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[Taranis] PXX pulses reworked

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This commit is contained in:
bsongis@gmail.com
2013-04-12 21:03:19 +00:00
parent de34cb7ef2
commit f14a874bf5
1 changed files with 17 additions and 24 deletions
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src/pulses_arm.cpp
+17 -24
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@@ -288,8 +288,7 @@ void putPcmHead()
void setupPulsesPXX()
{
uint16_t chan ;
uint16_t chan_1 ;
uint16_t chan, chan_low;
#if defined(PCBSKY9X)
Serial_byte = 0 ;
@@ -340,49 +339,43 @@ void setupPulsesPXX()
if (pass++ & 0x01) {
sendUpperChannels = g_model.moduleData[0].channelsCount;
}
for (uint32_t i=0; i<8; i+=2) {
for (uint32_t i=0; i<8; i++) {
#if defined(PCBTARANIS)
if (flag1 & PXX_SEND_FAILSAFE) {
if (g_model.moduleData[0].failsafeMode == FAILSAFE_NOPULSES) {
if (i < sendUpperChannels) {
chan = 3072;
chan_1 = 3072;
}
else {
chan = 1024;
chan_1 = 1024;
}
if (i < sendUpperChannels)
chan = 3072;
else
chan = 1024;
}
else {
if (i < sendUpperChannels) {
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
chan_1 = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i+1) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[8+g_model.moduleData[0].channelsStart+i+1] * 512 / 682) + 3072, 4095);
if (chan == 3072) chan = 3073;
if (chan_1 == 3072) chan_1 = 3073;
}
else {
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[g_model.moduleData[0].channelsStart+i] * 512 / 682) + 1024, 2047);
chan_1 = limit(0, PPM_CH_CENTER(g_model.moduleData[0].channelsStart+i+1) - PPM_CENTER + (g_model.moduleData[0].failsafeChannels[g_model.moduleData[0].channelsStart+i+1] * 512 / 682) + 1024, 2047);
if (chan == 1024) chan = 1025;
if (chan_1 == 1024) chan_1 = 1025;
}
}
}
else
#endif
{
if (i < sendUpperChannels) {
if (i < sendUpperChannels)
chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[0].channelsStart+i] * 512 / 682) + 3072, 4095);
chan_1 = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[0].channelsStart+i+1) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[0].channelsStart+i+1] * 512 / 682) + 3072, 4095);
}
else {
else
chan = limit(0, PPM_CH_CENTER(g_model.moduleData[0].channelsStart+i) - PPM_CENTER + (channelOutputs[g_model.moduleData[0].channelsStart+i] * 512 / 682) + 1024, 2047);
chan_1 = limit(0, PPM_CH_CENTER(g_model.moduleData[0].channelsStart+i+1) - PPM_CENTER + (channelOutputs[g_model.moduleData[0].channelsStart+i+1] * 512 / 682) + 1024, 2047);
}
}
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
if (i & 1) {
putPcmByte(chan_low); // Low byte of channel
putPcmByte( ( ( chan_low >> 8 ) & 0x0F ) | ( chan << 4) ) ; // 4 bits each from 2 channels
putPcmByte(chan >> 4); // High byte of channel
}
else {
chan_low = chan;
}
}
/* CRC16 */