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[stock / gruvin9x] Issue 164 fixed

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[X9D] Calibration menu
[all] 5-pass mixer
[stock] Flash saving
This commit is contained in:
bsongis
2012-12-05 20:48:49 +00:00
parent 209c685f11
commit b80a6dccaa
16 changed files with 122 additions and 148 deletions
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src/pulses_avr.cpp
+62 -96
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@@ -55,7 +55,7 @@ uint16_t B3_comp_value;
inline void DSM2_EnableTXD(void)
{
UCSR0B |= (1 << TXEN0); // enable TX
// UCSR0B |= (1 << UDRIE0); // don't enable UDRE0 interrupt, it will be enabled during next setupPulses
// don't enable UDRE0 interrupt now, it will be enabled during next setupPulses
}
#endif
@@ -97,8 +97,11 @@ uint8_t *pulses2MHzWPtr = pulses2MHz;
#define CTRL_REP_1CMD -3
#define CTRL_REP_2CMD -6
#ifndef SIMU
#if defined(DSM2_SERIAL)
#define DSM2_SERIAL_INTERRUPT() (s_current_protocol == PROTO_DSM2)
#else
#define DSM2_SERIAL_INTERRUPT() (0)
#endif
// TIMER1_COMPA_vect used for PPM and DSM2=SERIAL
uint8_t g_ppmPulsePolarity = 0;
@@ -106,70 +109,54 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation (BLOCKING ISR)
{
uint8_t dt = TCNT1L; // record Timer1 latency for DEBUG stats display
#ifdef DSM2_SERIAL
if (s_current_protocol == PROTO_DSM2) {
setupPulses(); // includes scheduling of next COMPA int. vector (this ISR).
// also re-enables interrupts at and for a safe time. (G: Only if in DSM2_SERIAL mode. Why?)
cli(); // re-disable interrupts to prevent reentrance here. (This ISR will automatically issue sei upon exit.)
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt to start transmitting DSM2 data bytes from buffer
// Call setupPulses only after REST pulse had been sent.
// Must do this before toggle PORTB to keep timing accurate
if (DSM2_SERIAL_INTERRUPT() || *((uint16_t*)pulses2MHzRPtr) == 0) {
setupPulses(); // does not sei() for setupPulsesPPM
heartbeat |= HEART_TIMER_PULSES;
if (IS_PXX_PROTOCOL(s_current_protocol) || IS_DSM2_PROTOCOL(s_current_protocol)) {
// !PPM protocols interrupts don't need COMPA
return;
}
}
else
#endif
{
#if !defined(PCBGRUVIN9X)
// Original bitbang for PPM
if (s_current_protocol != PROTO_NONE) {
if (g_ppmPulsePolarity) {
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
g_ppmPulsePolarity = 0;
}
else {
PORTB &= ~(1<<OUT_B_PPM);
g_ppmPulsePolarity = 1;
}
// Original bitbang for PPM
if (s_current_protocol != PROTO_NONE) {
if (g_ppmPulsePolarity) {
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
g_ppmPulsePolarity = 0;
}
#else
// PCBGRUVIN9X zero jitter hardware toggled PPM_out
OCR1B = *((uint16_t*)pulses2MHzRPtr); // duplicate capture (Timer1 in CTC mode, so restricted to OCR1A for int vector)
else {
PORTB &= ~(1<<OUT_B_PPM);
g_ppmPulsePolarity = 1;
}
}
#else // defined(PCBGRUVIN9X)
// PCBGRUVIN9X zero jitter hardware toggled PPM_out
OCR1B = *((uint16_t*)pulses2MHzRPtr); // duplicate capture (Timer1 in CTC mode, so restricted to OCR1A for int vector)
// Toggle bit: Can't read PPM_OUT I/O pin when OC1B is connected (on the ATmega2560 -- can on ATmega64A!)
// so need to use pusePol register to keep track of PPM_out polarity.
if (s_current_protocol != PROTO_NONE) {
if (g_ppmPulsePolarity) {
TCCR1A = (3<<COM1B0); // SET the state of PB6(OC1B)/PPM_out on next TCNT1==OCR1B
g_ppmPulsePolarity = 0;
}
else {
TCCR1A = (2<<COM1B0); // CLEAR the state of PB6(OC1B)/PPM_out on next TCNT1==OCR1B
g_ppmPulsePolarity = 1;
}
// Toggle bit: Can't read PPM_OUT I/O pin when OC1B is connected (on the ATmega2560 -- can on ATmega64A!)
// so need to use pusePol register to keep track of PPM_out polarity.
if (s_current_protocol != PROTO_NONE) {
if (g_ppmPulsePolarity) {
TCCR1A = (3<<COM1B0); // SET the state of PB6(OC1B)/PPM_out on next TCNT1==OCR1B
g_ppmPulsePolarity = 0;
}
else {
TCCR1A = (2<<COM1B0); // CLEAR the state of PB6(OC1B)/PPM_out on next TCNT1==OCR1B
g_ppmPulsePolarity = 1;
}
}
#endif
OCR1A = *((uint16_t*)pulses2MHzRPtr); // Schedule next Timer1 interrupt vector (to this function)
pulses2MHzRPtr += sizeof(uint16_t); // non PPM protocols use uint8_t pulse buffer
if (*((uint16_t*)pulses2MHzRPtr) == 0) {
PAUSE_PULSES_INTERRUPT();
setupPulses(); // does not sei() for setupPulsesPPM
// if setupPulses changed protocol to one that doesn't use COMPA then don't re-enable.
if (!IS_PXX_PROTOCOL(s_current_protocol) && !IS_DSM2_PROTOCOL(s_current_protocol)) {
// cli is not needed because for PPM protocols interrupts are not enabled when entering here
RESUME_PULSES_INTERRUPT();
sei();
}
}
} // [else] if (s_current_protocol == PROTO_DSM2)
OCR1A = *((uint16_t*)pulses2MHzRPtr); // Schedule next Timer1 interrupt vector (to this function)
pulses2MHzRPtr += sizeof(uint16_t); // non PPM protocols use uint8_t pulse buffer
if (dt > g_tmr1Latency_max) g_tmr1Latency_max = dt;
if (dt < g_tmr1Latency_min) g_tmr1Latency_min = dt;
heartbeat |= HEART_TIMER_PULSES;
}
#endif
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.)
@@ -432,6 +419,8 @@ FORCEINLINE void setupPulsesDsm2()
pulses2MHzWPtr = (uint8_t *)ptr;
pulses2MHzRPtr = pulses2MHz;
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt to start transmitting DSM2 data bytes from buffer
}
// DSM2=SERIAL mode
@@ -754,26 +743,34 @@ void setupPulses()
s_current_protocol = required_protocol;
TCCR1B = 0; // Stop counter
TCNT1 = 0;
#if defined(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
#else
TIMSK &= ~0x3C ; // All interrupts off
ETIMSK &= ~(1<<OCIE1C) ; // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
#endif
switch (required_protocol) {
#if defined(DSM2_PPM) // For DSM2=SERIAL, the default: case is executed, below
case PROTO_DSM2:
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(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIFR1 = 0x2F;
TIMSK1 |= 0x28; // Enable Timer1 COMPC and CAPT interrupts
TCCR1A = (0 << WGM10); // Set output waveform mode to normal, for now. Note that
// WGM will be changed to toggle OCR1B pin on compare capture,
// in next switch(required_protocol) {...}, below
#else
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F;
TIMSK |= 0x20; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (0 << WGM10);
@@ -785,20 +782,13 @@ void setupPulses()
#if defined(PXX)
case PROTO_PXX:
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
#if defined(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1B); // Enable COMPB
TIMSK1 |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F;
TIMSK |= (1<<OCIE1B); // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = 0;
@@ -808,20 +798,11 @@ void setupPulses()
#endif
case PROTO_PPM16:
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
TCNT1 = 0;
#if defined(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK &= ~0x3C; // All Timer1 interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C; // Clear all pending interrupts
ETIFR = 0x3F; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0<<WGM10);
#endif
@@ -833,18 +814,8 @@ void setupPulses()
break;
case PROTO_PPMSIM:
TCCR1B = 0; // Stop counter
TCNT1 = 0;
#if defined(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
TCCR1A = 0; // Disconnect OC1B for bit-bang PPM switching
#else
TIMSK &= ~0x3C; // All Timer1 interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C; // Clear all pending interrupts
ETIFR = 0x3F; // Clear all pending interrupts
#endif
setupPulsesPPM(PROTO_PPMSIM);
OCR3A = 50000;
@@ -855,8 +826,6 @@ void setupPulses()
default: // PPM and DSM2=SERIAL modes
set_timer3_capture();
TCCR1B = 0; // Stop counter 1
TCNT1 = 0; // Must reset counter first, to prevent possible immediate COMPA int. (sometimes).
OCR1A = 44000; // Next frame starts in 22ms -- DSM mode.
// This is arbitrary and for the first frame only. In fact, ...
// DSM2 mode will set frame timing again at each ISR(TIMER1_COMPC_vect)
@@ -864,15 +833,10 @@ void setupPulses()
// PPM mode will dynamically adjust to the frame rate set in model SETUP menu,
// from within setupPulsesPPM().
#if defined(PCBGRUVIN9X)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIFR1 = 0x2F;
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching. G: Not needed
// for DSM2=SERIAL. But OK.
#else
TIMSK &= ~0x3C; // All Timer1 interrupts off
TIFR = 0x3C;
ETIFR = 0x3F; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0 << WGM10);
#endif
@@ -883,7 +847,7 @@ void setupPulses()
switch(required_protocol) {
#ifdef PXX
#if defined(PXX)
case PROTO_PXX:
// schedule next Mixer calculations
SCHEDULE_MIXER_END(20*16);
@@ -892,11 +856,13 @@ void setupPulses()
break;
#endif
#ifdef DSM2
#if defined(DSM2)
case PROTO_DSM2:
// schedule next Mixer calculations
SCHEDULE_MIXER_END(22*16);
#if defined(DSM2_PPM)
sei();
#endif
setupPulsesDsm2(); // Different versions for DSM2=SERIAL vs. DSM2=PPM
#if defined(PCBGRUVIN9X) && defined(DSM2_PPM)
// Ensure each DSM2=PPM serial packet starts out with the correct bit polarity