102 lines
3.5 KiB
C++
102 lines
3.5 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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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 PxxTransport>
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void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
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{
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uint16_t pulseValue = 0;
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uint16_t pulseValueLow = 0;
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for (int8_t i=0; i<8; i++) {
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if (sendFailsafe) {
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if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
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pulseValue = (i < sendUpperChannels ? 4095 : 2047);
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}
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else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
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pulseValue = (i < sendUpperChannels ? 2048 : 0);
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}
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else {
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if (i < sendUpperChannels) {
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int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
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if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
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pulseValue = 4095;
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}
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else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
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pulseValue = 2048;
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}
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else {
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failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
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pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
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}
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}
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else {
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int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
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if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
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pulseValue = 2047;
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}
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else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
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pulseValue = 0;
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}
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else {
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failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
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pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
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}
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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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int channel = 8 + g_model.moduleData[port].channelsStart + i;
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int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
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pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
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}
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else if (i < sentModuleChannels(port)) {
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int channel = g_model.moduleData[port].channelsStart + i;
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int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
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pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
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}
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else {
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pulseValue = 1024;
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}
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}
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if (i & 1) {
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PxxTransport::addByte(pulseValueLow); // Low byte of channel
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PxxTransport::addByte(((pulseValueLow >> 8) & 0x0F) | (pulseValue << 4)); // 4 bits each from 2 channels
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PxxTransport::addByte(pulseValue >> 4); // High byte of channel
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}
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else {
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pulseValueLow = pulseValue;
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}
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}
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}
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#if defined(PXX1)
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template class PxxPulses<StandardPxx1Transport<PwmPxxBitTransport> >;
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template class PxxPulses<StandardPxx1Transport<SerialPxxBitTransport> >;
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template class PxxPulses<UartPxx1Transport>;
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#endif
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#if defined(PXX2)
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template class PxxPulses<Pxx2Transport>;
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#endif
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