114 lines
3.1 KiB
C++
114 lines
3.1 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 <climits>
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#include "opentx.h"
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// Minimum space after the last PPM pulse in us
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#define PPM_SAFE_MARGIN 3000 // 3ms
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template <class T>
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uint16_t setupPulsesPPM(PpmPulsesData<T>* ppmPulsesData, uint8_t channelsStart,
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int8_t channelsCount)
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{
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uint16_t total = 0;
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int16_t PPM_range = g_model.extendedLimits ?
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// range of 0.7 .. 1.7msec
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(512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2;
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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 =
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min<uint8_t>(MAX_OUTPUT_CHANNELS, firstCh + 8 + channelsCount);
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ppmPulsesData->ptr = ppmPulsesData->pulses;
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for (uint32_t i = firstCh; i < lastCh; i++) {
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int16_t v =
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limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) +
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2 * PPM_CH_CENTER(i);
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*ppmPulsesData->ptr++ = v;
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total += v;
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}
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return total;
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}
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void setupPulsesPPMTrainer()
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{
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uint16_t total = setupPulsesPPM<trainer_pulse_duration_t>(
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&trainerPulsesData.ppm, g_model.trainerData.channelsStart,
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g_model.trainerData.channelsCount);
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uint32_t rest = PPM_TRAINER_PERIOD_HALF_US();
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if ((uint32_t)total < rest + PPM_SAFE_MARGIN * 2)
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rest -= total;
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else
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rest = PPM_SAFE_MARGIN * 2;
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// restrict to 16 bit max
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if (rest >= USHRT_MAX - 1)
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rest = USHRT_MAX - 1;
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*trainerPulsesData.ppm.ptr++ = (uint16_t)rest;
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// stop mark so that IRQ-based sending
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// knows when to stop
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*trainerPulsesData.ppm.ptr = 0;
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}
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static void setupPulsesPPMModule(uint8_t module)
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{
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PpmPulsesData<pulse_duration_t>* data = nullptr;
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#if defined(PCBTARANIS) && defined(INTERNAL_MODULE_PPM)
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if (module == INTERNAL_MODULE) {
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data = &intmodulePulsesData.ppm;
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} else
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#endif
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{
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data = &extmodulePulsesData.ppm;
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}
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setupPulsesPPM(&extmodulePulsesData.ppm,
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g_model.moduleData[module].channelsStart,
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g_model.moduleData[module].channelsCount);
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// Set the final period to 1ms after which the
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// PPM will be switched OFF
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*data->ptr++ = PPM_SAFE_MARGIN * 2;
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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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setupPulsesPPMModule(INTERNAL_MODULE);
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}
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#endif
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void setupPulsesPPMExternalModule()
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{
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setupPulsesPPMModule(EXTERNAL_MODULE);
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}
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