/* * 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" uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) }; uint16_t pxxStream[NUM_MODULES][400]; // Transitions uint16_t *pxxStreamPtr[NUM_MODULES]; uint16_t PxxValue[NUM_MODULES]; uint16_t PcmCrc[NUM_MODULES]; uint8_t PcmOnesCount[NUM_MODULES]; const uint16_t CRCTable[]= { 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 }; void crc(uint8_t data, unsigned int port) { PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]); } void putPcmPart(uint8_t value, unsigned int port) { PxxValue[port] += 18 ; // Output 1 for this time *pxxStreamPtr[port]++ = PxxValue[port] ; PxxValue[port] += 14 ; if (value) { PxxValue[port] += 16 ; } *pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time } void putPcmFlush(unsigned int port) { *pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR } void putPcmBit(uint8_t bit, unsigned int port) { if (bit) { PcmOnesCount[port] += 1; putPcmPart(1, port); } else { PcmOnesCount[port] = 0; putPcmPart(0, port); } if (PcmOnesCount[port] >= 5) { putPcmBit(0, port); // Stuff a 0 bit in } } void putPcmByte(uint8_t byte, unsigned int port) { crc(byte, port); for (uint8_t i=0; i<8; i++) { putPcmBit(byte & 0x80, port); byte <<= 1; } } void putPcmHead(unsigned int port) { // send 7E, do not CRC // 01111110 putPcmPart(0, port); putPcmPart(1, port); putPcmPart(1, port); putPcmPart(1, port); putPcmPart(1, port); putPcmPart(1, port); putPcmPart(1, port); putPcmPart(0, port); } void setupPulsesPXX(unsigned int port) { uint16_t chan=0, chan_low=0; pxxStreamPtr[port] = pxxStream[port]; PxxValue[port] = 0 ; PcmCrc[port] = 0; PcmOnesCount[port] = 0; /* Preamble */ putPcmPart(0, port); putPcmPart(0, port); putPcmPart(0, port); putPcmPart(0, port); /* Sync */ putPcmHead(port); /* Rx Number */ putPcmByte(g_model.header.modelId, port); /* FLAG1 */ uint8_t flag1; if (pxxFlag[port] & PXX_SEND_RXNUM) { flag1 = (g_model.moduleData[port].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[port]; } else { flag1 = (g_model.moduleData[port].rfProtocol << 6) | pxxFlag[port]; if (g_model.moduleData[port].failsafeMode != FAILSAFE_HOLD) { if (failsafeCounter[port]-- == 0) { failsafeCounter[port] = 1000; flag1 |= PXX_SEND_FAILSAFE; } if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) { flag1 |= PXX_SEND_FAILSAFE; } } } putPcmByte(flag1, port); /* FLAG2 */ putPcmByte(0, port); /* PPM */ static uint32_t pass[NUM_MODULES] = { MODULES_INIT(0) }; uint32_t sendUpperChannels = 0; if (pass[port]++ & 0x01) { sendUpperChannels = g_model.moduleData[port].channelsCount; } for (uint32_t i=0; i<8; i++) { if (flag1 & PXX_SEND_FAILSAFE) { if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) { if (i < sendUpperChannels) chan = 3072; else chan = 1024; } else { if (i < sendUpperChannels) { chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4095); if (chan == 3072) chan = 3073; } else { chan = limit(0, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (g_model.moduleData[port].failsafeChannels[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2047); if (chan == 1024) chan = 1025; } } } else { if (i < sendUpperChannels) chan = limit(2048, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4095); else chan = limit(0, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2047); } if (i & 1) { putPcmByte(chan_low, port); // Low byte of channel putPcmByte(((chan_low >> 8) & 0x0F) | (chan << 4), port); // 4 bits each from 2 channels putPcmByte(chan >> 4, port); // High byte of channel } else { chan_low = chan; } } /* CRC16 */ putPcmByte(0, port); chan = PcmCrc[port]; putPcmByte(chan>>8, port); putPcmByte(chan, port); /* Sync */ putPcmHead(port); putPcmFlush(port); }