Cosmetics
This commit is contained in:
Bertrand Songis
+225
-231
@@ -57,8 +57,8 @@ inline void DSM2_EnableTXD(void)
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}
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#endif
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void set_timer3_capture( void ) ;
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void set_timer3_ppm( void ) ;
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void set_timer3_capture(void);
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void set_timer3_ppm(void);
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void startPulses()
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{
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@@ -152,141 +152,134 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation (BLOCKING ISR)
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void setupPulsesPPM(uint8_t proto)
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{
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// Total frame length is a fixed 22.5msec (more than 9 channels is non-standard and requires this to be extended.)
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// Each channel's pulse is 0.7 to 1.7ms long, with a 0.3ms stop tail, making each compelte cycle 1 to 2ms.
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// Total frame length is a fixed 22.5msec (more than 9 channels is non-standard and requires this to be extended.)
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// Each channel's pulse is 0.7 to 1.7ms long, with a 0.3ms stop tail, making each compelte cycle 1 to 2ms.
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int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
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int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
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uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]);
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uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]);
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//The pulse ISR is 2mhz that's why everything is multiplied by 2
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uint8_t p = (proto == PROTO_PPM16 ? 16 : 8) + (g_model.ppmNCH * 2); //Channels *2
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uint16_t q = (g_model.ppmDelay*50+300)*2; // Stoplen *2
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int32_t rest = 22500u*2 - q;
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//The pulse ISR is 2mhz that's why everything is multiplied by 2
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uint8_t p = (proto == PROTO_PPM16 ? 16 : 8) + (g_model.ppmNCH * 2); //Channels *2
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uint16_t q = (g_model.ppmDelay*50+300)*2; // Stoplen *2
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int32_t rest = 22500u*2 - q;
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rest += (int32_t(g_model.ppmFrameLength))*1000;
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for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i<p; i++) {
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int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
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rest -= v;
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*ptr++ = q;
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*ptr++ = v - q; // total pulse width includes stop phase
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}
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rest += (int32_t(g_model.ppmFrameLength))*1000;
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for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i<p; i++) {
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int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
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rest -= v;
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*ptr++ = q;
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*ptr++ = v - q; // total pulse width includes stop phase
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}
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*ptr++ = q;
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if (rest > 65535) rest = 65535; /* prevents overflows */
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if (rest < 9000) rest = 9000;
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*ptr++ = q;
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if (rest > 65535) rest = 65535; /* prevents overflows */
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if (rest < 9000) rest = 9000;
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if (proto == PROTO_PPM) {
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*ptr++ = rest - SETUP_PULSES_DURATION;
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pulses2MHzRPtr = pulses2MHz;
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}
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else {
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*ptr++ = rest;
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B3_comp_value = rest - SETUP_PULSES_DURATION; // 500uS before end of sync pulse
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}
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if (proto == PROTO_PPM) {
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*ptr++ = rest - SETUP_PULSES_DURATION;
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pulses2MHzRPtr = pulses2MHz;
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}
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else {
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*ptr++ = rest;
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B3_comp_value = rest - SETUP_PULSES_DURATION; // 500uS before end of sync pulse
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}
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*ptr = 0;
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*ptr = 0;
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}
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#if defined(PXX)
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const pm_uint16_t CRCTable[] PROGMEM =
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{
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0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
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0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
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0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
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0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
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0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
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0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
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0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
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0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
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0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
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0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
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0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
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0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
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0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
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0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
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0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
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0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
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0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
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0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
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0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
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0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
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0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
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0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
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0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
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0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
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0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
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0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
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0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
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0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
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0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
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0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
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0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
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0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
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0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
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0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
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0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
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0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
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0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
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0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
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0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
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0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
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0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
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0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
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0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
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0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
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0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
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0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
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0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
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0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
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0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
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0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
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0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
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0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
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0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
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0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
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0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
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0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
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0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
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0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
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0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
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0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
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0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
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0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
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0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
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0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
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};
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uint8_t PcmByte ;
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uint8_t PcmBitCount ;
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uint16_t PcmCrc ;
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uint8_t PcmOnesCount ;
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uint8_t PcmByte;
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uint8_t PcmBitCount;
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uint16_t PcmCrc;
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uint8_t PcmOnesCount;
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void crc( uint8_t data )
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void crc(uint8_t data)
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{
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PcmCrc=(PcmCrc<<8)^pgm_read_word(&CRCTable[((PcmCrc>>8)^data) & 0xFF]);
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PcmCrc = (PcmCrc<<8)^pgm_read_word(&CRCTable[((PcmCrc>>8)^data) & 0xFF]);
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}
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void putPcmPart( uint8_t value )
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void putPcmPart(uint8_t value)
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{
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PcmByte >>= 2 ;
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PcmByte |= value ;
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if ( ++PcmBitCount >= 4 )
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{
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*pulses2MHzWPtr++ = PcmByte ;
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PcmBitCount = PcmByte = 0 ;
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}
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PcmByte >>= 2;
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PcmByte |= value;
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if (++PcmBitCount >= 4) {
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*pulses2MHzWPtr++ = PcmByte;
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PcmBitCount = PcmByte = 0;
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}
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}
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void putPcmFlush()
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{
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while ( PcmBitCount != 0 )
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{
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putPcmPart( 0 ) ; // Empty
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}
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*pulses2MHzWPtr = 0 ; // Mark end
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while (PcmBitCount != 0) {
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putPcmPart(0); // Empty
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}
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*pulses2MHzWPtr = 0; // Mark end
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}
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void putPcmBit( uint8_t bit )
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void putPcmBit(uint8_t bit)
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{
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if ( bit )
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{
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PcmOnesCount += 1 ;
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putPcmPart( 0x80 ) ;
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}
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else
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{
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PcmOnesCount = 0 ;
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putPcmPart( 0xC0 ) ;
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}
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if ( PcmOnesCount >= 5 )
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{
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putPcmBit( 0 ) ; // Stuff a 0 bit in
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}
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if (bit) {
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PcmOnesCount += 1;
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putPcmPart(0x80);
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}
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else {
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PcmOnesCount = 0;
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putPcmPart(0xC0);
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}
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if (PcmOnesCount >= 5) {
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putPcmBit(0); // Stuff a 0 bit in
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}
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}
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void putPcmByte( uint8_t byte )
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void putPcmByte(uint8_t byte)
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{
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uint8_t i ;
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uint8_t i;
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crc( byte ) ;
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crc(byte);
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for (i=0; i<8; i++)
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{
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putPcmBit( byte & 0x80 ) ;
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byte <<= 1 ;
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}
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for (i=0; i<8; i++) {
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putPcmBit(byte & 0x80);
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byte <<= 1;
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}
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}
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@@ -294,57 +287,57 @@ void putPcmHead()
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{
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// send 7E, do not CRC
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// 01111110
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putPcmPart( 0xC0 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0xC0 ) ;
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putPcmPart(0xC0);
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putPcmPart(0x80);
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putPcmPart(0x80);
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putPcmPart(0x80);
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putPcmPart(0x80);
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putPcmPart(0x80);
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putPcmPart(0x80);
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putPcmPart(0xC0);
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}
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uint16_t scaleForPXX( uint8_t i )
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uint16_t scaleForPXX(uint8_t i)
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{
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int16_t value = ( ( i < 16 ) ? channelOutputs[i] * 3 / 4 : 0 ) + 1024;
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int16_t value = ((i < 16) ? channelOutputs[i] * 3 / 4 : 0) + 1024;
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return limit<uint16_t>(1, value, 2046);
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}
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void setupPulsesPXX()
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{
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uint16_t chan ;
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uint16_t chan_1 ;
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uint16_t chan;
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uint16_t chan_1;
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pulses2MHzWPtr = pulses2MHz;
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pulses2MHzRPtr = pulses2MHz;
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pulses2MHzWPtr = pulses2MHz;
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pulses2MHzRPtr = pulses2MHz;
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PcmCrc = 0 ;
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PcmBitCount = PcmByte = 0 ;
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PcmOnesCount = 0 ;
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putPcmHead() ;
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putPcmByte(g_model.header.modelId[0]);
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uint8_t flag1 = 0;
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if (moduleFlag[0] == MODULE_BIND)
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flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
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else if (moduleFlag[0] == MODULE_RANGECHECK)
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flag1 |= PXX_SEND_RANGECHECK;
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putPcmByte(flag1) ; // First byte of flags
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putPcmByte( 0 ) ; // Second byte of flags
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for (uint8_t i=0; i<8; i+=2) { // First 8 channels only
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chan = scaleForPXX(i);
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chan_1 = scaleForPXX(i+1);
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putPcmByte( chan ) ; // Low byte of channel
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putPcmByte( ( ( chan >> 8 ) & 0x0F ) | ( chan_1 << 4) ) ; // 4 bits each from 2 channels
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putPcmByte( chan_1 >> 4 ) ; // High byte of channel
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}
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putPcmByte(0);
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chan = PcmCrc ; // get the crc
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putPcmByte( chan>>8 ) ; // Checksum lo
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putPcmByte( chan ) ; // Checksum hi
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putPcmHead( ) ;
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putPcmFlush() ;
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OCR1C += 40000 ; // 20mS on
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PORTB |= (1<<OUT_B_PPM);
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PcmCrc = 0;
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PcmBitCount = PcmByte = 0;
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PcmOnesCount = 0;
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putPcmHead();
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putPcmByte(g_model.header.modelId[0]);
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uint8_t flag1 = 0;
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if (moduleFlag[0] == MODULE_BIND)
|
||||
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
|
||||
else if (moduleFlag[0] == MODULE_RANGECHECK)
|
||||
flag1 |= PXX_SEND_RANGECHECK;
|
||||
putPcmByte(flag1); // First byte of flags
|
||||
putPcmByte(0); // Second byte of flags
|
||||
for (uint8_t i=0; i<8; i+=2) { // First 8 channels only
|
||||
chan = scaleForPXX(i);
|
||||
chan_1 = scaleForPXX(i+1);
|
||||
putPcmByte(chan); // Low byte of channel
|
||||
putPcmByte(((chan >> 8) & 0x0F) | (chan_1 << 4)); // 4 bits each from 2 channels
|
||||
putPcmByte(chan_1 >> 4); // High byte of channel
|
||||
}
|
||||
putPcmByte(0);
|
||||
chan = PcmCrc; // get the crc
|
||||
putPcmByte(chan>>8); // Checksum lo
|
||||
putPcmByte(chan); // Checksum hi
|
||||
putPcmHead();
|
||||
putPcmFlush();
|
||||
OCR1C += 40000; // 20mS on
|
||||
PORTB |= (1<<OUT_B_PPM);
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -353,7 +346,7 @@ void setupPulsesPXX()
|
||||
// DSM2 protocol pulled from th9x - Thanks thus!!!
|
||||
|
||||
//http://www.rclineforum.de/forum/board49-zubeh-r-elektronik-usw/fernsteuerungen-sender-und-emp/neuer-9-kanal-sender-f-r-70-au/Beitrag_3897736#post3897736
|
||||
//(dsm2( LP4DSM aus den RTF ( Ready To Fly ) Sendern von Spektrum.
|
||||
//(dsm2(LP4DSM aus den RTF (Ready To Fly) Sendern von Spektrum.
|
||||
//http://www.rcgroups.com/forums/showpost.php?p=18554028&postcount=237
|
||||
// /home/thus/txt/flieger/PPMtoDSM.c
|
||||
/*
|
||||
@@ -477,30 +470,30 @@ inline void _send_1(uint8_t v)
|
||||
#define BITLEN_DSM2 (8*2) //125000 Baud
|
||||
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
|
||||
{
|
||||
bool lev = 0;
|
||||
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
|
||||
for (uint8_t i=0; i<=8; i++) { //8Bits + Stop=1
|
||||
bool nlev = b & 1; //lsb first
|
||||
if (lev == nlev){
|
||||
len += BITLEN_DSM2;
|
||||
}
|
||||
else {
|
||||
#if defined(CPUM2560)
|
||||
// G: Compensate for main clock synchronisation -- to get accurate 8us bit length
|
||||
// NOTE: This has now been tested as NOT required on the stock board, with the ATmega64A chip.
|
||||
_send_1(nlev ? len-5 : len+3);
|
||||
#else
|
||||
_send_1(len-1);
|
||||
#endif
|
||||
len = BITLEN_DSM2;
|
||||
lev = nlev;
|
||||
}
|
||||
b = (b>>1) | 0x80; //shift in stop bit
|
||||
bool lev = 0;
|
||||
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
|
||||
for (uint8_t i=0; i<=8; i++) { //8Bits + Stop=1
|
||||
bool nlev = b & 1; //lsb first
|
||||
if (lev == nlev){
|
||||
len += BITLEN_DSM2;
|
||||
}
|
||||
#if defined (CPUM2560)
|
||||
_send_1(len+BITLEN_DSM2+3); // 2 stop bits
|
||||
else {
|
||||
#if defined(CPUM2560)
|
||||
// G: Compensate for main clock synchronisation -- to get accurate 8us bit length
|
||||
// NOTE: This has now been tested as NOT required on the stock board, with the ATmega64A chip.
|
||||
_send_1(nlev ? len-5 : len+3);
|
||||
#else
|
||||
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
|
||||
_send_1(len-1);
|
||||
#endif
|
||||
len = BITLEN_DSM2;
|
||||
lev = nlev;
|
||||
}
|
||||
b = (b>>1) | 0x80; //shift in stop bit
|
||||
}
|
||||
#if defined (CPUM2560)
|
||||
_send_1(len+BITLEN_DSM2+3); // 2 stop bits
|
||||
#else
|
||||
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -579,7 +572,7 @@ static void _send_u8(uint8_t u8)
|
||||
: [p]"=z"(pulses2MHzWPtr)
|
||||
: "%[p]"(pulses2MHzWPtr)
|
||||
, [u]"r"(u8)
|
||||
);
|
||||
);
|
||||
|
||||
#endif
|
||||
}
|
||||
@@ -595,7 +588,7 @@ static void _send_u16(uint16_t u16)
|
||||
: [p]"=z"(pulses2MHzWPtr)
|
||||
: "%[p]"(pulses2MHzWPtr)
|
||||
, [t0]"r"(u16)
|
||||
);
|
||||
);
|
||||
|
||||
#endif
|
||||
}
|
||||
@@ -735,21 +728,22 @@ void setupPulses()
|
||||
uint8_t required_protocol = g_model.protocol;
|
||||
|
||||
#if defined(DEBUG) && !defined(VOICE)
|
||||
PORTH |= 0x80; // PORTH:7 LOW->HIGH signals start of setupPulses()
|
||||
PORTH |= 0x80; // PORTH:7 LOW->HIGH signals start of setupPulses()
|
||||
#endif
|
||||
|
||||
if (s_pulses_paused)
|
||||
if (s_pulses_paused) {
|
||||
required_protocol = PROTO_NONE;
|
||||
}
|
||||
|
||||
#if defined(CPUM2560) && defined(DSM2_PPM) && defined(TX_CADDY)
|
||||
// This should be here, executed on every loop, to ensure re-setting of the
|
||||
// TX moudle power control output register, in case of electrical glitch.
|
||||
// (Following advice of Atmel for MCU's used in industrial / mission cricital
|
||||
// applications.)
|
||||
if (IS_DSM2_PROTOCOL(required_protocol))
|
||||
PORTH &= ~0x80;
|
||||
else
|
||||
PORTH |= 0x80;
|
||||
if (IS_DSM2_PROTOCOL(required_protocol))
|
||||
PORTH &= ~0x80;
|
||||
else
|
||||
PORTH |= 0x80;
|
||||
#endif
|
||||
|
||||
if (s_current_protocol[0] != required_protocol) {
|
||||
@@ -770,10 +764,10 @@ void setupPulses()
|
||||
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
|
||||
TIFR1 = 0x2F;
|
||||
#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 interrupts off
|
||||
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
|
||||
TIFR = 0x3C; // Clear all pending interrupts
|
||||
ETIFR = 0x3F; // Clear all pending interrupts
|
||||
#endif
|
||||
|
||||
switch (required_protocol) {
|
||||
@@ -827,7 +821,7 @@ void setupPulses()
|
||||
TIMSK |= 0x10; // Enable COMPA
|
||||
TCCR1A = (0<<WGM10);
|
||||
#endif
|
||||
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;
|
||||
@@ -843,7 +837,7 @@ void setupPulses()
|
||||
OCR3B = 5000;
|
||||
set_timer3_ppm();
|
||||
PORTB &= ~(1<<OUT_B_PPM); // Hold PPM output low
|
||||
break ;
|
||||
break;
|
||||
|
||||
#if defined(DSM2_SERIAL) && defined(FRSKY)
|
||||
case PROTO_DSM2_LP45:
|
||||
@@ -941,7 +935,7 @@ ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
|
||||
// OCR1B output pin (PPM_OUT) is pre-SET in setupPulses -- on every new
|
||||
// frame, for safety -- and then configured to toggle on each OCR1B compare match.
|
||||
// Thus, all we need do here is update the compare regisiter(s) ...
|
||||
uint8_t x ;
|
||||
uint8_t x;
|
||||
x = *pulses2MHzRPtr++; // Byte size
|
||||
ICR1 = x;
|
||||
OCR1B = (uint16_t)x; // Duplicate capture compare value for OCR1B, because Timer1 is in CTC mode
|
||||
@@ -950,10 +944,10 @@ ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
|
||||
|
||||
#else // manual bit-bang mode
|
||||
|
||||
uint8_t x ;
|
||||
uint8_t x;
|
||||
PORTB ^= (1<<OUT_B_PPM); // Toggle PPM_OUT
|
||||
x = *pulses2MHzRPtr++; // Byte size
|
||||
ICR1 = x ;
|
||||
ICR1 = x;
|
||||
if (x > 200) PORTB |= (1<<OUT_B_PPM); // Make sure pulses are the correct way up.
|
||||
|
||||
#endif
|
||||
@@ -963,22 +957,22 @@ ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
|
||||
#if defined(PXX)
|
||||
ISR(TIMER1_COMPB_vect) // PXX main interrupt
|
||||
{
|
||||
uint8_t x ;
|
||||
PORTB ^= (1<<OUT_B_PPM) ;
|
||||
uint8_t x;
|
||||
PORTB ^= (1<<OUT_B_PPM);
|
||||
x = *pulses2MHzRPtr; // Byte size
|
||||
if ( ( x & 1 ) == 0 )
|
||||
if ((x & 1) == 0)
|
||||
{
|
||||
OCR1B += 32 ;
|
||||
OCR1B += 32;
|
||||
}
|
||||
else
|
||||
{
|
||||
OCR1B += 16 ;
|
||||
OCR1B += 16;
|
||||
}
|
||||
if ( (x >>= 1) == 0 )
|
||||
if ((x >>= 1) == 0)
|
||||
{
|
||||
if ( *(++pulses2MHzRPtr) == 0 )
|
||||
if (*(++pulses2MHzRPtr) == 0)
|
||||
{
|
||||
OCR1B = OCR1C + 2000 ; // 1mS on from OCR1B
|
||||
OCR1B = OCR1C + 2000; // 1mS on from OCR1B
|
||||
}
|
||||
}
|
||||
else
|
||||
@@ -997,7 +991,7 @@ ISR(TIMER1_COMPC_vect) // DSM2_PPM or PXX end of frame
|
||||
#endif
|
||||
|
||||
#if defined(DSM2_PPM)
|
||||
ICR1 = 41536 ; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
|
||||
ICR1 = 41536; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
|
||||
if (OCR1C < 255) {
|
||||
OCR1C = 39000; // delay setup pulses by 19.5ms to reduce system latency
|
||||
}
|
||||
@@ -1018,7 +1012,7 @@ ISR(TIMER1_COMPC_vect) // DSM2_PPM or PXX end of frame
|
||||
|
||||
#if defined(PXX)
|
||||
// must be PXX
|
||||
setupPulses() ;
|
||||
setupPulses();
|
||||
#endif
|
||||
|
||||
#if defined(DSM2_PPM) && defined(PXX)
|
||||
@@ -1034,38 +1028,38 @@ void set_timer3_capture()
|
||||
{
|
||||
#ifndef SIMU
|
||||
#if defined (CPUM2560) || defined(CPUM2561) // TODO TIMSK3 in #define!
|
||||
TIMSK3 &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
|
||||
TIMSK3 &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C)); // Stop compare interrupts
|
||||
#else
|
||||
ETIMSK &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
|
||||
ETIMSK &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C)); // Stop compare interrupts
|
||||
#endif
|
||||
// TODO G: This can't work with V3.2/4.x boards. Select and use a different pin
|
||||
// for secondary 8-ch PPM output (PORTH or Spare1 or Spare2 maybe?)
|
||||
DDRE &= ~0x80; PORTE |= 0x80 ; // Bit 7 input + pullup
|
||||
// TODO G: This can't work with V3.2/4.x boards. Select and use a different pin
|
||||
// for secondary 8-ch PPM output (PORTH or Spare1 or Spare2 maybe?)
|
||||
DDRE &= ~0x80; PORTE |= 0x80; // Bit 7 input + pullup
|
||||
|
||||
TCCR3B = 0 ; // Stop counter
|
||||
TCCR3A = 0;
|
||||
// Noise Canceller enabled, neg. edge, clock at 16MHz / 8 (2MHz) (Correct for PCB V4.x+ also)
|
||||
TCCR3B = (1<<ICNC3) | (0b010 << CS30);
|
||||
TCCR3B = 0; // Stop counter
|
||||
TCCR3A = 0;
|
||||
// Noise Canceller enabled, neg. edge, clock at 16MHz / 8 (2MHz) (Correct for PCB V4.x+ also)
|
||||
TCCR3B = (1<<ICNC3) | (0b010 << CS30);
|
||||
|
||||
RESUME_PPMIN_INTERRUPT();
|
||||
RESUME_PPMIN_INTERRUPT();
|
||||
#endif
|
||||
}
|
||||
|
||||
void set_timer3_ppm()
|
||||
{
|
||||
#ifndef SIMU
|
||||
PAUSE_PPMIN_INTERRUPT();
|
||||
PAUSE_PPMIN_INTERRUPT();
|
||||
|
||||
DDRE |= 0x80; // Bit 7 output
|
||||
DDRE |= 0x80; // Bit 7 output
|
||||
|
||||
TCCR3B = 0 ; // Stop counter
|
||||
TCCR3A = (0<<WGM10);
|
||||
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8
|
||||
TCCR3B = 0; // Stop counter
|
||||
TCCR3A = (0<<WGM10);
|
||||
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8
|
||||
|
||||
#if defined (CPUM2560) || defined(CPUM2561)
|
||||
TIMSK3 |= ( (1<<OCIE3A) | (1<<OCIE3B) ); // enable immediately before mainloop
|
||||
TIMSK3 |= ((1<<OCIE3A) | (1<<OCIE3B)); // enable immediately before mainloop
|
||||
#else
|
||||
ETIMSK |= ( (1<<OCIE3A) | (1<<OCIE3B) ); // enable immediately before mainloop
|
||||
ETIMSK |= ((1<<OCIE3A) | (1<<OCIE3B)); // enable immediately before mainloop
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
@@ -1076,39 +1070,39 @@ void set_timer3_ppm()
|
||||
// and PPMSIM modes
|
||||
ISR(TIMER3_COMPA_vect) //2MHz pulse generation
|
||||
{
|
||||
static uint8_t pulsePol;
|
||||
static uint16_t *pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
||||
static uint8_t pulsePol;
|
||||
static uint16_t *pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
||||
|
||||
if (pulsePol) {
|
||||
PORTE |= 0x80 ; // (1<<OUT_B_PPM);
|
||||
pulsePol = 0;
|
||||
}
|
||||
else {
|
||||
PORTE &= ~0x80; // (1<<OUT_B_PPM);
|
||||
pulsePol = 1;
|
||||
}
|
||||
if (pulsePol) {
|
||||
PORTE |= 0x80; // (1<<OUT_B_PPM);
|
||||
pulsePol = 0;
|
||||
}
|
||||
else {
|
||||
PORTE &= ~0x80; // (1<<OUT_B_PPM);
|
||||
pulsePol = 1;
|
||||
}
|
||||
|
||||
OCR3A = *pulse2MHzPPM16RPtr++;
|
||||
OCR3B = B3_comp_value ;
|
||||
OCR3A = *pulse2MHzPPM16RPtr++;
|
||||
OCR3B = B3_comp_value;
|
||||
|
||||
if (*pulse2MHzPPM16RPtr == 0) {
|
||||
pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
||||
pulsePol = g_model.pulsePol;
|
||||
}
|
||||
if (*pulse2MHzPPM16RPtr == 0) {
|
||||
pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
||||
pulsePol = g_model.pulsePol;
|
||||
}
|
||||
|
||||
heartbeat |= HEART_TIMER_PULSES;
|
||||
heartbeat |= HEART_TIMER_PULSES;
|
||||
}
|
||||
|
||||
ISR(TIMER3_COMPB_vect) //2MHz pulse generation
|
||||
{
|
||||
sei() ;
|
||||
sei();
|
||||
if (s_current_protocol[0] != g_model.protocol) {
|
||||
if (s_current_protocol[0] == PROTO_PPMSIM) {
|
||||
setupPulses();
|
||||
}
|
||||
}
|
||||
else {
|
||||
setupPulsesPPM(g_model.protocol) ;
|
||||
setupPulsesPPM(g_model.protocol);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user