 bit bang data into here. But not any more?
uint8_t *pulses2MHzRPtr = pulses2MHz;
#if defined(DSM2) || defined(PXX) || defined(IRPROTOS)
@@ -161,18 +153,19 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation (BLOCKING ISR)
pulsePol = g_model.pulsePol;
if (!IS_PXX_PROTOCOL(s_current_protocol) && !IS_DSM2_PROTOCOL(s_current_protocol)) {
#if defined(PCBV4)
TIMSK1 &= ~(1<<OCIE1A); // stop reentrance (disable Timer1 interrupt)
TIMSK1 &= ~(1<<OCIE1A); // stop reentrance (disable Timer1 interrupt)
#else
TIMSK &= ~(1<<OCIE1A); // stop reentrance (disable Timer1 interrupt)
TIMSK &= ~(1<<OCIE1A); // stop reentrance (disable Timer1 interrupt)
#endif
sei(); // enable interrupts during setupPulses
setupPulses(); // does not sei() for setupPulsesPPM
cli();
setupPulses(); // does not sei() for setupPulsesPPM
// if setupPulses changed protocol to one that doesn't use COMPA then don't re-enable.
if (!IS_PXX_PROTOCOL(s_current_protocol) && !IS_DSM2_PROTOCOL(s_current_protocol)) {
cli();
#if defined(PCBV4)
TIMSK1 |= (1<<OCIE1A); // re-enable Timer1 interrupt
#else
@@ -749,114 +742,117 @@ void setupPulses()
#if defined(DSM2_PPM)
case PROTO_DSM2:
set_timer3_capture() ;
TCCR1B = 0; // Stop counter
OCR1C = 200; // 100 uS
TCNT1 = 300; // Past the OCR1C value
ICR1 = 44000; // Next frame starts in 22 mS
set_timer3_capture();
TCCR1B = 0; // Stop counter
OCR1C = 200; // 100 uS
TCNT1 = 300; // Past the OCR1C value
ICR1 = 44000; // Next frame starts in 22 mS
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~0x2F; // All interrupts off
TIFR1 = 0x2F;
TIMSK1 |= 0x28; // Enable CAPT and COMPC
TIMSK1 |= 0x28; // Enable CAPT and COMPC
TCCR1A = (0 << WGM10); // Also disconnects OC1B for PPM_OUT bit-bang mode
#else
TIMSK &= ~0x3C; // All interrupts off
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F ;
TIMSK |= 0x20; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
#endif
ETIFR = 0x3F;
TIMSK |= 0x20; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (0 << WGM10);
TCCR1B = (3 << WGM12) | (2 << CS10); // CTC ICR, 16MHz / 8
#endif
TCCR1B = (3 << WGM12) | (2 << CS10); // CTC ICR, 16MHz / 8
break;
#endif
#if defined(PXX)
case PROTO_PXX:
set_timer3_capture() ;
TCCR1B = 0 ; // Stop counter
TCNT1 = 0 ;
OCR1B = 6000 ; // Next frame starts in 3 mS
OCR1C = 4000 ; // Next frame setup in 2 mS
set_timer3_capture();
TCCR1B = 0; // Stop counter
TCNT1 = 0;
OCR1B = 6000; // Next frame starts in 3 mS
OCR1C = 4000; // Next frame setup in 2 mS
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1B) ; // Enable COMPB
TIMSK1 |= (1<<OCIE1C); // Enable COMPC
TIMSK1 |= (1<<OCIE1B); // Enable COMPB
TIMSK1 |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK &= ~0x3C; // All interrupts off
TIFR = 0x3C ;
ETIFR = 0x3F ;
TIMSK |= (1<<OCIE1B) ; // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
#endif
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F;
TIMSK |= (1<<OCIE1B); // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = 0;
TCCR1B = (2<<CS10); //ICNC3 16MHz / 8
#endif
TCCR1B = (2<<CS10); // ICNC3 16MHz / 8
break;
#endif
case PROTO_PPM16 :
TCCR1B = 0 ; // Stop counter
OCR1A = 40000 ; // Next frame starts in 20 mS
TCNT1 = 0 ;
case PROTO_PPM16:
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
TCNT1 = 0;
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~(1<<OCIE1C) ; // COMPC1 off
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK &= ~0x3C ; // All interrupts off
ETIMSK &= ~(1<<OCIE1C) ; // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10 ; // Enable COMPA
TIMSK &= ~0x3C; // All Timer1 interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C; // Clear all pending interrupts
ETIFR = 0x3F; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0<<WGM10);
#endif
TCCR1A = (0<<WGM10) ;
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
setupPulsesPPM(PROTO_PPM16);
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
break ;
OCR3A = 50000;
OCR3B = 5000;
set_timer3_ppm();
break;
case PROTO_PPMSIM :
TCCR1B = 0 ; // Stop counter
TCNT1 = 0 ;
case PROTO_PPMSIM:
TCCR1B = 0; // Stop counter
TCNT1 = 0;
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~(1<<OCIE1C) ; // COMPC1 off
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
TCCR1A = 0; // Disconnect OC1B for bit-bang PPM switching
#else
TIMSK &= ~0x3C ; // All interrupts off
ETIMSK &= ~(1<<OCIE1C) ; // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK &= ~0x3C; // All Timer1 interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C; // Clear all pending interrupts
ETIFR = 0x3F; // Clear all pending interrupts
#endif
setupPulsesPPM(PROTO_PPMSIM);
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
PORTB &= ~(1<<OUT_B_PPM); // Hold PPM output low
OCR3A = 50000;
OCR3B = 5000;
set_timer3_ppm();
PORTB &= ~(1<<OUT_B_PPM); // Hold PPM output low
break ;
default:
set_timer3_capture() ;
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
set_timer3_capture();
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
TCNT1 = 0;
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK &= ~0x3C; // All interrupts off
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
#endif
// TCNT1 2MHz counter (auto-cleared) plus Capture Compare int.
// Used for PPM pulse generator
ETIFR = 0x3F; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0 << WGM10);
TCCR1B = (1 << WGM12) | (2 << CS10); // CTC OCRA, 16MHz / 8
#endif
TCCR1B = (1 << WGM12) | (2 << CS10); // CTC OCRA, 16MHz / 8
break;
}
}
@@ -885,7 +881,7 @@ void setupPulses()
#endif
default:
// no sei here
sei(); // no sei here g: why not? breaks for me on V4 board.
setupPulsesPPM(PROTO_PPM);
// if PPM16, PPM16 pulses are set up automatically within the interrupts
break;