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200bytes flash saved in pulses

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This commit is contained in:
bsongis
2012-06-01 20:47:44 +00:00
parent a834931c4d
commit 57fb4d41f3
1 changed files with 31 additions and 48 deletions
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src/pulses_avr.cpp
+31 -48
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@@ -46,6 +46,8 @@
uint8_t s_current_protocol = 255;
uint8_t s_pulses_paused = 0;
uint16_t B3_comp_value;
#ifdef DSM2_SERIAL
inline void DSM2_EnableTXD(void)
{
@@ -56,7 +58,6 @@ inline void DSM2_EnableTXD(void)
void set_timer3_capture( void ) ;
void set_timer3_ppm( void ) ;
void setupPulsesPPM16( uint8_t proto ) ;
void startPulses()
{
@@ -192,36 +193,48 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
#endif
FORCEINLINE void setupPulsesPPM()
void setupPulsesPPM(uint8_t proto)
{
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t *ptr = (uint16_t *)pulses2MHz;
uint8_t p = 8+(g_model.ppmNCH*2); // channels count
uint16_t q = (g_model.ppmDelay*50+300)*2; //Stoplen *2
uint32_t rest = 22500u*2-q; // Minimum Framelen=22.5 ms + 10000 to avoid int32_t in the next line
uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]);
uint8_t p = (proto == PROTO_PPM16 ? 16 : 8) + (g_model.ppmNCH * 2); //Channels *2
uint16_t q = (g_model.ppmDelay*50+300)*2; // Stoplen *2
uint32_t rest = 22500u*2 - q; // Minimum Framelen=22.5ms
rest += (int32_t(g_model.ppmFrameLength))*1000;
for (uint8_t i=0; i<p; i++) {
for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i<p; i++) {
#ifdef PPM_CENTER_ADJUSTABLE
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*(PPM_CENTER+g_model.servoCenter[i]);
#else
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*PPM_CENTER;
#endif
rest -= v;
*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
*ptr++ = q;
if (proto == PROTO_PPM) {
*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
*ptr++ = q;
}
else {
*ptr++ = q;
*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
}
}
if (proto == PROTO_PPM) {
*ptr = rest;
*(ptr+1) = q;
pulses2MHzRPtr = pulses2MHz;
}
else {
*ptr = q; //reverse these two assignments
*(ptr+1) = rest;
B3_comp_value = rest - 1000 ; // 500uS before end of sync pulse
}
*ptr = rest;
*(ptr+1) = q;
*(ptr+2) = 0;
pulses2MHzRPtr = pulses2MHz;
}
#if defined(PXX)
const pm_uint16_t CRCTable[] PROGMEM =
{
@@ -771,7 +784,7 @@ void setupPulses()
#endif
TCCR1A = (0<<WGM10) ;
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
setupPulsesPPM16(PROTO_PPM16);
setupPulsesPPM(PROTO_PPM16);
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
@@ -790,7 +803,7 @@ void setupPulses()
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
#endif
setupPulsesPPM16(PROTO_PPMSIM);
setupPulsesPPM(PROTO_PPMSIM);
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
@@ -844,7 +857,7 @@ void setupPulses()
default:
// no sei here
setupPulsesPPM();
setupPulsesPPM(PROTO_PPM);
// if PPM16, PPM16 pulses are set up automatically within the interrupts
break;
}
@@ -974,8 +987,6 @@ void set_timer3_ppm()
#endif
}
uint16_t B3_comp_value ;
#ifndef SIMU
ISR(TIMER3_COMPA_vect) //2MHz pulse generation
@@ -1012,37 +1023,9 @@ ISR(TIMER3_COMPB_vect) //2MHz pulse generation
}
}
else {
setupPulsesPPM16(g_model.protocol) ;
setupPulsesPPM(g_model.protocol) ;
}
}
#endif // SIMU
void setupPulsesPPM16(uint8_t proto)
{
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t *ptr ;
ptr = (uint16_t *) &pulses2MHz[PULSES_SIZE/2] ;
uint8_t p= ( ( proto == PROTO_PPM16) ? 16 : 8 ) +g_model.ppmNCH*2 ; //Channels *2
uint16_t q=(g_model.ppmDelay*50+300)*2; //Stoplen *2
uint32_t rest=22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int32_t(g_model.ppmFrameLength))*1000;
for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i<p; i++) {
#ifdef PPM_CENTER_ADJUSTABLE
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*(PPM_CENTER+g_model.servoCenter[i]);
#else
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*PPM_CENTER;
#endif
rest -= v;
*ptr++ = q;
*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
}
*ptr = q; //reverse these two assignments
*(ptr+1) = rest;
B3_comp_value = rest - 1000 ; // 500uS before end of sync pulse
*(ptr+2) = 0;
}