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NMEA and ARDUPILOT code ported from er9x

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DSM2(PPM) bug fixed
Flash saving
PCBV3 removed
One delay_us(7) removed
BEEPSPKR becomes AUDIO
This commit is contained in:
bsongis
2012-01-27 18:58:59 +00:00
parent 5b1bad8705
commit e6d8648074
20 changed files with 1895 additions and 380 deletions
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src/pulses.cpp
+21 -35
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@@ -63,13 +63,10 @@ void startPulses()
fires for the first time and sets up the pulse period. */
// TCCR1A |= (1<<COM1B0); // (COM1B1=0 and COM1B0=1 in TCCR1A) toogle the state of PB6(OC1B) on each TCNT1==OCR1B
TCCR1A = (3<<COM1B0); // Connect OC1B to PPM_OUT pin (SET the state of PB6(OC1B) on next TCNT1==OCR1B)
#elif defined(DPPMPB7_HARDWARE) // addon Vinceofdrink@gmail (hardware ppm)
OCR1C = 0xffff; // See comment for PCBV4, above
TCCR1A |= (1<<COM1C0); // (COM1C1=0 and COM1C0=1 in TCCR1A) toogle the state of PB7(OC1C) on each TCNT1==OCR1C
#endif
}
#if defined(PCBV3)
#if defined(PCBV4)
TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
#else
TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
@@ -112,9 +109,8 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
else
#endif
{
// vinceofdrink@gmail harwared ppm
// Orginal bitbang for PPM
#if !defined(DPPMPB7_HARDWARE) && !defined(PCBV4)
#if !defined(PCBV4)
if (pulsePol) {
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
pulsePol = 0;
@@ -141,20 +137,14 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
TCCR1A = (2<<COM1B0); // CLEAR the state of PB6(OC1B) on next TCNT1==OCR1B
pulsePol = 1;
}
//vinceofdrink@gmail harwared ppm
#elif defined(DPPMPB7_HARDWARE)
OCR1C = *((uint16_t*)pulses2MHzRPtr); // just copy the value of the OCR1A to OCR1C to test PPM out without too
// much change in the code not optimum but will not alter ppm precision
#endif
pulses2MHzRPtr += sizeof(uint16_t);
if (*((uint16_t*)pulses2MHzRPtr) == 0) {
pulsePol = !g_model.pulsePol;
// TODO does it exist PCBV3? If no, replace PCBV3 by PCBV4 everywhere
#if defined(PCBV3)
#if defined(PCBV4)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else
TIMSK &= ~(1<<OCIE1A); //stop reentrance
@@ -164,14 +154,6 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
setupPulses();
#if defined(DPPMPB7_HARDWARE)
// G: NOTE: This strategy does not work on the '2560 becasue you can't
// read the PPM out pin when connected to OC1B. Vincent says
// it works on the '64A. I haven't personally tested it.
if (PINB & (1<<OUT_B_PPM) && g_model.pulsePol)
TCCR1C=(1<<FOC1C);
#endif
// TODO test that it's optimized
if (1
#if defined(PXX)
@@ -184,7 +166,7 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
// cli is not needed because for these 2 protocols interrupts are not enabled when entering here
#if defined(PCBV3)
#if defined(PCBV4)
TIMSK1 |= (1<<OCIE1A);
#else
TIMSK |= (1<<OCIE1A);
@@ -516,7 +498,7 @@ void setupPulsesDsm2()
}
if ((dsmDat[0] & BIND_BIT) && (!keyState(SW_Trainer))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
// TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1, 0, 0)) dsmDat[0] |= RANGECHECK_BIT; // range check function
else dsmDat[0] &= ~RANGECHECK_BIT;
// else dsmDat[0] &= ~RANGECHECK_BIT;
dsmDat[1] = g_model.modelId; // DSM2 Header second byte for model match
for (uint8_t i=0; i<DSM2_CHANS; i++)
{
@@ -529,7 +511,7 @@ void setupPulsesDsm2()
sendByteDsm2(dsmDat[counter]);
pulses2MHzWPtr -= 1; //remove last stopbits and
_send_1( 255 ); //prolong them
_send_1(255); //prolong them
_send_1(0); //end of pulse stream
pulses2MHzRPtr = pulses2MHz;
@@ -551,7 +533,7 @@ void setupPulses()
OCR1C = 200; // 100 uS
TCNT1 = 300; // Past the OCR1C value
ICR1 = 44000; // Next frame starts in 22 mS
#if defined(PCBV3)
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIFR1 = 0x2F;
TIMSK1 |= 0x28; // Enable CAPT and COMPB
@@ -608,7 +590,7 @@ void setupPulses()
TCCR1B = 0; // Stop counter
OCR1A = 40000; // Next frame starts in 20 mS
TCNT1 = 0;
#if defined(PCBV3)
#if defined(PCBV4)
TIMSK1 &= ~0x3C; // All interrupts off
TIFR1 = 0x2F;
TIMSK1 |= 0x10; // Enable COMPA
@@ -618,6 +600,8 @@ void setupPulses()
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10; // Enable COMPA
#endif
// TCNT1 2MHz counter (auto-cleared) plus Capture Compare int.
// Used for PPM pulse generator
TCCR1A = (0 << WGM10);
TCCR1B = (1 << WGM12) | (2 << CS10); // CTC OCRA, 16MHz / 8
break;
@@ -699,11 +683,11 @@ ISR(TIMER1_COMPC_vect) // DSM2 or PXX end of frame
#if defined(DSM2_PPM)
ICR1 = 41536 ; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
if (OCR1B < 255) {
OCR1B = 39000; // delay setup pulses by 19.5ms to reduce system latency
if (OCR1C < 255) {
OCR1C = 39000; // delay setup pulses by 19.5ms to reduce system latency
}
else {
OCR1B = 200;
OCR1C = 200;
// sei will be called inside setupPulses()
setupPulses();
}
@@ -727,10 +711,11 @@ ISR(TIMER1_COMPC_vect) // DSM2 or PXX end of frame
#endif
void set_timer3_capture()
{
#ifndef SIMU
#if defined (PCBV3)
#if defined (PCBV4)
TIMSK3 &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts // TODO Cam please could you check this line please? Thanks a lot!
#else
ETIMSK &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
@@ -738,9 +723,10 @@ void set_timer3_capture()
DDRE &= ~0x80; PORTE |= 0x80 ; // Bit 7 input + pullup
TCCR3B = 0 ; // Stop counter
TCCR3A = 0;
TCCR3B = (1<<ICNC3) | (2<<CS30); //ICNC3 16MHz / 8
#if defined (PCBV3)
TCCR3A = 0;
// Noise Canceller enabled, neg. edge, clock at 16MHz / 8 (2MHz) (Correct for PCB V4.x+ also)
TCCR3B = (1<<ICNC3) | (0b010 << CS30);
#if defined (PCBV4)
TIMSK3 |= (1<<ICIE3);
#else
ETIMSK |= (1<<TICIE3);
@@ -752,7 +738,7 @@ void set_timer3_capture()
void set_timer3_ppm()
{
#ifndef SIMU
#if defined (PCBV3)
#if defined (PCBV4)
TIMSK3 &= ~(1<<ICIE3);
#else
ETIMSK &= ~(1<<TICIE3) ; // Stop capture interrupt