Directory transmitter renamed to radio
This commit is contained in:
Bertrand Songis
@@ -0,0 +1,184 @@
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/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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||||
* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#include "../opentx.h"
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#if defined(PCBTARANIS)
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uint16_t dsm2Stream[400]; // Likely more than we need
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uint16_t *dsm2StreamPtr;
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uint16_t dsm2Value;
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#else
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uint8_t dsm2Stream[64]; // Likely more than we need
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uint8_t *dsm2StreamPtr;
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uint8_t dsm2SerialByte ;
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uint8_t dsm2SerialBitCount;
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#endif
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// DSM2 control bits
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#define DSM2_CHANS 6
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#define FRANCE_BIT 0x10
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#define DSMX_BIT 0x08
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#define BAD_DATA 0x47
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#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit
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#if defined(PCBTARANIS)
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uint8_t dsm2Index = 0;
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void _send_1(uint8_t v)
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{
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if (dsm2Index == 0)
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v -= 2;
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else
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v += 2;
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dsm2Value += v;
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*dsm2StreamPtr++ = dsm2Value;
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dsm2Index = (dsm2Index+1) % 2;
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}
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void sendByteDsm2(uint8_t b) //max 10 changes 0 10 10 10 10 1
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{
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bool lev = 0;
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uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
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for (uint8_t i=0; i<=8; i++) { //8Bits + Stop=1
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bool nlev = b & 1; //lsb first
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if (lev == nlev) {
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len += BITLEN_DSM2;
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}
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else {
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_send_1(len); // _send_1(nlev ? len-5 : len+3);
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len = BITLEN_DSM2;
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lev = nlev;
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}
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b = (b>>1) | 0x80; //shift in stop bit
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}
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_send_1(len+BITLEN_DSM2); // _send_1(len+BITLEN_DSM2+3); // 2 stop bits
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}
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void putDsm2Flush()
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{
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dsm2StreamPtr--; //remove last stopbits and
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*dsm2StreamPtr++ = 44010; // Past the 44000 of the ARR
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}
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#else
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void putDsm2SerialBit(uint8_t bit)
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{
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dsm2SerialByte >>= 1;
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if (bit & 1) {
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dsm2SerialByte |= 0x80;
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}
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if (++dsm2SerialBitCount >= 8) {
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*dsm2StreamPtr++ = dsm2SerialByte;
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dsm2SerialBitCount = 0;
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}
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}
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void sendByteDsm2(uint8_t b) // max 10changes 0 10 10 10 10 1
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{
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putDsm2SerialBit(0); // Start bit
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for (uint8_t i=0; i<8; i++) { // 8 data Bits
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putDsm2SerialBit(b & 1);
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b >>= 1;
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}
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putDsm2SerialBit(1); // Stop bit
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putDsm2SerialBit(1); // Stop bit
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}
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void putDsm2Flush()
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{
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for (int i=0; i<16; i++) {
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putDsm2SerialBit(1); // 16 extra stop bits
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}
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}
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#endif
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// This is the data stream to send, prepare after 19.5 mS
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// Send after 22.5 mS
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//static uint8_t *Dsm2_pulsePtr = pulses2MHz.pbyte ;
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void setupPulsesDSM2(unsigned int port)
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{
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static uint8_t dsmDat[2+6*2]={0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
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#if defined(PCBSKY9X)
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dsm2SerialByte = 0 ;
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dsm2SerialBitCount = 0 ;
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#else
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dsm2Value = 0;
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dsm2Index = 1;
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#endif
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dsm2StreamPtr = dsm2Stream;
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#if defined(PCBTARANIS)
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dsm2Value = 100;
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*dsm2StreamPtr++ = dsm2Value;
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#endif
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switch(s_current_protocol[port]) {
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case PROTO_DSM2_LP45:
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dsmDat[0] = 0x00;
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break;
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case PROTO_DSM2_DSM2:
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dsmDat[0] = 0x10;
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break;
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default: // DSMX
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dsmDat[0] = 0x18;
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break;
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}
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#if !defined(PCBTARANIS)
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if (s_bind_allowed) s_bind_allowed--;
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if (s_bind_allowed && switchState(SW_DSM2_BIND))
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dsm2Flag = DSM2_BIND_FLAG;
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else
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dsm2Flag &= ~DSM2_BIND_FLAG;
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#endif
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dsmDat[0] |= dsm2Flag;
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dsmDat[1] = g_model.header.modelId; // DSM2 Header second byte for model match
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for (int i=0; i<DSM2_CHANS; i++) {
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uint16_t pulse = limit(0, ((channelOutputs[g_model.moduleData[port].channelsStart+i]*13)>>5)+512, 1023);
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dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
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dsmDat[3+2*i] = pulse & 0xff;
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}
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for (int i=0; i<14; i++) {
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sendByteDsm2(dsmDat[i]);
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}
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putDsm2Flush();
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}
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@@ -0,0 +1,102 @@
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/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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||||
* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
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||||
*
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*/
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#include "../opentx.h"
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#define PPM_STREAM_INIT { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
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#if defined(PCBTARANIS)
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uint16_t ppmStream[NUM_MODULES+1][20] = { PPM_STREAM_INIT, PPM_STREAM_INIT, PPM_STREAM_INIT };
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#else
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uint16_t ppmStream[NUM_MODULES][20] = { MODULES_INIT(PPM_STREAM_INIT) };
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#endif
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void setupPulsesPPM(unsigned int port) // Don't enable interrupts through here
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{
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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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// Total frame length = 22.5msec
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// each pulse is 0.7..1.7ms long with a 0.3ms stop tail
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// The pulse ISR is 2mhz that's why everything is multiplied by 2
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uint32_t firstCh = g_model.moduleData[port].channelsStart;
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uint32_t lastCh = min<unsigned int>(NUM_CHNOUT, firstCh + 8 + g_model.moduleData[port].channelsCount);
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#if defined(PCBSKY9X)
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register Pwm *pwmptr = PWM;
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uint32_t pwmCh = (port == 0 ? 3 : 1);
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.moduleData[port].ppmDelay * 50 + 300) * 2; //Stoplen *2
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if (g_model.moduleData[port].ppmPulsePol)
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR |= 0x00000200 ; // CPOL
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else
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR &= ~0x00000200 ; // CPOL
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#endif
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uint16_t * ptr = ppmStream[port];
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int32_t rest = 22500u * 2;
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rest += (int32_t(g_model.moduleData[port].ppmFrameLength)) * 1000;
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for (uint32_t i=firstCh; i<lastCh; 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++ = v; /* as Pat MacKenzie suggests */
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}
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if (rest > 65535) rest = 65535; /* prevents overflows */
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if (rest < 9000) rest = 9000; /* avoids that CCR2 is bigger than ARR which would cause reboot */
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*ptr = rest;
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*(ptr + 1) = 0;
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#if defined(PCBTARANIS)
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if (port == TRAINER_MODULE) {
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TIM3->CCR2 = rest - 1000 ; // Update time
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TIM3->CCR4 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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if(!g_model.moduleData[TRAINER_MODULE].ppmPulsePol)
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TIM3->CCER |= TIM_CCER_CC4P;
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else
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TIM3->CCER &= ~TIM_CCER_CC4P;
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}
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else if (port == EXTERNAL_MODULE) {
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TIM8->CCR2 = rest - 1000; // Update time
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TIM8->CCR1 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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if(!g_model.moduleData[EXTERNAL_MODULE].ppmPulsePol)
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TIM8->CCER |= TIM_CCER_CC1NP;
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else
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TIM8->CCER &= ~TIM_CCER_CC1NP;
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}
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else {
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TIM1->CCR2 = rest - 1000; // Update time
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TIM1->CCR3 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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}
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#endif
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}
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@@ -0,0 +1,154 @@
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/*
|
||||
* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "../opentx.h"
|
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|
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uint8_t s_pulses_paused = 0;
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uint8_t s_current_protocol[NUM_MODULES] = { MODULES_INIT(255) };
|
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uint32_t failsafeCounter[NUM_MODULES] = { MODULES_INIT(100) };
|
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|
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void setupPulses(unsigned int port)
|
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{
|
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heartbeat |= (HEART_TIMER_PULSES << port);
|
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|
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#if defined(PCBTARANIS)
|
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uint8_t required_protocol;
|
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|
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if (port == INTERNAL_MODULE) {
|
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required_protocol = g_model.moduleData[INTERNAL_MODULE].rfProtocol == RF_PROTO_OFF ? PROTO_NONE : PROTO_PXX;
|
||||
}
|
||||
else {
|
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port = EXTERNAL_MODULE; // ensure it's external module only
|
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switch (g_model.externalModule) {
|
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case MODULE_TYPE_PPM:
|
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required_protocol = PROTO_PPM;
|
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break;
|
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case MODULE_TYPE_XJT:
|
||||
required_protocol = PROTO_PXX;
|
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break;
|
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#if defined(DSM2)
|
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case MODULE_TYPE_DSM2:
|
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required_protocol = limit<uint8_t>(PROTO_DSM2_LP45, PROTO_DSM2_LP45+g_model.moduleData[EXTERNAL_MODULE].rfProtocol, PROTO_DSM2_DSMX);
|
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// The module is set to OFF during one second before BIND start
|
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{
|
||||
static tmr10ms_t bindStartTime = 0;
|
||||
if (dsm2Flag == DSM2_BIND_FLAG) {
|
||||
if (bindStartTime == 0) bindStartTime = get_tmr10ms();
|
||||
if ((tmr10ms_t)(get_tmr10ms() - bindStartTime) < 100) {
|
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required_protocol = PROTO_NONE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
else {
|
||||
bindStartTime = 0;
|
||||
}
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
required_protocol = PROTO_NONE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
#else
|
||||
uint8_t required_protocol = g_model.protocol;
|
||||
#endif
|
||||
|
||||
if (s_pulses_paused)
|
||||
required_protocol = PROTO_NONE;
|
||||
|
||||
if (s_current_protocol[port] != required_protocol) {
|
||||
|
||||
switch (s_current_protocol[port]) { // stop existing protocol hardware
|
||||
case PROTO_PXX:
|
||||
disable_pxx(port);
|
||||
break;
|
||||
#if defined(DSM2)
|
||||
case PROTO_DSM2_LP45:
|
||||
case PROTO_DSM2_DSM2:
|
||||
case PROTO_DSM2_DSMX:
|
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disable_dsm2(port);
|
||||
break;
|
||||
#endif
|
||||
case PROTO_PPM:
|
||||
disable_ppm(port);
|
||||
break;
|
||||
default:
|
||||
disable_no_pulses(port);
|
||||
break;
|
||||
}
|
||||
|
||||
s_current_protocol[port] = required_protocol;
|
||||
|
||||
switch (required_protocol) { // Start new protocol hardware here
|
||||
case PROTO_PXX:
|
||||
init_pxx(port);
|
||||
break;
|
||||
#if defined(DSM2)
|
||||
case PROTO_DSM2_LP45:
|
||||
case PROTO_DSM2_DSM2:
|
||||
case PROTO_DSM2_DSMX:
|
||||
init_dsm2(port);
|
||||
break;
|
||||
#endif
|
||||
case PROTO_PPM:
|
||||
init_ppm(port);
|
||||
break;
|
||||
default:
|
||||
init_no_pulses(port);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Set up output data here
|
||||
switch (required_protocol) {
|
||||
case PROTO_PXX:
|
||||
setupPulsesPXX(port);
|
||||
break;
|
||||
#if defined(DSM2)
|
||||
case PROTO_DSM2_LP45:
|
||||
case PROTO_DSM2_DSM2:
|
||||
case PROTO_DSM2_DSMX:
|
||||
setupPulsesDSM2(port);
|
||||
break;
|
||||
#endif
|
||||
case PROTO_PPM:
|
||||
setupPulsesPPM(port);
|
||||
break ;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,87 @@
|
||||
/*
|
||||
* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef pulses_arm_h
|
||||
#define pulses_arm_h
|
||||
|
||||
#if NUM_MODULES == 2
|
||||
#define MODULES_INIT(...) __VA_ARGS__, __VA_ARGS__
|
||||
#else
|
||||
#define MODULES_INIT(...) __VA_ARGS__
|
||||
#endif
|
||||
|
||||
extern uint8_t s_current_protocol[NUM_MODULES];
|
||||
extern uint8_t s_pulses_paused;
|
||||
extern uint32_t failsafeCounter[NUM_MODULES];
|
||||
|
||||
void setupPulses(unsigned int port);
|
||||
void setupPulsesDSM2(unsigned int port);
|
||||
void setupPulsesPXX(unsigned int port);
|
||||
void setupPulsesPPM(unsigned int port);
|
||||
|
||||
#if defined(HUBSAN)
|
||||
void Hubsan_Init();
|
||||
#endif
|
||||
|
||||
inline void startPulses()
|
||||
{
|
||||
s_pulses_paused = false;
|
||||
|
||||
#if defined(PCBTARANIS)
|
||||
setupPulses(INTERNAL_MODULE);
|
||||
setupPulses(EXTERNAL_MODULE);
|
||||
#else
|
||||
setupPulses(0);
|
||||
#endif
|
||||
|
||||
#if defined(HUBSAN)
|
||||
Hubsan_Init();
|
||||
#endif
|
||||
}
|
||||
|
||||
inline bool pulsesStarted() { return s_current_protocol[0] != 255; }
|
||||
inline void pausePulses() { s_pulses_paused = true; }
|
||||
inline void resumePulses() { s_pulses_paused = false; }
|
||||
|
||||
#define SEND_FAILSAFE_NOW(idx) failsafeCounter[idx] = 1
|
||||
|
||||
inline void SEND_FAILSAFE_1S()
|
||||
{
|
||||
for (int i=0; i<NUM_MODULES; i++)
|
||||
failsafeCounter[i] = 100;
|
||||
}
|
||||
|
||||
#endif
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,62 @@
|
||||
/*
|
||||
* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef pulses_avr_h
|
||||
#define pulses_avr_h
|
||||
|
||||
extern uint8_t s_current_protocol[1];
|
||||
extern uint8_t s_pulses_paused;
|
||||
|
||||
extern uint8_t *pulses2MHzRPtr;
|
||||
extern uint8_t *pulses2MHzWPtr;
|
||||
|
||||
extern uint16_t nextMixerEndTime;
|
||||
|
||||
#define MAX_MIXER_DELTA (50*16) /* 50ms max as an interval between 2 mixer calculations */
|
||||
|
||||
void startPulses();
|
||||
inline bool pulsesStarted() { return s_current_protocol[0] != 255; }
|
||||
inline void pausePulses() { s_pulses_paused = true; }
|
||||
inline void resumePulses() { s_pulses_paused = false; }
|
||||
void setupPulses();
|
||||
void DSM2_Init();
|
||||
void DSM2_Done();
|
||||
|
||||
#define SEND_FAILSAFE_NOW()
|
||||
#define SEND_FAILSAFE_1S()
|
||||
|
||||
#endif
|
||||
/*eof*/
|
||||
@@ -0,0 +1,279 @@
|
||||
/*
|
||||
* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "../opentx.h"
|
||||
|
||||
uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) };
|
||||
|
||||
#if defined(PCBTARANIS)
|
||||
uint16_t pxxStream[NUM_MODULES][400];
|
||||
uint16_t *pxxStreamPtr[NUM_MODULES];
|
||||
#else
|
||||
uint8_t pxxStream[NUM_MODULES][64];
|
||||
uint8_t *pxxStreamPtr[NUM_MODULES];
|
||||
#endif
|
||||
|
||||
uint16_t PxxValue[NUM_MODULES];
|
||||
uint16_t PcmCrc[NUM_MODULES];
|
||||
uint8_t PcmOnesCount[NUM_MODULES];
|
||||
|
||||
const uint16_t 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
|
||||
};
|
||||
|
||||
void crc(uint8_t data, unsigned int port)
|
||||
{
|
||||
PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]);
|
||||
}
|
||||
|
||||
#if defined(PCBTARANIS)
|
||||
|
||||
void putPcmPart(uint8_t value, unsigned int port)
|
||||
{
|
||||
PxxValue[port] += 18 ; // Output 1 for this time
|
||||
*pxxStreamPtr[port]++ = PxxValue[port] ;
|
||||
PxxValue[port] += 14 ;
|
||||
if (value) {
|
||||
PxxValue[port] += 16 ;
|
||||
}
|
||||
*pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time
|
||||
}
|
||||
|
||||
void putPcmFlush(unsigned int port)
|
||||
{
|
||||
*pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
uint8_t pcmSerialByte[NUM_MODULES];
|
||||
uint8_t pcmSerialBitCount[NUM_MODULES];
|
||||
void putPcmSerialBit(uint8_t bit, unsigned int port)
|
||||
{
|
||||
pcmSerialByte[port] >>= 1;
|
||||
if (bit & 1) {
|
||||
pcmSerialByte[port] |= 0x80;
|
||||
}
|
||||
if (++pcmSerialBitCount[port] >= 8) {
|
||||
*pxxStreamPtr[port]++ = pcmSerialByte[port];
|
||||
pcmSerialBitCount[port] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 8uS/bit 01 = 0, 001 = 1
|
||||
void putPcmPart(uint8_t value, unsigned int port)
|
||||
{
|
||||
putPcmSerialBit(0, port);
|
||||
if (value) {
|
||||
putPcmSerialBit(0, port);
|
||||
}
|
||||
putPcmSerialBit(1, port);
|
||||
}
|
||||
|
||||
void putPcmFlush(unsigned int port)
|
||||
{
|
||||
while (pcmSerialBitCount[port] != 0) {
|
||||
putPcmSerialBit(1, port);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
void putPcmBit(uint8_t bit, unsigned int port)
|
||||
{
|
||||
if (bit) {
|
||||
PcmOnesCount[port] += 1;
|
||||
putPcmPart(1, port);
|
||||
}
|
||||
else {
|
||||
PcmOnesCount[port] = 0;
|
||||
putPcmPart(0, port);
|
||||
}
|
||||
if (PcmOnesCount[port] >= 5) {
|
||||
putPcmBit(0, port); // Stuff a 0 bit in
|
||||
}
|
||||
}
|
||||
|
||||
void putPcmByte(uint8_t byte, unsigned int port)
|
||||
{
|
||||
crc(byte, port);
|
||||
|
||||
for (uint8_t i=0; i<8; i++) {
|
||||
putPcmBit(byte & 0x80, port);
|
||||
byte <<= 1;
|
||||
}
|
||||
}
|
||||
|
||||
void putPcmHead(unsigned int port)
|
||||
{
|
||||
// send 7E, do not CRC
|
||||
// 01111110
|
||||
putPcmPart(0, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(1, port);
|
||||
putPcmPart(0, port);
|
||||
}
|
||||
|
||||
void setupPulsesPXX(unsigned int port)
|
||||
{
|
||||
uint16_t chan=0, chan_low=0;
|
||||
|
||||
pxxStreamPtr[port] = pxxStream[port];
|
||||
PxxValue[port] = 0 ;
|
||||
PcmCrc[port] = 0;
|
||||
PcmOnesCount[port] = 0;
|
||||
|
||||
/* Preamble */
|
||||
putPcmPart(0, port);
|
||||
putPcmPart(0, port);
|
||||
putPcmPart(0, port);
|
||||
putPcmPart(0, port);
|
||||
|
||||
/* Sync */
|
||||
putPcmHead(port);
|
||||
|
||||
/* Rx Number */
|
||||
putPcmByte(g_model.header.modelId, port);
|
||||
|
||||
/* FLAG1 */
|
||||
uint8_t flag1;
|
||||
if (pxxFlag[port] & PXX_SEND_RXNUM) {
|
||||
flag1 = (g_model.moduleData[port].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[port];
|
||||
}
|
||||
else {
|
||||
flag1 = (g_model.moduleData[port].rfProtocol << 6) | pxxFlag[port];
|
||||
|
||||
if (failsafeCounter[port]-- == 0) {
|
||||
failsafeCounter[port] = 1000;
|
||||
flag1 |= PXX_SEND_FAILSAFE;
|
||||
}
|
||||
if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
|
||||
flag1 |= PXX_SEND_FAILSAFE;
|
||||
}
|
||||
}
|
||||
|
||||
putPcmByte(flag1, port);
|
||||
|
||||
/* FLAG2 */
|
||||
putPcmByte(0, port);
|
||||
|
||||
/* PPM */
|
||||
static uint32_t pass[NUM_MODULES] = { MODULES_INIT(0) };
|
||||
int sendUpperChannels = 0;
|
||||
if (pass[port]++ & 0x01) {
|
||||
sendUpperChannels = g_model.moduleData[port].channelsCount;
|
||||
}
|
||||
for (int i=0; i<8; i++) {
|
||||
if (flag1 & PXX_SEND_FAILSAFE) {
|
||||
if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
|
||||
chan = (i < sendUpperChannels ? 4095 : 2047);
|
||||
}
|
||||
else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
|
||||
chan = (i < sendUpperChannels ? 2048 : 0);
|
||||
}
|
||||
else {
|
||||
if (i < sendUpperChannels)
|
||||
chan = limit(2049, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4094);
|
||||
else
|
||||
chan = limit(1, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2046);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (i < sendUpperChannels)
|
||||
chan = limit(2049, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4094);
|
||||
else if (i < NUM_CHANNELS(port))
|
||||
chan = limit(1, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2046);
|
||||
else
|
||||
chan = 1024;
|
||||
}
|
||||
|
||||
if (i & 1) {
|
||||
putPcmByte(chan_low, port); // Low byte of channel
|
||||
putPcmByte(((chan_low >> 8) & 0x0F) | (chan << 4), port); // 4 bits each from 2 channels
|
||||
putPcmByte(chan >> 4, port); // High byte of channel
|
||||
}
|
||||
else {
|
||||
chan_low = chan;
|
||||
}
|
||||
}
|
||||
|
||||
/* CRC16 */
|
||||
putPcmByte(0, port);
|
||||
chan = PcmCrc[port];
|
||||
putPcmByte(chan>>8, port);
|
||||
putPcmByte(chan, port);
|
||||
|
||||
/* Sync */
|
||||
putPcmHead(port);
|
||||
|
||||
putPcmFlush(port);
|
||||
}
|
||||
Reference in New Issue
Block a user