68 lines
2.6 KiB
C++
68 lines
2.6 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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template<class T>
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void setupPulsesPPM(PpmPulsesData<T> * ppmPulsesData, uint8_t channelsStart, int8_t channelsCount, int8_t frameLength)
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{
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int16_t PPM_range = g_model.extendedLimits ? (512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2; // range of 0.7 .. 1.7msec
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// Total frame length = 22.5msec
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// each pulse is 0.7..1.7ms long with a 0.3ms stop tail
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// The pulse ISR is 2mhz that's why everything is multiplied by 2
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uint8_t firstCh = channelsStart;
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uint8_t lastCh = min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
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ppmPulsesData->ptr = ppmPulsesData->pulses;
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int32_t rest = 22500u * 2;
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rest += int32_t(frameLength) * 1000;
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for (uint32_t i=firstCh; i<lastCh; i++) {
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int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
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rest -= v;
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*ppmPulsesData->ptr++ = v; /* as Pat MacKenzie suggests */
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}
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rest = limit<int32_t>(9000, rest, 65535); /* avoids that CCR2 is bigger than ARR which would cause reboot */
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*ppmPulsesData->ptr++ = rest;
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*ppmPulsesData->ptr = 0; // it's needed in case PPM is sent without DMA (we stop when we reach this 0)
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}
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void setupPulsesPPMTrainer()
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{
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setupPulsesPPM<trainer_pulse_duration_t>(&trainerPulsesData.ppm, g_model.trainerData.channelsStart, g_model.trainerData.channelsCount, g_model.trainerData.frameLength);
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}
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#if defined(PCBTARANIS) && defined(INTERNAL_MODULE_PPM)
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void setupPulsesPPMInternalModule()
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{
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setupPulsesPPM(&intmodulePulsesData.ppm, g_model.moduleData[INTERNAL_MODULE].channelsStart, g_model.moduleData[INTERNAL_MODULE].channelsCount, g_model.moduleData[INTERNAL_MODULE].ppm.frameLength);
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}
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#endif
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void setupPulsesPPMExternalModule()
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{
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setupPulsesPPM(&extmodulePulsesData.ppm, g_model.moduleData[EXTERNAL_MODULE].channelsStart, g_model.moduleData[EXTERNAL_MODULE].channelsCount, g_model.moduleData[EXTERNAL_MODULE].ppm.frameLength);
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}
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