/* * Authors (alphabetical order) * - Andre Bernet * - Andreas Weitl * - Bertrand Songis * - Bryan J. Rentoul (Gruvin) * - Cameron Weeks * - Erez Raviv * - Gabriel Birkus * - Jean-Pierre Parisy * - Karl Szmutny * - Michael Blandford * - Michal Hlavinka * - Pat Mackenzie * - Philip Moss * - Rob Thomson * - Romolo Manfredini * - Thomas Husterer * * opentx is based on code named * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/, * er9x by Erez Raviv: http://code.google.com/p/er9x/, * and the original (and ongoing) project by * Thomas Husterer, th9x: http://code.google.com/p/th9x/ * * 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" extern uint16_t ppmStream[NUM_MODULES][20]; volatile uint32_t ppmStreamIndex[NUM_MODULES] = { MODULES_INIT(0) }; // Modified in interrupt routine extern uint8_t pxxStream[NUM_MODULES][64]; // TODO not here, duplicated extern uint8_t *pxxStreamPtr[NUM_MODULES]; // TODO not here, duplicated extern uint8_t dsm2Stream[64]; // Likely more than we need extern uint8_t *dsm2StreamPtr; void init_main_ppm(uint32_t period, uint32_t out_enable) { register Pio *pioptr ; register Pwm *pwmptr ; setupPulsesPPM(0) ; if ( out_enable ) { pioptr = PIOA ; pioptr->PIO_ABCDSR[0] &= ~PIO_PA17 ; // Peripheral C pioptr->PIO_ABCDSR[1] |= PIO_PA17 ; // Peripheral C pioptr->PIO_PDR = PIO_PA17 ; // Disable bit A17 Assign to peripheral } pwmptr = PWM ; // PWM3 for PPM output pwmptr->PWM_CH_NUM[3].PWM_CMR = 0x0000000B ; // CLKA if (g_model.moduleData[0].ppmPulsePol) pwmptr->PWM_CH_NUM[3].PWM_CMR |= 0x00000200 ; // CPOL pwmptr->PWM_CH_NUM[3].PWM_CPDR = period ; // Period in half uS pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period ; // Period in half uS pwmptr->PWM_CH_NUM[3].PWM_CDTY = g_model.moduleData[0].ppmDelay*100+600; // Duty in half uS pwmptr->PWM_CH_NUM[3].PWM_CDTYUPD = g_model.moduleData[0].ppmDelay*100+600; // Duty in half uS pwmptr->PWM_ENA = PWM_ENA_CHID3 ; // Enable channel 3 pwmptr->PWM_IER1 = PWM_IER1_CHID3 ; #if !defined(REVA) configure_pins( PIO_PC15, PIN_PERIPHERAL | PIN_INPUT | PIN_PER_B | PIN_PORTC | PIN_NO_PULLUP ) ; #endif #if !defined(REVA) // PWM1 for PPM2 pwmptr->PWM_CH_NUM[1].PWM_CMR = 0x0000000B ; // CLKB if (g_model.moduleData[0].ppmPulsePol) pwmptr->PWM_CH_NUM[1].PWM_CMR |= 0x00000200 ; // CPOL pwmptr->PWM_CH_NUM[1].PWM_CPDR = period ; // Period pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = period ; // Period pwmptr->PWM_CH_NUM[1].PWM_CDTY = g_model.moduleData[0].ppmDelay*100+600 ; // Duty pwmptr->PWM_CH_NUM[1].PWM_CDTYUPD = g_model.moduleData[0].ppmDelay*100+600 ; // Duty pwmptr->PWM_ENA = PWM_ENA_CHID1 ; // Enable channel 1 #endif pwmptr->PWM_IER1 = PWM_IER1_CHID1 ; NVIC_EnableIRQ(PWM_IRQn) ; } void disable_ppm(uint32_t port) { register Pio *pioptr ; if (port == 0) { pioptr = PIOA ; pioptr->PIO_PER = PIO_PA17 ; // Assign A17 to PIO PWM->PWM_IDR1 = PWM_IDR1_CHID3 ; } else { pioptr = PIOC ; pioptr->PIO_PER = PIO_PC17 ; // Assign A17 to PIO PWM->PWM_IDR1 = PWM_IDR1_CHID1 ; NVIC_DisableIRQ(PWM_IRQn) ; } } // Initialise the SSC to allow PXX output. // TD is on PA17, peripheral A void init_ssc() { register Ssc *sscptr ; PMC->PMC_PCER0 |= 0x00400000L ; // Enable peripheral clock to SSC configure_pins( PIO_PA17, PIN_PERIPHERAL | PIN_INPUT | PIN_PER_A | PIN_PORTA | PIN_NO_PULLUP ) ; sscptr = SSC ; sscptr->SSC_CMR = Master_frequency / (125000*2) ; // 8uS per bit sscptr->SSC_TCMR = 0 ; // 0000 0000 0000 0000 0000 0000 0000 0000 sscptr->SSC_TFMR = 0x00000027 ; // 0000 0000 0000 0000 0000 0000 1010 0111 (8 bit data, lsb) sscptr->SSC_CR = SSC_CR_TXEN ; } void disable_ssc() { register Pio *pioptr ; register Ssc *sscptr ; // Revert back to pwm output pioptr = PIOA ; pioptr->PIO_PER = PIO_PA17 ; // Assign A17 to PIO sscptr = SSC ; sscptr->SSC_CR = SSC_CR_TXDIS ; } #if !defined(SIMU) extern "C" void PWM_IRQHandler(void) { register Pwm *pwmptr; register Ssc *sscptr; uint32_t period; uint32_t reason; pwmptr = PWM; reason = pwmptr->PWM_ISR1 ; if (reason & PWM_ISR1_CHID3) { switch (s_current_protocol[0]) // Use the current, don't switch until set_up_pulses { case PROTO_PXX: // Alternate periods of 15.5mS and 2.5 mS period = pwmptr->PWM_CH_NUM[3].PWM_CPDR; if (period == 5000) { // 2.5 mS period = 15500 * 2; } else { period = 5000; } pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS if (period != 5000) { // 2.5 mS setupPulses(0); } else { // Kick off serial output here sscptr = SSC; sscptr->SSC_TPR = CONVERT_PTR_UINT(pxxStream[0]); sscptr->SSC_TCR = (uint8_t *)pxxStreamPtr[0] - (uint8_t *)pxxStream[0]; sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers } break; 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 period = 19500 * 2; } else { period = 5000; } pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS if (period != 5000) { // 2.5 mS setupPulses(0); } else { // Kick off serial output here sscptr = SSC; sscptr->SSC_TPR = CONVERT_PTR_UINT(dsm2Stream); sscptr->SSC_TCR = (uint8_t *)dsm2StreamPtr - (uint8_t *)dsm2Stream; sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers } break; default: pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[0][ppmStreamIndex[0]++]; // Period in half uS if (ppmStream[0][ppmStreamIndex[0]] == 0) { ppmStreamIndex[0] = 0; setupPulses(0); } break; } } if (reason & PWM_ISR1_CHID1) { pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = ppmStream[1][ppmStreamIndex[1]++] ; // Period in half uS if (ppmStream[1][ppmStreamIndex[1]] == 0) { ppmStreamIndex[1] = 0; setupPulsesPPM(1); } } } #endif