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Moved PPM driver to synchronous mode (horus only)

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TODO: trainer output and taranis driver
This commit is contained in:
Raphael Coeffic
2022-03-20 16:22:13 +01:00
parent a955112160
commit 937e92ede7
7 changed files with 120 additions and 85 deletions
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radio/src/pulses/ppm.cpp
+26 -16
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@@ -22,40 +22,51 @@
#include "opentx.h"
template<class T>
void setupPulsesPPM(PpmPulsesData<T> * ppmPulsesData, uint8_t channelsStart, int8_t channelsCount, int8_t frameLength)
void setupPulsesPPM(PpmPulsesData<T> * ppmPulsesData, uint8_t channelsStart, int8_t channelsCount)
{
int16_t PPM_range = g_model.extendedLimits ? (512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2; // range of 0.7 .. 1.7msec
int16_t PPM_range = g_model.extendedLimits ?
// range of 0.7 .. 1.7msec
(512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2;
// 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
uint8_t firstCh = channelsStart;
uint8_t lastCh = min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
uint8_t lastCh =
min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
ppmPulsesData->ptr = ppmPulsesData->pulses;
int32_t rest = 22500u * 2;
rest += int32_t(frameLength) * 1000;
for (uint32_t i=firstCh; i<lastCh; i++) {
int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= v;
*ppmPulsesData->ptr++ = v; /* as Pat MacKenzie suggests */
for (uint32_t i = firstCh; i < lastCh; i++) {
int16_t v =
limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) +
2 * PPM_CH_CENTER(i);
*ppmPulsesData->ptr++ = v;
}
rest = limit<int32_t>(9000, rest, 65535); /* avoids that CCR2 is bigger than ARR which would cause reboot */
*ppmPulsesData->ptr++ = rest;
*ppmPulsesData->ptr = 0; // it's needed in case PPM is sent without DMA (we stop when we reach this 0)
// Set the final period to the max
// (a new transfer is issued before it expires)
*ppmPulsesData->ptr++ = 65535;
// it's needed in case PPM is sent without DMA
// (we stop when we reach this 0)
*ppmPulsesData->ptr = 0;
}
void setupPulsesPPMTrainer()
{
setupPulsesPPM<trainer_pulse_duration_t>(&trainerPulsesData.ppm, g_model.trainerData.channelsStart, g_model.trainerData.channelsCount, g_model.trainerData.frameLength);
setupPulsesPPM<trainer_pulse_duration_t>(
&trainerPulsesData.ppm, g_model.trainerData.channelsStart,
g_model.trainerData.channelsCount);
}
#if defined(PCBTARANIS) && defined(INTERNAL_MODULE_PPM)
void setupPulsesPPMInternalModule()
{
setupPulsesPPM(&intmodulePulsesData.ppm, g_model.moduleData[INTERNAL_MODULE].channelsStart, g_model.moduleData[INTERNAL_MODULE].channelsCount, g_model.moduleData[INTERNAL_MODULE].ppm.frameLength);
setupPulsesPPM(&intmodulePulsesData.ppm,
g_model.moduleData[INTERNAL_MODULE].channelsStart,
g_model.moduleData[INTERNAL_MODULE].channelsCount);
}
#endif
@@ -63,6 +74,5 @@ void setupPulsesPPMExternalModule()
{
setupPulsesPPM(&extmodulePulsesData.ppm,
g_model.moduleData[EXTERNAL_MODULE].channelsStart,
g_model.moduleData[EXTERNAL_MODULE].channelsCount,
g_model.moduleData[EXTERNAL_MODULE].ppm.frameLength);
g_model.moduleData[EXTERNAL_MODULE].channelsCount);
}