From 9c7cfe925297e3f0c1252eafae779fe31dc15788 Mon Sep 17 00:00:00 2001 From: Arne Schwabe Date: Thu, 5 Jul 2018 11:19:07 +0200 Subject: [PATCH] Remove all CPUM128/CPUM2560/CPUM2561 macros Also remove pulses_avr* --- radio/src/dataconstants.h | 20 - radio/src/datastructs.h | 5 - radio/src/opentx.cpp | 6 - radio/src/pulses/pulses_avr.cpp | 1035 ------------------------------- radio/src/pulses/pulses_avr.h | 48 -- 5 files changed, 1114 deletions(-) delete mode 100644 radio/src/pulses/pulses_avr.cpp delete mode 100644 radio/src/pulses/pulses_avr.h diff --git a/radio/src/dataconstants.h b/radio/src/dataconstants.h index 8e1a46e90..ee399f349 100644 --- a/radio/src/dataconstants.h +++ b/radio/src/dataconstants.h @@ -69,26 +69,6 @@ #define MAX_INPUTS 32 #define MAX_TRAINER_CHANNELS 16 #define MAX_TELEMETRY_SENSORS 32 -#elif defined(CPUM2560) || defined(CPUM2561) - #define MAX_MODELS 30 - #define MAX_OUTPUT_CHANNELS 16 // number of real output channels CH1-CH16 - #define MAX_FLIGHT_MODES 6 - #define MAX_MIXERS 32 - #define MAX_EXPOS 16 - #define MAX_LOGICAL_SWITCHES 12 - #define MAX_SPECIAL_FUNCTIONS 24 // number of functions assigned to switches - #define MAX_TRAINER_CHANNELS 8 - #define MAX_TELEMETRY_SENSORS 0 -#elif defined(CPUM128) - #define MAX_MODELS 30 - #define MAX_OUTPUT_CHANNELS 16 // number of real output channels CH1-CH16 - #define MAX_FLIGHT_MODES 5 - #define MAX_MIXERS 32 - #define MAX_EXPOS 14 - #define MAX_LOGICAL_SWITCHES 12 - #define MAX_SPECIAL_FUNCTIONS 24 // number of functions assigned to switches - #define MAX_TRAINER_CHANNELS 8 - #define MAX_TELEMETRY_SENSORS 0 #else #define MAX_MODELS 16 #define MAX_OUTPUT_CHANNELS 16 // number of real output channels CH1-CH16 diff --git a/radio/src/datastructs.h b/radio/src/datastructs.h index 3427078b2..60df2f96c 100644 --- a/radio/src/datastructs.h +++ b/radio/src/datastructs.h @@ -863,13 +863,8 @@ static inline void check_struct() CHKSIZE(ModelHeader, 11); CHKTYPE(CurveData, 1); -#if defined(CPUM2560) || defined(CPUM2561) - CHKSIZE(ExpoData, 5); - CHKSIZE(MixData, 10); -#else CHKSIZE(MixData, 9); CHKSIZE(ExpoData, 4); -#endif CHKSIZE(CustomFunctionData, 3); CHKSIZE(TimerData, 3); diff --git a/radio/src/opentx.cpp b/radio/src/opentx.cpp index 1904121df..ccee9f60a 100644 --- a/radio/src/opentx.cpp +++ b/radio/src/opentx.cpp @@ -2180,12 +2180,6 @@ int main() // important to disable it before commencing with system initialisation (or // we could put a bunch more wdt_reset()s in. But I don't like that approach // during boot up.) -#if defined(CPUM2560) || defined(CPUM2561) - uint8_t mcusr = MCUSR; // save the WDT (etc) flags - MCUSR = 0; // must be zeroed before disabling the WDT - MCUCR = 0x80 ; // Disable JTAG port that can interfere with POT3 - MCUCR = 0x80 ; // Must be done twice -#endif #if defined(PCBTARANIS) g_eeGeneral.contrast = LCD_CONTRAST_DEFAULT; #endif diff --git a/radio/src/pulses/pulses_avr.cpp b/radio/src/pulses/pulses_avr.cpp deleted file mode 100644 index 6b00fbfb3..000000000 --- a/radio/src/pulses/pulses_avr.cpp +++ /dev/null @@ -1,1035 +0,0 @@ -/* - * Copyright (C) OpenTX - * - * Based on code named - * th9x - http://code.google.com/p/th9x - * er9x - http://code.google.com/p/er9x - * gruvin9x - http://code.google.com/p/gruvin9x - * - * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html - * - * 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" - -uint16_t nextMixerEndTime = 0; -#define SCHEDULE_MIXER_END(delay) nextMixerEndTime = getTmr16KHz() + (delay) - 2*16/*2ms*/ - -#if defined(DSM2) - // DSM2 control bits - #define DSM2_CHANS 6 - #define FRANCE_BIT 0x10 - #define DSMX_BIT 0x08 - #define BAD_DATA 0x47 - #define DSM2_SEND_BIND (1 << 7) - #define DSM2_SEND_RANGECHECK (1 << 5) - uint8_t dsm2BindTimer = DSM2_BIND_TIMEOUT; -#endif - -#if defined(PXX) - #define PXX_SEND_BIND 0x01 - #define PXX_SEND_FAILSAFE (1 << 4) - #define PXX_SEND_RANGECHECK (1 << 5) -#endif - -#if defined(DSM2) || defined(PXX) -uint8_t moduleFlag[NUM_MODULES] = { 0 }; -#endif - -uint8_t s_current_protocol[1] = { 255 }; -uint8_t s_pulses_paused = 0; - -uint16_t B3_comp_value; - -#if defined(DSM2_SERIAL) -inline void DSM2_EnableTXD(void) -{ - UCSR0B |= (1 << TXEN0); // enable TX - // don't enable UDRE0 interrupt now, it will be enabled during next setupPulses -} -#endif - -void set_timer3_capture(void); -void set_timer3_ppm(void); - -void startPulses() -{ - -#if defined(SIMU) - s_current_protocol[0] = g_model.protocol; -#else - setupPulses(); -#endif // SIMU -} - -#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) || defined(IRPROTOS) -uint8_t *pulses2MHzWPtr = pulses2MHz; -#endif - -#define CTRL_END 0 -#define CTRL_CNT 1 -#define CTRL_REP_1CMD -3 -#define CTRL_REP_2CMD -6 - -#define SETUP_PULSES_DURATION 1000 // 500us -uint8_t g_ppmPulsePolarity = 0; // Needed for Bit-bang PPM. - -// TIMER1_COMPA_vect used for PPM and DSM2=SERIAL. -ISR(TIMER1_COMPA_vect) // 2MHz pulse generation (BLOCKING ISR). -{ - uint8_t dt = TCNT1L; // Record Timer1 latency for DEBUG stats display. - - // Call setupPulses only after "rest" period has elapsed. - // Must do this before toggle PORTB to keep timing accurate. - if (IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0]) || *((uint16_t*)pulses2MHzRPtr) == 0) { - if (!IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0])) { - OCR1A = SETUP_PULSES_DURATION; - } - setupPulses(); // Does not sei() for setupPulsesPPM. - heartbeat |= HEART_TIMER_PULSES; - return; - } - - if (s_current_protocol[0] != PROTO_NONE) { - // Original Bit-bang for PPM. - if (g_ppmPulsePolarity) { - PORTB |= (1< g_tmr1Latency_max) g_tmr1Latency_max = dt; - if (dt < g_tmr1Latency_min) g_tmr1Latency_min = dt; -} - -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. - - 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]); - - //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; - - 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; -} - - -#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 -}; - -uint8_t PcmByte; -uint8_t PcmBitCount; -uint16_t PcmCrc; -uint8_t PcmOnesCount; - -void crc(uint8_t data) -{ - PcmCrc = (PcmCrc<<8) ^ pgm_read_word(&CRCTable[((PcmCrc >> 8) ^ 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++) { - putPcmBit(byte & 0x80); - byte <<= 1; - } -} - - -void putPcmHead() -{ - // send 7E, do not CRC - // 01111110 - putPcmPart(0xC0); - putPcmPart(0x80); - putPcmPart(0x80); - putPcmPart(0x80); - putPcmPart(0x80); - putPcmPart(0x80); - putPcmPart(0x80); - putPcmPart(0xC0); -} - -uint16_t scaleForPXX(uint8_t i) -{ - int16_t value = ((i < 16) ? channelOutputs[i] * 3 / 4 : 0) + 1024; - return limit(1, value, 2046); -} - -void setupPulsesPXX() -{ - uint16_t chan; - uint16_t chan_1; - - pulses2MHzWPtr = pulses2MHz; - pulses2MHzRPtr = pulses2MHz; - - PcmCrc = 0; - PcmBitCount = PcmByte = 0; - PcmOnesCount = 0; - putPcmHead(); - putPcmByte(g_model.header.modelId[0]); - uint8_t flag1 = 0; - if (moduleFlag[0] == MODULE_BIND) { - flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND; - } - 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 - chan = scaleForPXX(i); - chan_1 = scaleForPXX(i+1); - 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 - } - putPcmByte(0); - chan = PcmCrc; // get the crc - putPcmByte(chan>>8); // Checksum lo - putPcmByte(chan); // Checksum hi - putPcmHead(); - putPcmFlush(); - OCR1C += 40000; // 20mS on - PORTB |= (1< 0) { - dsm2BindTimer--; - if (switchState(SW_DSM2_BIND)) { - moduleFlag[0] = MODULE_BIND; - *ptr |= DSM2_SEND_BIND; - } - } - else if (moduleFlag[0] == MODULE_RANGECHECK) { - *ptr |= DSM2_SEND_RANGECHECK; - } - else { - moduleFlag[0] = 0; - } - - ptr++; - *ptr++ = g_model.header.modelId[0]; - - for (uint8_t i=0; i>5)+512,1023); - *ptr++ = (i<<2) | ((pulse>>8)&0x03); // encoded channel + upper 2 bits pulse width - *ptr++ = pulse & 0xff; // low byte - } - - pulses2MHzWPtr = (uint8_t *)ptr; - pulses2MHzRPtr = pulses2MHz; - - UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt to start transmitting DSM2 data bytes from buffer -} - -// DSM2=SERIAL mode -void DSM2_Done() -{ - UCSR0B &= ~((1 << TXEN0) | (1 << UDRIE0)); // disable UART TX and interrupt -} - -// DSM2=SERIAL mode -void DSM2_Init(void) -{ -#ifndef SIMU - -#undef BAUD -#define BAUD 125000 - -#include - - UBRR0H = UBRRH_VALUE; - UBRR0L = UBRRL_VALUE; - UCSR0A &= ~(1 << U2X0); // disable double speed operation. - - // set 8N1 (leave TX and RX disabled for now) - 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 - } - - // These should be running right from power up on a FrSky enabled '9X. - DSM2_EnableTXD(); // enable DSM2 UART transmitter - -#endif // SIMU -} -#endif // defined(DSM2_SERIAL) - -/****** END DSM2=SERIAL ********/ - - - -///////////////////////////////////////////////////////////// - - - -/******* BEGIN DSM2=PPM ********/ - -#if defined(DSM2_PPM) -inline void _send_1(uint8_t v) -{ - *pulses2MHzWPtr++ = v; -} - -#define BITLEN_DSM2 (8*2) //125000 Baud -void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1 -{ - bool lev = 0; - 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) { - len += BITLEN_DSM2; - } - else { - _send_1(len-1); - len = BITLEN_DSM2; - lev = nlev; - } - b = (b>>1) | 0x80; //shift in stop bit - } - _send_1(len+BITLEN_DSM2-1); // 2 stop bits -} - -// DSM2=PPM mode -void setupPulsesDSM2() -{ - static uint8_t dsmDat[2+6*2] = {0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA}; - - pulses2MHzWPtr = pulses2MHz; - - // If more channels needed make sure the pulses union/array is large enough - switch (s_current_protocol[0]) { - case PROTO_DSM2_LP45: - dsmDat[0] = 0x00; - break; - case PROTO_DSM2_DSM2: - dsmDat[0] = 0x10; - break; - default: // DSMX - dsmDat[0] = 0x18; - break; - } - - if (dsm2BindTimer > 0) { - dsm2BindTimer--; - if (switchState(SW_DSM2_BIND)) { - moduleFlag[0] = MODULE_BIND; - dsmDat[0] |= DSM2_SEND_BIND; - } - } - else if (moduleFlag[0] == MODULE_RANGECHECK) { - dsmDat[0] |= DSM2_SEND_RANGECHECK; - } - else { - moduleFlag[0] = 0; - } - - dsmDat[1] = g_model.header.modelId[0]; - - for (uint8_t i=0; i>5)+512, 1023); - dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03); // encoded channel + upper 2 bits pulse width - dsmDat[3+2*i] = pulse & 0xff; // low byte - } - - for (uint8_t counter=0; counter<14; counter++) { - sendByteDsm2(dsmDat[counter]); - } - - pulses2MHzWPtr -= 1; //remove last stopbits and - -//G: Removed to get waveform correct on analyser. Leave in for stock board until tests can be done. - _send_1(255); // prolong them - _send_1(0); //end of pulse stream - - pulses2MHzRPtr = pulses2MHz; -} -#endif - -/****** END DSM2=PPM ********/ - -#if defined(IRPROTOS) -static void _send_u8(uint8_t u8) -{ -#ifdef SIMU - *(pulses2MHzPtr)++ = u8; -#else - asm volatile( - " st Z+,%A[u] \n\t" - - : [p]"=z"(pulses2MHzWPtr) - : "%[p]"(pulses2MHzWPtr) - , [u]"r"(u8) - ); - -#endif -} - -static void _send_u16(uint16_t u16) -{ -#ifdef SIMU - *(*(uint16_t**)&pulses2MHzWPtr)++ = u16; -#else - asm volatile( - " st Z+,%A[t0] \n\t" - " st Z+,%B[t0] \n\t" - - : [p]"=z"(pulses2MHzWPtr) - : "%[p]"(pulses2MHzWPtr) - , [t0]"r"(u16) - ); - -#endif -} - -static void _send_1(uint16_t t0) -{ - // *(*(uint16_t**)&pulses2MHzPtr)++=t0; - _send_u16(t0); - *pulses2MHzWPtr++ = CTRL_CNT; - //_send_u8(CTRL_CNT); -} - -static void _send_rep1(uint16_t t0, uint8_t cnt) -{ - // *(*(uint16_t**)&pulses2MHzPtr)++=t0; - _send_u16(t0); - _send_u8(CTRL_REP_1CMD); - _send_u8(cnt); - _send_u8(CTRL_CNT); -} - -//picco z -//http://home.versanet.de/~b-konze/uni_fb/uni_fb.htm -// /home/husteret/txt/flieger/protokolle/m168fb_ufo_v08/picooz.c -// -// 1900 650 650 1226 650 1226 Stop -// ---- __ -- __ -- __----__----__ --__ ----____ --__ -/* - chn:2 a=00 b=01 c=10 - pow:4u msb first - trim:4s -2,0,1 - direction:3s - -chk[0] - -chk[1] - 0 -------- -2-bit sum = 0 - -chk:2 = chn:2 + pow>>2:2 +pow:2 + trim>>2:2 +trim:2 dir + direction>>1:2 + direction<<1:2 - -*/ - -#define PICOOZ_RC_HIGH 93 //(1226/13) -#define PICOOZ_RC_LOW 49 //(650/13) - -#define LEN_38KHZ (13*2) //= 38,46KHz - -void picco_sendB1(bool bit) -{ - if (bit) { - _send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH); //ungerade anzahl 10101 - _send_1 (1226*2 - 1); //lange 0 - } - else { - _send_rep1(LEN_38KHZ-1, PICOOZ_RC_LOW); //ungerade anzahl 10101 - _send_1 (650*2 - 1); //lange 0 - } -} - -void picco_sendBn(uint8_t bits, uint8_t n) -{ - while (n--) { - picco_sendB1(bits & (1<= (1<> sfr; -} - -NOINLINE int8_t reduce7s(int16_t v, uint8_t sfr, uint8_t sf2, int8_t ofs2) -{ - v += (1<>sfr; - if (i8 <= 0) { - i8 = 1; - } - i8 -= ofs2; - if (i8 >= ofs2) { - i8 = ofs2-1; //no overflow - } - return i8; -} - -//these defines allow the compiler to preclculate constants -#define getChan7u(i,bitsRes) reduce7u(channelOutputs[i],(BITS-bitsRes)) -#define getChan7s(i,bitsRes) reduce7s(channelOutputs[i],(BITS-bitsRes),1<<((BITS-bitsRes)-1),1<<(bitsRes-1)) - -static void setupPulsesPiccoZ(uint8_t chn) -{ - // 1900 650 650 1226 650 0bit 1226 1bit Stop - // ---- __ -- __ -- __----__----__ --__ ----____ --__ - static bool state = 0; - static uint8_t pow; - static int8_t trim; - static int8_t dir; - static uint8_t chk; - if (state == 0) { - _send_rep1(LEN_38KHZ-1, 147); // 1900/13 !! must be odd - _send_1 (650*2 - 1);// - picco_sendBn(0,2); - _send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH); - _send_1 (650*2 - 1);// - _send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH); - _send_1 (650*2 - 1);// - // chn:2 a=00 b=01 c=10 - // pow:4u msb first - // trim:4s -2,0,1 - // dir:3s - // -chk[0] - // -chk[1] - // 0 - pow = getChan7u(2,4); - trim = getChan7s(1,4); - dir = getChan7s(0,3); - chk = - (chn+ (pow>>2) + pow + (trim>>2) + trim + (dir>>1) + (dir<<1)); - } - else { - picco_sendBn(chn,2); - picco_sendBn(pow,4); - picco_sendBn(trim,4); - picco_sendBn(dir,3); - picco_sendB1(chk & (1<<0)); //lsb first, because we are here on a odd bit (dir is only 3 bits) - picco_sendB1(chk & (1<<1)); - _send_rep1(LEN_38KHZ-1, PICOOZ_RC_LOW); //0-bit pulses - _send_1 (20000u*2 - 1); //20ms gap ? - } - state = !state; -} -#endif - -void setupPulses() -{ - uint8_t required_protocol = g_model.protocol; - -#if defined(DEBUG) && !defined(VOICE) - PORTH |= 0x80; // PORTH:7 LOW->HIGH signals start of setupPulses() -#endif - - if (s_pulses_paused) { - required_protocol = PROTO_NONE; - } - - - if (s_current_protocol[0] != required_protocol) { - -#if defined(DSM2_SERIAL) && defined(TELEMETRY_FRSKY) - if (s_current_protocol[0] == 255 || IS_DSM2_PROTOCOL(s_current_protocol[0])) { - telemetryInit(); - } -#endif - - s_current_protocol[0] = required_protocol; - - TCCR1B = 0; // Stop counter - TCNT1 = 0; - -#if defined(CPUM2560) || defined(CPUM2561) - TIMSK1 &= ~0x2F; // All Timer1 interrupts off - TIMSK1 &= ~(1<LOW signals end of setupPulses() -#endif -} - -#ifndef SIMU - -#if defined(DSM2_PPM) || defined(PXX) -ISR(TIMER1_CAPT_vect) // 2MHz pulse generation -{ - uint8_t x; - PORTB ^= (1< 200) PORTB |= (1<>= 1) == 0) { - if (*(++pulses2MHzRPtr) == 0) { - OCR1B = OCR1C + 2000; // 1mS on from OCR1B - } - } - else { - *pulses2MHzRPtr = x; - } - - heartbeat |= HEART_TIMER_PULSES; -} -#endif - -ISR(TIMER1_COMPC_vect) // DSM2_PPM or PXX end of frame -{ -#if defined(DSM2_PPM) && defined(PXX) - if (IS_DSM2_PROTOCOL(s_current_protocol[0])) { -#endif - -#if defined(DSM2_PPM) - ICR1 = 41536; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8) - if (OCR1C < 255) { - OCR1C = 39000; // delay setup pulses by 19.5ms to reduce system latency - } - else { - OCR1C = 200; - // sei will be called inside setupPulses() - setupPulses(); - } - - heartbeat |= HEART_TIMER_PULSES; -#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 // defined(DSM2_PPM) || defined(PXX) - -#endif // ifndef SIMU - - -void set_timer3_capture() -{ -#ifndef SIMU -#if defined (CPUM2560) || defined(CPUM2561) // TODO TIMSK3 in #define! - TIMSK3 &= ~((1<