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[all] DSM2 changes (variants are now chosen in Protocol field)

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[sky9x] PPM Port2 support added
[all] Negative GVARS bug fixed
This commit is contained in:
bsongis
2013-02-08 11:14:59 +00:00
parent 82ee36571e
commit 992006217e
21 changed files with 425 additions and 233 deletions
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src/pulses_arm.cpp
+67 -21
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@@ -38,11 +38,13 @@ uint8_t s_pulses_paused = 0;
uint8_t s_current_protocol = 255;
uint8_t pxxFlag = 0 ;
uint16_t ppmStream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
uint16_t ppmStream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
uint16_t ppm2Stream[20] = { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } ;
#if defined(PCBSKY9X)
volatile uint32_t Pulses_index = 0 ; // Modified in interrupt routine
uint8_t Bit_pulses[64] ; // Likely more than we need
volatile uint32_t ppmStreamIndex = 0 ; // Modified in interrupt routine
volatile uint32_t ppm2StreamIndex = 0 ; // Modified in interrupt routine
uint8_t Bit_pulses[64] ; // Likely more than we need
uint8_t *Pulses2MHzptr ;
#else
uint16_t pxxStream[400] ; // Transisitions
@@ -76,31 +78,57 @@ void startPulses()
#endif
}
void setupPulsesPPM() // Don't enable interrupts through here
#if defined(PCBSKY9X)
#define PPM_PORT_PARAM uint32_t ppmPort=0
#else
#define PPM_PORT_PARAM
#endif
void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts through here
{
#if defined(PCBSKY9X)
register Pwm *pwmptr = PWM;
#endif
int16_t PPM_range = g_model.extendedLimits ? 640 * 2 : 512 * 2; //range of 0.7..1.7msec
uint32_t numCh = 8 + g_model.ppmNCH * 2; //Channels *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
uint16_t * ptr = ppmStream;
#if defined(PCBSKY9X)
pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = (g_model.ppmDelay * 50 + 300) * 2; //Stoplen *2
uint32_t pwmCh;
uint16_t * ptr;
uint32_t firstCh, lastCh;
if (ppmPort == 0) {
pwmCh = 3;
ptr = ppmStream;
firstCh = g_model.ppmSCH;
lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + 8 + (g_model.ppmNCH * 2));
}
else {
pwmCh = 1;
ptr = ppm2Stream;
firstCh = g_model.ppm2SCH;
lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + 8 + (g_model.ppm2NCH * 2));
}
#else
#define firstCh 0
uint32_t lastCh = 8 + g_model.ppmNCH * 2; //Channels *2
uint16_t * ptr = ppmStream;
#endif
#if defined(PCBSKY9X)
pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.ppmDelay * 50 + 300) * 2; //Stoplen *2
if (g_model.pulsePol)
pwmptr->PWM_CH_NUM[3].PWM_CMR |= 0x00000200 ; // CPOL
pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR |= 0x00000200 ; // CPOL
else
pwmptr->PWM_CH_NUM[3].PWM_CMR &= ~0x00000200 ; // CPOL
pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR &= ~0x00000200 ; // CPOL
#endif
uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
rest += (int32_t(g_model.ppmFrameLength)) * 1000;
for (uint32_t i = 0; i < numCh; i++) { //NUM_CHNOUT
for (uint32_t i=firstCh; i<lastCh; i++) {
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= v;
*ptr++ = v; /* as Pat MacKenzie suggests */
@@ -331,12 +359,12 @@ void setupPulsesDsm2(uint8_t chns)
// If more channels needed make sure the pulses union/array is large enough
if (dsmDat[0]&BAD_DATA) //first time through, setup header
{
switch(g_model.ppmNCH)
switch(s_current_protocol)
{
case LPXDSM2:
case PROTO_DSM2_LP45:
dsmDat[0]= 0x80;
break;
case DSM2only:
case PROTO_DSM2_DSM2:
dsmDat[0]=0x90;
break;
default:
@@ -373,9 +401,11 @@ extern "C" void PWM_IRQHandler(void)
register Pwm *pwmptr;
register Ssc *sscptr;
uint32_t period;
uint32_t reason;
pwmptr = PWM;
if (pwmptr->PWM_ISR1 & PWM_ISR1_CHID3) {
reason = pwmptr->PWM_ISR1 ;
if (reason & PWM_ISR1_CHID3) {
switch (s_current_protocol) // Use the current, don't switch until set_up_pulses
{
case PROTO_PXX:
@@ -401,7 +431,9 @@ extern "C" void PWM_IRQHandler(void)
}
break;
case PROTO_DSM2:
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
// Alternate periods of 19.5mS and 2.5 mS
period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
if (period == 5000) // 2.5 mS
@@ -426,15 +458,23 @@ extern "C" void PWM_IRQHandler(void)
break;
default:
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[Pulses_index++]; // Period in half uS
if (ppmStream[Pulses_index] == 0) {
Pulses_index = 0;
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[ppmStreamIndex++]; // Period in half uS
if (ppmStream[ppmStreamIndex] == 0) {
ppmStreamIndex = 0;
setupPulses();
}
break;
}
}
if (reason & PWM_ISR1_CHID1) {
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = ppm2Stream[ppm2StreamIndex++] ; // Period in half uS
if (ppm2Stream[ppm2StreamIndex] == 0) {
ppm2StreamIndex = 0 ;
setupPulsesPPM(1) ;
}
}
}
#endif
@@ -453,7 +493,9 @@ void setupPulses()
disable_pxx();
break;
#if defined(DSM2)
case PROTO_DSM2:
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
disable_ssc();
break;
#endif
@@ -479,7 +521,9 @@ void setupPulses()
init_main_ppm(5000, 0); // Initial period 2.5 mS, output off
init_ssc();
break;
case PROTO_DSM2:
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
init_main_ppm(5000, 0); // Initial period 2.5 mS, output off
init_ssc();
break;
@@ -499,7 +543,9 @@ void setupPulses()
setupPulsesPXX();
break;
#if defined(DSM2)
case PROTO_DSM2:
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
setupPulsesDsm2(6);
break;
#endif