diff --git a/radio/src/pulses/pulses_avr.cpp b/radio/src/pulses/pulses_avr.cpp index 80210282e..69380efef 100644 --- a/radio/src/pulses/pulses_avr.cpp +++ b/radio/src/pulses/pulses_avr.cpp @@ -156,78 +156,78 @@ ISR(TIMER1_COMPA_vect) // 2MHz pulse generation (BLOCKING ISR). void setupPulsesPPM(uint8_t proto) { - // Total frame length is a fixed 22.5msec (more than 9 channels is non-standard and requires this to be extended.) - // Each channel's pulse is 0.7 to 1.7ms long, with a 0.3ms stop tail, making each compelte cycle 1 to 2ms. + // Total frame length is a fixed 22.5msec (more than 9 channels is non-standard and requires this to be extended.) + // Each channel's pulse is 0.7 to 1.7ms long, with a 0.3ms stop tail, making each compelte cycle 1 to 2ms. - int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec + int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec - uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]); + uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]); - //The pulse ISR is 2mhz that's why everything is multiplied by 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 - int32_t rest = 22500u*2 - q; + //The pulse ISR is 2mhz that's why everything is multiplied by 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 + int32_t rest = 22500u*2 - q; - rest += (int32_t(g_model.ppmFrameLength))*1000; - for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i 65535) rest = 65535; /* prevents overflows */ - if (rest < 9000) rest = 9000; + *ptr++ = q; + if (rest > 65535) rest = 65535; /* prevents overflows */ + if (rest < 9000) rest = 9000; - if (proto == PROTO_PPM) { - *ptr++ = rest - SETUP_PULSES_DURATION; - pulses2MHzRPtr = pulses2MHz; - } - else { - *ptr++ = rest; - B3_comp_value = rest - SETUP_PULSES_DURATION; // 500uS before end of sync pulse - } + if (proto == PROTO_PPM) { + *ptr++ = rest - SETUP_PULSES_DURATION; + pulses2MHzRPtr = pulses2MHz; + } + else { + *ptr++ = rest; + B3_comp_value = rest - SETUP_PULSES_DURATION; // 500uS before end of sync pulse + } - *ptr = 0; + *ptr = 0; } #if defined(PXX) const pm_uint16_t CRCTable[] PROGMEM = { - 0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf, - 0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7, - 0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e, - 0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876, - 0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd, - 0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5, - 0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c, - 0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974, - 0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb, - 0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3, - 0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a, - 0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72, - 0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9, - 0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1, - 0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738, - 0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70, - 0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7, - 0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff, - 0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036, - 0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e, - 0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5, - 0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd, - 0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134, - 0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c, - 0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3, - 0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb, - 0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232, - 0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a, - 0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1, - 0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9, - 0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330, - 0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78 + 0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf, + 0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7, + 0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e, + 0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876, + 0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd, + 0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5, + 0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c, + 0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974, + 0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb, + 0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3, + 0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a, + 0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72, + 0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9, + 0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1, + 0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738, + 0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70, + 0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7, + 0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff, + 0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036, + 0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e, + 0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5, + 0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd, + 0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134, + 0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c, + 0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3, + 0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb, + 0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232, + 0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a, + 0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1, + 0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9, + 0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330, + 0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78 }; uint8_t PcmByte; @@ -322,10 +322,12 @@ void setupPulsesPXX() putPcmHead(); putPcmByte(g_model.header.modelId[0]); uint8_t flag1 = 0; - if (moduleFlag[0] == MODULE_BIND) + if (moduleFlag[0] == MODULE_BIND) { flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND; - else if (moduleFlag[0] == MODULE_RANGECHECK) + } + 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 @@ -447,7 +449,9 @@ void DSM2_Init(void) UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02); UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00); - while (UCSR0A & (1 << RXC0)) UDR0; // flush receive buffer + while (UCSR0A & (1 << RXC0)) { + UDR0; // flush receive buffer + } // These should be running right from power up on a FrSky enabled '9X. DSM2_EnableTXD(); // enable DSM2 UART transmitter @@ -479,7 +483,7 @@ void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1 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){ + if (lev == nlev) { len += BITLEN_DSM2; } else { @@ -566,7 +570,7 @@ void setupPulsesDSM2() static void _send_u8(uint8_t u8) { #ifdef SIMU - *(pulses2MHzPtr)++=u8; + *(pulses2MHzPtr)++ = u8; #else asm volatile( " st Z+,%A[u] \n\t" @@ -578,10 +582,11 @@ static void _send_u8(uint8_t u8) #endif } + static void _send_u16(uint16_t u16) { #ifdef SIMU - *(*(uint16_t**)&pulses2MHzWPtr)++=u16; + *(*(uint16_t**)&pulses2MHzWPtr)++ = u16; #else asm volatile( " st Z+,%A[t0] \n\t" @@ -599,11 +604,11 @@ static void _send_1(uint16_t t0) { // *(*(uint16_t**)&pulses2MHzPtr)++=t0; _send_u16(t0); - *pulses2MHzWPtr++=CTRL_CNT; + *pulses2MHzWPtr++ = CTRL_CNT; //_send_u8(CTRL_CNT); } -static void _send_rep1(uint16_t t0,uint8_t cnt) +static void _send_rep1(uint16_t t0, uint8_t cnt) { // *(*(uint16_t**)&pulses2MHzPtr)++=t0; _send_u16(t0); @@ -652,7 +657,9 @@ void picco_sendB1(bool bit) void picco_sendBn(uint8_t bits, uint8_t n) { - while (n--) picco_sendB1(bits & (1<= (1<> sfr; } @@ -696,7 +703,7 @@ static void setupPulsesPiccoZ(uint8_t chn) static int8_t trim; static int8_t dir; static uint8_t chk; - if (state == 0) { + if (state == 0) { _send_rep1(LEN_38KHZ-1, 147); // 1900/13 !! must be odd _send_1 (650*2 - 1);// picco_sendBn(0,2);