Bertrand Songis
23e16b26f1
I would like a code review for this one (both Taranis and 9XR-PRO), thanks!
100 lines
3.6 KiB
C++
100 lines
3.6 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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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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*/
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#include "../opentx.h"
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void setupPulsesPPM(unsigned int port) // Don't enable interrupts through here
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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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uint32_t firstCh = g_model.moduleData[port].channelsStart;
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uint32_t lastCh = min<unsigned int>(NUM_CHNOUT, firstCh + 8 + g_model.moduleData[port].channelsCount);
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#if defined(PCBSKY9X)
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// TODO move register stuff to driver
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register Pwm *pwmptr = PWM;
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uint32_t pwmCh = (port == EXTERNAL_MODULE ? 3 : 1);
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.moduleData[port].ppmDelay * 50 + 300) * 2; //Stoplen *2
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if (g_model.moduleData[port].ppmPulsePol)
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR &= ~0x00000200 ; // CPOL
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else
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR |= 0x00000200 ; // CPOL
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#endif
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PpmPulsesData * ppmPulsesData = (port == TRAINER_MODULE ? &trainerPulsesData.ppm : &modulePulsesData[port].ppm);
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uint16_t * ptr = ppmPulsesData->pulses;
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#if defined(PCBSKY9X)
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ppmPulsesData->index = 0;
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#else
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ppmPulsesData->ptr = ptr;
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#endif
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int32_t rest = 22500u * 2;
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rest += (int32_t(g_model.moduleData[port].ppmFrameLength)) * 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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*ptr++ = v; /* as Pat MacKenzie suggests */
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}
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if (rest > 65535) rest = 65535; /* prevents overflows */
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if (rest < 9000) rest = 9000; /* avoids that CCR2 is bigger than ARR which would cause reboot */
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*ptr = rest;
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*(ptr + 1) = 0;
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#if !defined(PCBSKY9X)
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rest -= 1000;
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uint32_t ppmDelay = (g_model.moduleData[port].ppmDelay * 50 + 300) * 2;
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// set idle time, ppm delay and ppm polarity
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if (port == TRAINER_MODULE) {
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set_trainer_ppm_parameters(rest, ppmDelay, !g_model.moduleData[TRAINER_MODULE].ppmPulsePol); // ppmPulsePol: 0 - positive, 1 - negative
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}
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else if (port == EXTERNAL_MODULE) {
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set_external_ppm_parameters(rest, ppmDelay, !g_model.moduleData[EXTERNAL_MODULE].ppmPulsePol);
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}
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#endif
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#if defined(TARANIS_INTERNAL_PPM)
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else if (port == INTERNAL_MODULE) {
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set_internal_ppm_parameters(rest, ppmDelay, !g_model.moduleData[INTERNAL_MODULE].ppmPulsePol);
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}
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#endif // #if defined(TARANIS_INTERNAL_PPM)
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}
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