240 lines
7.5 KiB
C++
240 lines
7.5 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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uint8_t pxxFlag[NUM_MODULES] = { MODULES_INIT(0) };
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uint16_t pxxStream[NUM_MODULES][400]; // Transitions
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uint16_t *pxxStreamPtr[NUM_MODULES];
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uint16_t PxxValue[NUM_MODULES];
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uint16_t PcmCrc[NUM_MODULES];
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uint8_t PcmOnesCount[NUM_MODULES];
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const uint16_t CRCTable[]=
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{
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0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
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0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
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0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
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0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
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0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
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0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
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0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
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0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
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0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
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0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
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0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
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0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
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0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
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0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
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0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
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0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
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0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
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0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
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0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
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0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
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0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
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0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
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0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
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0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
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0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
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0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
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0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
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0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
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0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
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0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
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0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
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0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
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};
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void crc(uint8_t data, unsigned int port)
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{
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PcmCrc[port]=(PcmCrc[port]<<8)^(CRCTable[((PcmCrc[port]>>8)^data) & 0xFF]);
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}
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void putPcmPart(uint8_t value, unsigned int port)
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{
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PxxValue[port] += 18 ; // Output 1 for this time
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*pxxStreamPtr[port]++ = PxxValue[port] ;
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PxxValue[port] += 14 ;
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if (value) {
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PxxValue[port] += 16 ;
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}
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*pxxStreamPtr[port]++ = PxxValue[port] ; // Output 0 for this time
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}
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void putPcmFlush(unsigned int port)
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{
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*pxxStreamPtr[port]++ = 18010 ; // Past the 18000 of the ARR
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}
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void putPcmBit(uint8_t bit, unsigned int port)
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{
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if (bit) {
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PcmOnesCount[port] += 1;
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putPcmPart(1, port);
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}
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else {
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PcmOnesCount[port] = 0;
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putPcmPart(0, port);
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}
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if (PcmOnesCount[port] >= 5) {
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putPcmBit(0, port); // Stuff a 0 bit in
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}
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}
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void putPcmByte(uint8_t byte, unsigned int port)
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{
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crc(byte, port);
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for (uint8_t i=0; i<8; i++) {
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putPcmBit(byte & 0x80, port);
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byte <<= 1;
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}
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}
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void putPcmHead(unsigned int port)
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{
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// send 7E, do not CRC
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// 01111110
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putPcmPart(0, port);
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putPcmPart(1, port);
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putPcmPart(1, port);
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putPcmPart(1, port);
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putPcmPart(1, port);
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putPcmPart(1, port);
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putPcmPart(1, port);
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putPcmPart(0, port);
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}
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void setupPulsesPXX(unsigned int port)
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{
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uint16_t chan=0, chan_low=0;
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pxxStreamPtr[port] = pxxStream[port];
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PxxValue[port] = 0 ;
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PcmCrc[port] = 0;
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PcmOnesCount[port] = 0;
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/* Preamble */
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putPcmPart(0, port);
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putPcmPart(0, port);
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putPcmPart(0, port);
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putPcmPart(0, port);
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/* Sync */
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putPcmHead(port);
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/* Rx Number */
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putPcmByte(g_model.header.modelId, port);
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/* FLAG1 */
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uint8_t flag1;
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if (pxxFlag[port] & PXX_SEND_RXNUM) {
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flag1 = (g_model.moduleData[port].rfProtocol << 6) | (g_eeGeneral.countryCode << 1) | pxxFlag[port];
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}
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else {
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flag1 = (g_model.moduleData[port].rfProtocol << 6) | pxxFlag[port];
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if (g_model.moduleData[port].failsafeMode != FAILSAFE_HOLD) {
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if (failsafeCounter[port]-- == 0) {
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failsafeCounter[port] = 1000;
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flag1 |= PXX_SEND_FAILSAFE;
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}
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if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
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flag1 |= PXX_SEND_FAILSAFE;
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}
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}
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}
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putPcmByte(flag1, port);
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/* FLAG2 */
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putPcmByte(0, port);
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/* PPM */
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static uint32_t pass[NUM_MODULES] = { MODULES_INIT(0) };
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int sendUpperChannels = 0;
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if (pass[port]++ & 0x01) {
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sendUpperChannels = g_model.moduleData[port].channelsCount;
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}
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for (int i=0; i<8; i++) {
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if (flag1 & PXX_SEND_FAILSAFE) {
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if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
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if (i < sendUpperChannels)
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chan = 3072;
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else
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chan = 1024;
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}
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else {
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if (i < sendUpperChannels) {
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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);
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if (chan == 3072) chan = 3073;
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}
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else {
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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);
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if (chan == 1024) chan = 1025;
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}
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}
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}
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else {
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if (i < sendUpperChannels)
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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);
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else
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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);
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}
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if (i & 1) {
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putPcmByte(chan_low, port); // Low byte of channel
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putPcmByte(((chan_low >> 8) & 0x0F) | (chan << 4), port); // 4 bits each from 2 channels
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putPcmByte(chan >> 4, port); // High byte of channel
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}
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else {
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chan_low = chan;
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}
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}
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/* CRC16 */
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putPcmByte(0, port);
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chan = PcmCrc[port];
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putPcmByte(chan>>8, port);
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putPcmByte(chan, port);
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/* Sync */
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putPcmHead(port);
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putPcmFlush(port);
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}
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