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PXX + PPM16 port from er9x

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DSM2 model id for ModelMatch feature
This commit is contained in:
bsongis
2012-01-23 18:50:36 +00:00
parent ddc9a07eef
commit 8f3a0a28cf
10 changed files with 483 additions and 290 deletions
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src/pulses.cpp
+393 -232
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@@ -21,7 +21,7 @@
#include "open9x.h"
#ifdef DSM2
#if defined(DSM2)
#define DSM2_CHANS 6
#define BIND_BIT 0x80
#define RANGECHECK_BIT 0x20
@@ -30,9 +30,7 @@
#define BAD_DATA 0x47
#endif
#if defined(DSM2_PPM) || defined(PXX)
uint8_t s_current_protocol = 255;
#endif
#ifdef DSM2_SERIAL
inline void DSM2_EnableTXD(void)
@@ -42,6 +40,10 @@ inline void DSM2_EnableTXD(void)
}
#endif
void set_timer3_capture( void ) ;
void set_timer3_ppm( void ) ;
void setupPulsesPPM16( void ) ;
void startPulses()
{
#ifndef SIMU
@@ -76,16 +78,13 @@ void startPulses()
#endif // SIMU
}
#if defined(DSM2)
uint8_t pulses2MHz[144] = {0}; // TODO check this length, pulled from er9x, perhaps too big
#elif defined(CTP1009)
uint8_t pulses2MHz[50*sizeof(uint16_t)] = {0};
#else
uint8_t pulses2MHz[40*sizeof(uint16_t)] = {0};
#endif
#define PULSES_SIZE 144
uint8_t pulses2MHz[PULSES_SIZE] = {0}; // TODO check this length, pulled from er9x, perhaps too big
uint8_t *pulses2MHzRPtr = pulses2MHz;
#if defined(DSM2) || defined(PXX)
uint8_t *pulses2MHzWPtr = pulses2MHz;
#endif
#define CTRL_END 0
#define CTRL_CNT 1
@@ -150,9 +149,9 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
#endif
pulses2MHzRPtr += sizeof(uint16_t);
if (pulses2MHzRPtr == pulses2MHzWPtr) {
if (*((uint16_t*)pulses2MHzRPtr) == 0) {
pulsePol = g_model.pulsePol;
pulsePol = g_model.pulsePol; // TODO do we need to change polarity?
// TODO does it exist PCBV3? If no, replace PCBV3 by PCBV4 everywhere
#if defined(PCBV3)
@@ -173,14 +172,17 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
TCCR1C=(1<<FOC1C);
#endif
cli();
if (g_model.protocol == PROTO_PPM || g_model.protocol == PROTO_PPM16) {
// cli is not needed because for these 2 protocols interrupts are not enabled when entering here
#if defined(PCBV3)
TIMSK1 |= (1<<OCIE1A);
TIMSK1 |= (1<<OCIE1A);
#else
TIMSK |= (1<<OCIE1A);
TIMSK |= (1<<OCIE1A);
#endif
sei();
sei();
}
}
}
@@ -192,7 +194,7 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
#endif
FORCEINLINE void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
FORCEINLINE void setupPulsesPPM()
{
#define PPM_CENTER 1200*2
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
@@ -204,7 +206,7 @@ FORCEINLINE void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
// G: Found the following reference at th9x. The below code does not seem
// to produce quite exactly this, to my eye. *shrug*
// http://www.aerodesign.de/peter/2000/PCM/frame_ppm.gif
uint16_t *ptr = (uint16_t *)pulses2MHzWPtr;
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
uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms
@@ -217,13 +219,152 @@ FORCEINLINE void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
}
*ptr = rest;
*(ptr+1) = q;
pulses2MHzWPtr = ((uint8_t *)ptr) + (2*sizeof(uint16_t));
*(ptr+2) = 0;
pulses2MHzRPtr = pulses2MHz;
}
#ifdef PXX
inline void __attribute__ ((always_inline)) setupPulsesPXX()
#if defined(PXX)
prog_uint16_t APM CRCTable[]=
{
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 ;
uint8_t PcmBitCount ;
uint16_t PcmCrc ;
uint8_t PcmOnesCount ;
uint8_t pxxFlag = 0;
void crc( uint8_t data )
{
PcmCrc=(PcmCrc>>8)^pgm_read_word(&CRCTable[(PcmCrc^data) & 0xFF]);
}
void putPcmPart( uint8_t value )
{
PcmByte >>= 2 ;
PcmByte |= value ;
if ( ++PcmBitCount >= 4 )
{
*pulses2MHzWPtr++ = PcmByte ;
PcmBitCount = PcmByte = 0 ;
}
}
void putPcmFlush()
{
while ( PcmBitCount != 0 )
{
putPcmPart( 0 ) ; // Empty
}
*pulses2MHzWPtr = 0 ; // Mark end
}
void putPcmBit( uint8_t bit )
{
if ( bit )
{
PcmOnesCount += 1 ;
putPcmPart( 0x80 ) ;
}
else
{
PcmOnesCount = 0 ;
putPcmPart( 0xC0 ) ;
}
if ( PcmOnesCount >= 5 )
{
putPcmBit( 0 ) ; // Stuff a 0 bit in
}
}
void putPcmByte( uint8_t byte )
{
uint8_t i ;
crc( byte ) ;
for ( i = 0 ; i < 8 ; i += 1 )
{
putPcmBit( byte & 0x01 ) ;
byte >>= 1 ;
}
}
void setupPulsesPXX()
{
uint8_t i ;
uint16_t chan ;
uint16_t chan_1 ;
pulses2MHzWPtr = pulses2MHz;
pulses2MHzRPtr = pulses2MHz;
PcmCrc = 0 ;
PcmBitCount = PcmByte = 0 ;
PcmOnesCount = 0 ;
putPcmByte( 0x7E ) ; // sync byte
putPcmByte( g_model.modelId ) ; // putPcmByte( g_model.rxnum ) ; //
putPcmByte( pxxFlag ) ; // First byte of flags
putPcmByte( 0 ) ; // Second byte of flags
pxxFlag = 0; // reset flag after send
for ( i = 0 ; i < 8 ; i += 2 ) // First 8 channels only
{ // Next 8 channels would have 2048 added
chan = g_chans512[i] * 3 / 4 + 1024 ;
chan_1 = g_chans512[i+1] * 3 / 4 + 1024 ;
if ( chan > 2047 )
{
chan = 2047 ;
}
if ( chan_1 > 2047 )
{
chan_1 = 2047 ;
}
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
}
chan = PcmCrc ; // get the crc
putPcmByte( chan ) ; // Checksum lo
putPcmByte( chan >> 8 ) ; // Checksum hi
putPcmByte( 0x7E ) ; // sync byte
putPcmFlush() ;
OCR1C += 40000 ; // 20mS on
PORTB |= (1<<OUT_B_PPM);
}
#endif
@@ -258,17 +399,27 @@ normal:
*/
bool s_bind_allowed = true;
FORCEINLINE void setupPulsesDsm2()
{
uint16_t *ptr = (uint16_t *)pulses2MHz;
*ptr++ = (isFunctionActive(FUNC_MODELMATCH) ? BIND_BIT : 0x00);
*ptr++ = g_eeGeneral.currModel;
if (s_bind_allowed) {
*ptr++ = (keyState(SW_Trainer) ? BIND_BIT : 0x00);
s_bind_allowed = false;
}
else {
*ptr++ = 0x00;
}
*ptr++ = g_model.modelId;
for (uint8_t i=0; i<DSM2_CHANS; i++) {
uint16_t pulse = limit(0, (g_chans512[i]>>1)+512, 1023);
*ptr++ = (i<<2) | ((pulse>>8)&0x03);
*ptr++ = pulse & 0xff;
}
pulses2MHzWPtr = (uint8_t *)ptr;
pulses2MHzRPtr = pulses2MHz;
}
void DSM2_Done()
@@ -299,7 +450,6 @@ void DSM2_Init(void)
while (UCSR0A & (1 << RXC0)) UDR0; // flush receive buffer
setupPulsesDsm2();
pulses2MHzRPtr = pulses2MHz;
// These should be running right from power up on a FrSky enabled '9X.
DSM2_EnableTXD(); // enable FrSky-Telemetry reception
@@ -338,6 +488,8 @@ void setupPulsesDsm2()
static uint8_t dsmDat[2+6*2] = {0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
uint8_t counter;
pulses2MHzWPtr = pulses2MHz;
// If more channels needed make sure the pulses union/array is large enough
if (dsmDat[0] & BAD_DATA) // first time through, setup header
{
@@ -354,209 +506,53 @@ void setupPulsesDsm2()
break;
}
}
if ((dsmDat[0] & BIND_BIT) && (!isFunctionActive(FUNC_MODELMATCH))) dsmDat[0] &= ~BIND_BIT; //clear bind bit if trainer not pulled
// TODO add a function key for that: if ((!(dsmDat[0] & BIND_BIT)) && isFunctionActive(FUNC_RANGECHECK)) dsmDat[0] |= RANGECHECK_BIT; //range check function
if ((dsmDat[0] & BIND_BIT) && (!keyState(SW_Trainer))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
// TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1, 0, 0)) dsmDat[0] |= RANGECHECK_BIT; // range check function
else dsmDat[0] &= ~RANGECHECK_BIT;
dsmDat[1] = g_eeGeneral.currModel+1; //DSM2 Header second byte for model match
dsmDat[1] = g_model.modelId; // DSM2 Header second byte for model match
for (uint8_t i=0; i<DSM2_CHANS; i++)
{
uint16_t pulse = limit(0, (g_chans512[i]>>1)+512,1023);
uint16_t pulse = limit(0, (g_chans512[i]>>1)+512, 1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
dsmDat[3+2*i] = pulse & 0xff;
}
for ( counter = 0; counter < 14; counter += 1 )
{
for (counter=0; counter<14; counter++)
sendByteDsm2(dsmDat[counter]);
}
pulses2MHzWPtr -= 1; //remove last stopbits and
_send_1( 255 ); //prolong them
_send_1(0); //end of pulse stream
pulses2MHzRPtr = pulses2MHz;
}
#endif
#if defined(SILVER) || defined(CTP1009)
void _send_hilo(uint16_t hi,uint16_t lo)
{
uint16_t *ptr = (uint16_t *)pulses2MHzWPtr;
*ptr++ = hi;
*ptr++ = lo;
pulses2MHzWPtr = (uint8_t *)ptr;
}
#endif
#ifdef SILVER
#define BITLEN (600u*2)
#define send_hilo_silv( hi, lo) _send_hilo( (hi)*BITLEN,(lo)*BITLEN )
void sendBitSilv(uint8_t val)
{
send_hilo_silv((val)?2:1,(val)?2:1);
}
void send2BitsSilv(uint8_t val)
{
sendBitSilv(val&2);sendBitSilv(val&1);
}
// _ oder - je 0.6ms (gemessen 0.7ms)
//
//____-----_-_-_--_--_ -_--__ -_-_-_-_ -_-_-_-_ --__--__-_______
// trailer chan m1 m2
//
//see /home/thus/txt/silverlit/thus.txt
//m1, m2 most significant bit first |m1-m2| <= 9
//chan: 01=C 10=B
//chk = 0 - chan -m1>>2 -m1 -m2>>2 -m2
//<= 500us Probleme
//>= 650us Probleme
//periode orig: 450ms
inline void __attribute__ ((always_inline)) setupPulsesSilver()
{
int8_t chan=1; //chan 1=C 2=B 0=A?
switch(g_model.protocol)
{
case PROTO_SILV_A: chan=0; break;
case PROTO_SILV_B: chan=2; break;
case PROTO_SILV_C: chan=1; break;
}
int8_t m1 = (uint16_t)(g_chans512[0]+1024)*2 / 256;
int8_t m2 = (uint16_t)(g_chans512[1]+1024)*2 / 256;
if (m1 < 0) m1=0;
if (m2 < 0) m2=0;
if (m1 > 15) m1=15;
if (m2 > 15) m2=15;
if (m2 > m1+9) m1=m2-9;
if (m1 > m2+9) m2=m1-9;
//uint8_t i=0;
send_hilo_silv(5,1); //idx 0 erzeugt pegel=0 am Ausgang, wird als high gesendet
send2BitsSilv(0);
send_hilo_silv(2,1);
send_hilo_silv(2,1);
send2BitsSilv(chan); //chan 1=C 2=B 0=A?
uint8_t sum = 0 - chan;
send2BitsSilv(m1>>2); //m1
sum-=m1>>2;
send2BitsSilv(m1);
sum-=m1;
send2BitsSilv(m2>>2); //m2
sum-=m2>>2;
send2BitsSilv(m2);
sum-=m2;
send2BitsSilv(sum); //chk
sendBitSilv(0);
pulses2MHzWPtr -= sizeof(uint16_t);
send_hilo_silv(50,0); //low-impuls (pegel=1) ueberschreiben
}
#endif
#ifdef CTP1009
/*
TRACE CTP-1009
- = send 45MHz
_ = send nix
start1 0 1 start2
-------__ --_ -__ -----__
7ms 2 .8 .4 .4 .8 5 2
frame:
start1 24Bits_1 start2 24_Bits2
24Bits_1:
7 x Bits Throttle lsb first
1 x 0
6 x Bits rotate lsb first
1 x Bit 1=rechts
1 x 0
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
24Bits_2:
7 x Bits Vorwaets lsb first 0x3f = mid
1 x 1
7 x Bits 0x0e lsb first
1 x 1
4 x Bits chk5 = nib2 ^ nib4
4 x Bits chk6 = nib1 ^ nib3
*/
#define BIT_TRA (400u*2)
void sendBitTra(uint8_t val)
{
if(val) _send_hilo( BIT_TRA*1 , BIT_TRA*2 );
else _send_hilo( BIT_TRA*2 , BIT_TRA*1 );
}
void sendByteTra(uint8_t val)
{
for(uint8_t i=0; i<8; i++, val>>=1) sendBitTra(val&1);
}
inline void __attribute__ ((always_inline)) setupPulsesTracerCtp1009()
{
static bool phase;
if( (phase=!phase) ){
uint8_t thr = min(127u,(uint16_t)(g_chans512[0]+1024+8) / 16u);
uint8_t rot;
if (g_chans512[1] >= 0)
{
rot = min(63u,(uint16_t)( g_chans512[1]+16) / 32u) | 0x40;
}else{
rot = min(63u,(uint16_t)(-g_chans512[1]+16) / 32u);
}
sendByteTra(thr);
sendByteTra(rot);
uint8_t chk=thr^rot;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 5000*2, 2000*2 );
}else{
uint8_t fwd = min(127u,(uint16_t)(g_chans512[2]+1024) / 16u) | 0x80;
sendByteTra(fwd);
sendByteTra(0x8e);
uint8_t chk=fwd^0x8e;
sendByteTra( (chk>>4) | (chk<<4) );
_send_hilo( 7000*2, 2000*2 );
}
if((pulses2MHzWPtr-pulses2MHz) >= sizeof(pulses2MHz)) alert(STR_PULSETABOVERFLOW);
}
#endif
void setupPulses()
{
#if defined(DSM2_PPM) || defined(PXX)
if (s_current_protocol != g_model.protocol) {
s_current_protocol = g_model.protocol;
// switch mode here
switch (g_model.protocol) {
#if defined(DSM2_PPM)
case PROTO_DSM2:
TCCR1B = 0; // Stop counter
OCR1B = 200; // 100 uS
TCNT1 = 300; // Past the OCR1B 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(PCBV3)
TIMSK1 &= ~0x3C; // All interrupts off
TIMSK1 &= ~0x3C; // All interrupts off
TIFR1 = 0x2F;
TIMSK1 |= 0x28; // Enable CAPT and COMPB
TIMSK1 |= 0x28; // Enable CAPT and COMPB
#else
TIMSK &= ~0x3C; // All interrupts off
TIMSK &= ~0x3C; // All interrupts off
TIFR = 0x3C;
TIMSK |= 0x28; // Enable CAPT and COMPB
ETIFR = 0x3F ;
TIMSK |= 0x20; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
#endif
TCCR1A = (0 << WGM10);
TCCR1B = (3 << WGM12) | (2 << CS10); // CTC ICR, 16MHz / 8
@@ -565,12 +561,43 @@ void setupPulses()
#if defined(PXX)
case PROTO_PXX:
// do nothing, not yet implemented
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
TIMSK &= ~0x3C; // All interrupts off
TIFR = 0x3C ;
ETIFR = 0x3F ;
TIMSK |= (1<<OCIE1B) ; // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = 0;
TCCR1B = (2<<CS10); //ICNC3 16MHz / 8
break;
#endif
#if defined(PPM16)
case PROTO_PPM16 :
TCCR1B = 0 ; // Stop counter
OCR1A = 40000 ; // Next frame starts in 20 mS
TCNT1 = 0 ;
TIMSK &= ~0x3C ; // All interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts // TODO comment
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10 ; // Enable COMPA
TCCR1A = (0<<WGM10) ;
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
setupPulsesPPM16();
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
break ;
#endif
default:
TCCR1B = 0; // Stop counter
set_timer3_capture() ;
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
TCNT1 = 0;
#if defined(PCBV3)
@@ -580,6 +607,7 @@ void setupPulses()
#else
TIMSK &= ~0x3C; // All interrupts off
TIFR = 0x3C;
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
#endif
TCCR1A = (0 << WGM10);
@@ -587,44 +615,33 @@ void setupPulses()
break;
}
}
#endif
pulses2MHzWPtr = pulses2MHz;
switch(g_model.protocol) {
#ifdef SILVER
case PROTO_SILV_A:
case PROTO_SILV_B:
case PROTO_SILV_C:
setupPulsesSilver();
break;
#endif
#ifdef CTP1009
case PROTO_CTP1009:
setupPulsesTracerCtp1009();
break;
#endif
#ifdef PXX
case PROTO_PXX:
sei();
setupPulsesPXX();
break;
#endif
#ifdef DSM2
case PROTO_DSM2:
sei();
setupPulsesDsm2();
break;
#endif
default:
// no sei here
setupPulsesPPM();
// if PPM16, PPM16 pulses are set up automatically within the interrupts
break;
}
pulses2MHzRPtr = (uint8_t *)pulses2MHz;
}
#ifndef SIMU
#if defined(DSM2_PPM) || defined(PXX)
ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
{
@@ -636,16 +653,160 @@ ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
heartbeat |= HEART_TIMER2Mhz; // TODO why not in TIMER1_COMPB_vect (in setupPulses)?
}
ISR(TIMER1_COMPB_vect) // DSM2 end of frame
#if defined(PXX)
ISR(TIMER1_COMPB_vect) // PXX main interrupt
{
ICR1 = 41536 ; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
if (OCR1B < 255) {
OCR1B = 39000; // delay setup pulses by 19.5ms to reduce system latency
}
else {
OCR1B = 200;
// sei will be called inside setupPulses()
setupPulses();
}
uint8_t x ;
PORTB ^= (1<<OUT_B_PPM) ;
x = *pulses2MHzRPtr; // Byte size
if ( ( x & 1 ) == 0 )
{
OCR1B += 32 ;
}
else
{
OCR1B += 16 ;
}
if ( (x >>= 1) == 0 )
{
if ( *(++pulses2MHzRPtr) == 0 )
{
OCR1B = OCR1C + 2000 ; // 1mS on from OCR1B
}
}
else
{
*pulses2MHzRPtr = x;
}
heartbeat |= HEART_TIMER2Mhz;
}
#endif
ISR(TIMER1_COMPC_vect) // DSM2 or PXX end of frame
{
#if defined(DSM2_PPM) && defined(PXX)
if ( g_model.protocol == PROTO_DSM2 ) {
#endif
#if defined(DSM2_PPM)
ICR1 = 41536 ; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
if (OCR1B < 255) {
OCR1B = 39000; // delay setup pulses by 19.5ms to reduce system latency
}
else {
OCR1B = 200;
// sei will be called inside setupPulses()
setupPulses();
}
#endif
#if defined(DSM2_PPM) && defined(PXX)
}
else {
#endif
#if defined(PXX)
// must be PXX
setupPulses() ;
#endif
#if defined(DSM2_PPM) && defined(PXX)
}
#endif
}
#endif
#endif
void set_timer3_capture()
{
#ifndef SIMU
ETIMSK &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
DDRE &= ~0x80; PORTE |= 0x80 ; // Bit 7 input + pullup
TCCR3B = 0 ; // Stop counter
TCCR3A = 0;
TCCR3B = (1<<ICNC3) | (2<<CS30); //ICNC3 16MHz / 8
ETIMSK |= (1<<TICIE3);
#endif
}
#if defined(PPM16)
void set_timer3_ppm()
{
#ifndef SIMU
ETIMSK &= ~( 1<<TICIE3) ; // Stop capture interrupt
DDRE |= 0x80; // Bit 7 output
TCCR3B = 0 ; // Stop counter
TCCR3A = (0<<WGM10);
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8
ETIMSK |= ( (1<<OCIE3A) | (1<<OCIE3B) ); // enable immediately before mainloop
#endif
}
uint16_t B3_comp_value ;
#ifndef SIMU
ISR(TIMER3_COMPA_vect) //2MHz pulse generation
{
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;
}
OCR3A = *pulse2MHzPPM16RPtr++;
OCR3B = B3_comp_value ;
if (*pulse2MHzPPM16RPtr == 0) {
pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
pulsePol = g_model.pulsePol;
}
heartbeat |= HEART_TIMER2Mhz;
}
ISR(TIMER3_COMPB_vect) //2MHz pulse generation
{
sei() ;
setupPulsesPPM16() ;
}
#endif // SIMU
void setupPulsesPPM16()
{
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= 16+g_model.ppmNCH*2; //Channels *2
uint16_t q=(g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest=22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int16_t(g_model.ppmFrameLength))*1000;
for (uint8_t i=p-8; i<p; i++) { //NUM_CHNOUT
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + PPM_CENTER;
rest -= (v+q);
*ptr++ = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
}
*ptr = q; //reverse these two assignments
*(ptr+1) = rest;
B3_comp_value = rest - 1000 ; // 500uS before end of sync pulse
*(ptr+2) = 0;
}
#endif