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edgetx-gx12/radio/src/pulses/pulses_avr.cpp
T
3djcandBertrand Songis 52435703a0 3djc/telem rename (#3678) 
* Rename EXT option to TELEMETRY

* Change test accordingly

* Rename FRSKY to TELEMETRY_FRSKY

* Rename ARDUPILOT to TELEMETRY_ARDUPILOT

* More renames (JETI, MAVLINK, NMEA)

* Fixes to make commit-test happy

* Further tests added to commit-test

* Cleanup

* Rename EXTSTD to TELEMETRY_NONE
2016-08-02 21:53:25 +02:00

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/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
uint16_t nextMixerEndTime = 0;
#define SCHEDULE_MIXER_END(delay) nextMixerEndTime = getTmr16KHz() + (delay) - 2*16/*2ms*/
#if defined(DSM2)
// DSM2 control bits
#define DSM2_CHANS 6
#define FRANCE_BIT 0x10
#define DSMX_BIT 0x08
#define BAD_DATA 0x47
#define DSM2_SEND_BIND (1 << 7)
#define DSM2_SEND_RANGECHECK (1 << 5)
uint8_t dsm2BindTimer = DSM2_BIND_TIMEOUT;
#endif
#if defined(PXX)
#define PXX_SEND_BIND 0x01
#define PXX_SEND_FAILSAFE (1 << 4)
#define PXX_SEND_RANGECHECK (1 << 5)
#endif
#if defined(DSM2) || defined(PXX)
uint8_t moduleFlag[NUM_MODULES] = { 0 };
#endif
uint8_t s_current_protocol[1] = { 255 };
uint8_t s_pulses_paused = 0;
uint16_t B3_comp_value;
#if defined(DSM2_SERIAL)
inline void DSM2_EnableTXD(void)
{
UCSR0B |= (1 << TXEN0); // enable TX
// don't enable UDRE0 interrupt now, it will be enabled during next setupPulses
}
#endif
void set_timer3_capture(void);
void set_timer3_ppm(void);
void startPulses()
{
#if defined(CPUM2560)
#if defined(DSM2_SERIAL)
if (!IS_DSM2_PROTOCOL(g_model.protocol))
#endif
{
// TODO g: There has to be a better place for this bug fix
OCR1B = 0xffff; /* Prevent any PPM_OUT pin toggle before the TCNT1 interrupt
fires for the first time and sets up the pulse period.
*** Prevents WDT reset loop. */
}
#endif
#if defined(SIMU)
s_current_protocol[0] = g_model.protocol;
#else
setupPulses();
#endif // SIMU
}
#define PULSES_SIZE 144
uint8_t pulses2MHz[PULSES_SIZE] = {0}; // TODO check this length, pulled from er9x, perhaps too big.
uint8_t *pulses2MHzRPtr = pulses2MHz;
#if defined(DSM2) || defined(PXX) || defined(IRPROTOS)
uint8_t *pulses2MHzWPtr = pulses2MHz;
#endif
#define CTRL_END 0
#define CTRL_CNT 1
#define CTRL_REP_1CMD -3
#define CTRL_REP_2CMD -6
#define SETUP_PULSES_DURATION 1000 // 500us
uint8_t g_ppmPulsePolarity = 0; // Needed for Bit-bang PPM.
// TIMER1_COMPA_vect used for PPM and DSM2=SERIAL.
ISR(TIMER1_COMPA_vect) // 2MHz pulse generation (BLOCKING ISR).
{
uint8_t dt = TCNT1L; // Record Timer1 latency for DEBUG stats display.
// Call setupPulses only after "rest" period has elapsed.
// Must do this before toggle PORTB to keep timing accurate.
if (IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0]) || *((uint16_t*)pulses2MHzRPtr) == 0) {
if (!IS_DSM2_SERIAL_PROTOCOL(s_current_protocol[0])) {
OCR1A = SETUP_PULSES_DURATION;
#if defined(CPUM2560) // CPUM2560 hardware toggled PPM out.
OCR1B = OCR1A;
if (g_model.pulsePol) {
TCCR1A = (TCCR1A | (1<<COM1B1)) & ~(1<<COM1B0); // Set idle level.
}
else {
TCCR1A |= 3<<COM1B0;
}
TCCR1C = 1<<FOC1B; // Strobe FOC1B.
TCCR1A = (TCCR1A | (1<<COM1B0)) & ~(1<<COM1B1); // Toggle OC1B on next match.
#endif
}
setupPulses(); // Does not sei() for setupPulsesPPM.
heartbeat |= HEART_TIMER_PULSES;
return;
}
if (s_current_protocol[0] != PROTO_NONE) {
#if !defined(CPUM2560)
// Original Bit-bang for PPM.
if (g_ppmPulsePolarity) {
PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
g_ppmPulsePolarity = 0;
}
else {
PORTB &= ~(1<<OUT_B_PPM);
g_ppmPulsePolarity = 1;
}
#else // defined(CPUM2560)
// CPUM2560 hardware toggled PPM out.
if (*(uint16_t*)(pulses2MHzRPtr + sizeof(uint16_t)) == 0) {
// Look one step ahead to see if we are currently the "rest" period.
OCR1B = 0xffff; // Prevent next compare match hence toggle.
}
else {
OCR1B = *((uint16_t*) pulses2MHzRPtr);
}
#endif
}
OCR1A = *((uint16_t*) pulses2MHzRPtr); // Schedule next Timer1 interrupt vector (to this function).
pulses2MHzRPtr += sizeof(uint16_t); // Non PPM protocols use uint8_t pulse buffer.
if (dt > g_tmr1Latency_max) g_tmr1Latency_max = dt;
if (dt < g_tmr1Latency_min) g_tmr1Latency_min = dt;
}
void setupPulsesPPM(uint8_t proto)
{
// Total frame length is a fixed 22.5msec (more than 9 channels is non-standard and requires this to be extended.)
// Each channel's pulse is 0.7 to 1.7ms long, with a 0.3ms stop tail, making each compelte cycle 1 to 2ms.
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
uint16_t *ptr = (proto == PROTO_PPM ? (uint16_t *)pulses2MHz : (uint16_t *) &pulses2MHz[PULSES_SIZE/2]);
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint8_t p = (proto == PROTO_PPM16 ? 16 : 8) + (g_model.ppmNCH * 2); //Channels *2
uint16_t q = (g_model.ppmDelay*50+300)*2; // Stoplen *2
int32_t rest = 22500u*2 - q;
rest += (int32_t(g_model.ppmFrameLength))*1000;
for (uint8_t i=(proto==PROTO_PPM16) ? p-8 : 0; i<p; i++) {
int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= v;
*ptr++ = q;
*ptr++ = v - q; // total pulse width includes stop phase
}
*ptr++ = q;
if (rest > 65535) rest = 65535; /* prevents overflows */
if (rest < 9000) rest = 9000;
if (proto == PROTO_PPM) {
*ptr++ = rest - SETUP_PULSES_DURATION;
pulses2MHzRPtr = pulses2MHz;
}
else {
*ptr++ = rest;
B3_comp_value = rest - SETUP_PULSES_DURATION; // 500uS before end of sync pulse
}
*ptr = 0;
}
#if defined(PXX)
const pm_uint16_t CRCTable[] PROGMEM =
{
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};
uint8_t PcmByte;
uint8_t PcmBitCount;
uint16_t PcmCrc;
uint8_t PcmOnesCount;
void crc(uint8_t data)
{
PcmCrc = (PcmCrc<<8) ^ pgm_read_word(&CRCTable[((PcmCrc >> 8) ^ data) & 0xFF]);
}
void putPcmPart(uint8_t value)
{
PcmByte >>= 2;
PcmByte |= value;
if (++PcmBitCount >= 4) {
*pulses2MHzWPtr++ = PcmByte;
PcmBitCount = PcmByte = 0;
}
}
void putPcmFlush()
{
while (PcmBitCount != 0) {
putPcmPart(0); // Empty
}
*pulses2MHzWPtr = 0; // Mark end
}
void putPcmBit(uint8_t bit)
{
if (bit) {
PcmOnesCount += 1;
putPcmPart(0x80);
}
else {
PcmOnesCount = 0;
putPcmPart(0xC0);
}
if (PcmOnesCount >= 5) {
putPcmBit(0); // Stuff a 0 bit in
}
}
void putPcmByte(uint8_t byte)
{
uint8_t i;
crc(byte);
for (i=0; i<8; i++) {
putPcmBit(byte & 0x80);
byte <<= 1;
}
}
void putPcmHead()
{
// send 7E, do not CRC
// 01111110
putPcmPart(0xC0);
putPcmPart(0x80);
putPcmPart(0x80);
putPcmPart(0x80);
putPcmPart(0x80);
putPcmPart(0x80);
putPcmPart(0x80);
putPcmPart(0xC0);
}
uint16_t scaleForPXX(uint8_t i)
{
int16_t value = ((i < 16) ? channelOutputs[i] * 3 / 4 : 0) + 1024;
return limit<uint16_t>(1, value, 2046);
}
void setupPulsesPXX()
{
uint16_t chan;
uint16_t chan_1;
pulses2MHzWPtr = pulses2MHz;
pulses2MHzRPtr = pulses2MHz;
PcmCrc = 0;
PcmBitCount = PcmByte = 0;
PcmOnesCount = 0;
putPcmHead();
putPcmByte(g_model.header.modelId[0]);
uint8_t flag1 = 0;
if (moduleFlag[0] == MODULE_BIND) {
flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
}
else if (moduleFlag[0] == MODULE_RANGECHECK) {
flag1 |= PXX_SEND_RANGECHECK;
}
putPcmByte(flag1); // First byte of flags
putPcmByte(0); // Second byte of flags
for (uint8_t i=0; i<8; i+=2) { // First 8 channels only
chan = scaleForPXX(i);
chan_1 = scaleForPXX(i+1);
putPcmByte(chan); // Low byte of channel
putPcmByte(((chan >> 8) & 0x0F) | (chan_1 << 4)); // 4 bits each from 2 channels
putPcmByte(chan_1 >> 4); // High byte of channel
}
putPcmByte(0);
chan = PcmCrc; // get the crc
putPcmByte(chan>>8); // Checksum lo
putPcmByte(chan); // Checksum hi
putPcmHead();
putPcmFlush();
OCR1C += 40000; // 20mS on
PORTB |= (1<<OUT_B_PPM);
}
#endif
#if defined(DSM2_SERIAL)
// DSM2 protocol pulled from th9x - Thanks thus!!!
//http://www.rclineforum.de/forum/board49-zubeh-r-elektronik-usw/fernsteuerungen-sender-und-emp/neuer-9-kanal-sender-f-r-70-au/Beitrag_3897736#post3897736
//(dsm2(LP4DSM aus den RTF (Ready To Fly) Sendern von Spektrum.
//http://www.rcgroups.com/forums/showpost.php?p=18554028&postcount=237
// /home/thus/txt/flieger/PPMtoDSM.c
/*
125000 Baud 8n1 _ xxxx xxxx - ---
#define DSM2_CHANNELS 6 // Max number of DSM2 Channels transmitted
#define DSM2_BIT (8*2)
bind:
DSM2_Header = 0x80,0
static byte DSM2_Channel[DSM2_CHANNELS*2] = {
ch
0x00,0xAA, 0 0aa
0x05,0xFF, 1 1ff
0x09,0xFF, 2 1ff
0x0D,0xFF, 3 1ff
0x13,0x54, 4 354
0x14,0xAA 5 0aa
};
normal:
DSM2_Header = 0,0;
DSM2_Channel[i*2] = (byte)(i<<2) | highByte(pulse);
DSM2_Channel[i*2+1] = lowByte(pulse);
*/
// DSM2=SERIAL mode
FORCEINLINE void setupPulsesDSM2()
{
uint16_t *ptr = (uint16_t *)pulses2MHz;
switch (s_current_protocol[0])
{
case PROTO_DSM2_LP45:
*ptr = 0x00;
break;
case PROTO_DSM2_DSM2:
*ptr = 0x10;
break;
default: // DSMX
*ptr = 0x18;
break;
}
if (dsm2BindTimer > 0) {
dsm2BindTimer--;
if (switchState(SW_DSM2_BIND)) {
moduleFlag[0] = MODULE_BIND;
*ptr |= DSM2_SEND_BIND;
}
}
else if (moduleFlag[0] == MODULE_RANGECHECK) {
*ptr |= DSM2_SEND_RANGECHECK;
}
else {
moduleFlag[0] = 0;
}
ptr++;
*ptr++ = g_model.header.modelId[0];
for (uint8_t i=0; i<DSM2_CHANS; i++) {
uint16_t pulse = limit(0, ((channelOutputs[i]*13)>>5)+512,1023);
*ptr++ = (i<<2) | ((pulse>>8)&0x03); // encoded channel + upper 2 bits pulse width
*ptr++ = pulse & 0xff; // low byte
}
pulses2MHzWPtr = (uint8_t *)ptr;
pulses2MHzRPtr = pulses2MHz;
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt to start transmitting DSM2 data bytes from buffer
}
// DSM2=SERIAL mode
void DSM2_Done()
{
UCSR0B &= ~((1 << TXEN0) | (1 << UDRIE0)); // disable UART TX and interrupt
}
// DSM2=SERIAL mode
void DSM2_Init(void)
{
#ifndef SIMU
#undef BAUD
#define BAUD 125000
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0A &= ~(1 << U2X0); // disable double speed operation.
// set 8N1 (leave TX and RX disabled for now)
UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02);
UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00);
while (UCSR0A & (1 << RXC0)) {
UDR0; // flush receive buffer
}
// These should be running right from power up on a FrSky enabled '9X.
DSM2_EnableTXD(); // enable DSM2 UART transmitter
#endif // SIMU
}
#endif // defined(DSM2_SERIAL)
/****** END DSM2=SERIAL ********/
/////////////////////////////////////////////////////////////
/******* BEGIN DSM2=PPM ********/
#if defined(DSM2_PPM)
inline void _send_1(uint8_t v)
{
*pulses2MHzWPtr++ = v;
}
#define BITLEN_DSM2 (8*2) //125000 Baud
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
bool lev = 0;
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
for (uint8_t i=0; i<=8; i++) { //8Bits + Stop=1
bool nlev = b & 1; //lsb first
if (lev == nlev) {
len += BITLEN_DSM2;
}
else {
#if defined(CPUM2560)
// G: Compensate for main clock synchronisation -- to get accurate 8us bit length
// NOTE: This has now been tested as NOT required on the stock board, with the ATmega64A chip.
_send_1(nlev ? len-5 : len+3);
#else
_send_1(len-1);
#endif
len = BITLEN_DSM2;
lev = nlev;
}
b = (b>>1) | 0x80; //shift in stop bit
}
#if defined (CPUM2560)
_send_1(len+BITLEN_DSM2+3); // 2 stop bits
#else
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
#endif
}
// DSM2=PPM mode
void setupPulsesDSM2()
{
static uint8_t dsmDat[2+6*2] = {0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
pulses2MHzWPtr = pulses2MHz;
// If more channels needed make sure the pulses union/array is large enough
switch (s_current_protocol[0]) {
case PROTO_DSM2_LP45:
dsmDat[0] = 0x00;
break;
case PROTO_DSM2_DSM2:
dsmDat[0] = 0x10;
break;
default: // DSMX
dsmDat[0] = 0x18;
break;
}
if (dsm2BindTimer > 0) {
dsm2BindTimer--;
if (switchState(SW_DSM2_BIND)) {
moduleFlag[0] = MODULE_BIND;
dsmDat[0] |= DSM2_SEND_BIND;
}
}
else if (moduleFlag[0] == MODULE_RANGECHECK) {
dsmDat[0] |= DSM2_SEND_RANGECHECK;
}
else {
moduleFlag[0] = 0;
}
dsmDat[1] = g_model.header.modelId[0];
for (uint8_t i=0; i<DSM2_CHANS; i++) {
uint16_t pulse = limit(0, ((channelOutputs[i]*13)>>5)+512, 1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03); // encoded channel + upper 2 bits pulse width
dsmDat[3+2*i] = pulse & 0xff; // low byte
}
for (uint8_t counter=0; counter<14; counter++) {
sendByteDsm2(dsmDat[counter]);
}
pulses2MHzWPtr -= 1; //remove last stopbits and
#if !defined(CPUM2560)
//G: Removed to get waveform correct on analyser. Leave in for stock board until tests can be done.
_send_1(255); // prolong them
#endif
_send_1(0); //end of pulse stream
pulses2MHzRPtr = pulses2MHz;
}
#endif
/****** END DSM2=PPM ********/
#if defined(IRPROTOS)
static void _send_u8(uint8_t u8)
{
#ifdef SIMU
*(pulses2MHzPtr)++ = u8;
#else
asm volatile(
" st Z+,%A[u] \n\t"
: [p]"=z"(pulses2MHzWPtr)
: "%[p]"(pulses2MHzWPtr)
, [u]"r"(u8)
);
#endif
}
static void _send_u16(uint16_t u16)
{
#ifdef SIMU
*(*(uint16_t**)&pulses2MHzWPtr)++ = u16;
#else
asm volatile(
" st Z+,%A[t0] \n\t"
" st Z+,%B[t0] \n\t"
: [p]"=z"(pulses2MHzWPtr)
: "%[p]"(pulses2MHzWPtr)
, [t0]"r"(u16)
);
#endif
}
static void _send_1(uint16_t t0)
{
// *(*(uint16_t**)&pulses2MHzPtr)++=t0;
_send_u16(t0);
*pulses2MHzWPtr++ = CTRL_CNT;
//_send_u8(CTRL_CNT);
}
static void _send_rep1(uint16_t t0, uint8_t cnt)
{
// *(*(uint16_t**)&pulses2MHzPtr)++=t0;
_send_u16(t0);
_send_u8(CTRL_REP_1CMD);
_send_u8(cnt);
_send_u8(CTRL_CNT);
}
//picco z
//http://home.versanet.de/~b-konze/uni_fb/uni_fb.htm
// /home/husteret/txt/flieger/protokolle/m168fb_ufo_v08/picooz.c
//
// 1900 650 650 1226 650 1226 Stop
// ---- __ -- __ -- __----__----__ --__ ----____ --__
/*
chn:2 a=00 b=01 c=10
pow:4u msb first
trim:4s -2,0,1
direction:3s
-chk[0]
-chk[1]
0
-------
2-bit sum = 0
chk:2 = chn:2 + pow>>2:2 +pow:2 + trim>>2:2 +trim:2 dir + direction>>1:2 + direction<<1:2
*/
#define PICOOZ_RC_HIGH 93 //(1226/13)
#define PICOOZ_RC_LOW 49 //(650/13)
#define LEN_38KHZ (13*2) //= 38,46KHz
void picco_sendB1(bool bit)
{
if (bit) {
_send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH); //ungerade anzahl 10101
_send_1 (1226*2 - 1); //lange 0
}
else {
_send_rep1(LEN_38KHZ-1, PICOOZ_RC_LOW); //ungerade anzahl 10101
_send_1 (650*2 - 1); //lange 0
}
}
void picco_sendBn(uint8_t bits, uint8_t n)
{
while (n--) {
picco_sendB1(bits & (1<<n));
}
}
#define BITS 10
#define BITS2 (BITS-1)
NOINLINE uint8_t reduce7u(int16_t v, uint8_t sfr)
{
v += (1<<BITS2);
if (v < 0) v = 0;
if (v >= (1<<BITS)) v=(1<<BITS)-1;
return v >> sfr;
}
NOINLINE int8_t reduce7s(int16_t v, uint8_t sfr, uint8_t sf2, int8_t ofs2)
{
v += (1<<BITS2) + sf2;
if (v & (1<<BITS)) {
v = (1<<BITS)-1; // no overflow
}
int8_t i8 = (uint16_t)v>>sfr;
if (i8 <= 0) {
i8 = 1;
}
i8 -= ofs2;
if (i8 >= ofs2) {
i8 = ofs2-1; //no overflow
}
return i8;
}
//these defines allow the compiler to preclculate constants
#define getChan7u(i,bitsRes) reduce7u(channelOutputs[i],(BITS-bitsRes))
#define getChan7s(i,bitsRes) reduce7s(channelOutputs[i],(BITS-bitsRes),1<<((BITS-bitsRes)-1),1<<(bitsRes-1))
static void setupPulsesPiccoZ(uint8_t chn)
{
// 1900 650 650 1226 650 0bit 1226 1bit Stop
// ---- __ -- __ -- __----__----__ --__ ----____ --__
static bool state = 0;
static uint8_t pow;
static int8_t trim;
static int8_t dir;
static uint8_t chk;
if (state == 0) {
_send_rep1(LEN_38KHZ-1, 147); // 1900/13 !! must be odd
_send_1 (650*2 - 1);//
picco_sendBn(0,2);
_send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH);
_send_1 (650*2 - 1);//
_send_rep1(LEN_38KHZ-1, PICOOZ_RC_HIGH);
_send_1 (650*2 - 1);//
// chn:2 a=00 b=01 c=10
// pow:4u msb first
// trim:4s -2,0,1
// dir:3s
// -chk[0]
// -chk[1]
// 0
pow = getChan7u(2,4);
trim = getChan7s(1,4);
dir = getChan7s(0,3);
chk = - (chn+ (pow>>2) + pow + (trim>>2) + trim + (dir>>1) + (dir<<1));
}
else {
picco_sendBn(chn,2);
picco_sendBn(pow,4);
picco_sendBn(trim,4);
picco_sendBn(dir,3);
picco_sendB1(chk & (1<<0)); //lsb first, because we are here on a odd bit (dir is only 3 bits)
picco_sendB1(chk & (1<<1));
_send_rep1(LEN_38KHZ-1, PICOOZ_RC_LOW); //0-bit pulses
_send_1 (20000u*2 - 1); //20ms gap ?
}
state = !state;
}
#endif
void setupPulses()
{
uint8_t required_protocol = g_model.protocol;
#if defined(DEBUG) && !defined(VOICE)
PORTH |= 0x80; // PORTH:7 LOW->HIGH signals start of setupPulses()
#endif
if (s_pulses_paused) {
required_protocol = PROTO_NONE;
}
#if defined(CPUM2560) && defined(DSM2_PPM) && defined(TX_CADDY)
// This should be here, executed on every loop, to ensure re-setting of the
// TX moudle power control output register, in case of electrical glitch.
// (Following advice of Atmel for MCU's used in industrial / mission cricital
// applications.)
if (IS_DSM2_PROTOCOL(required_protocol))
PORTH &= ~0x80;
else
PORTH |= 0x80;
#endif
if (s_current_protocol[0] != required_protocol) {
#if defined(DSM2_SERIAL) && defined(TELEMETRY_FRSKY)
if (s_current_protocol[0] == 255 || IS_DSM2_PROTOCOL(s_current_protocol[0])) {
telemetryInit();
}
#endif
s_current_protocol[0] = required_protocol;
TCCR1B = 0; // Stop counter
TCNT1 = 0;
#if defined(CPUM2560) || defined(CPUM2561)
TIMSK1 &= ~0x2F; // All Timer1 interrupts off
TIMSK1 &= ~(1<<OCIE1C); // COMPC1 off
TIFR1 = 0x2F;
#else
TIMSK &= ~0x3C; // All interrupts off
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
TIFR = 0x3C; // Clear all pending interrupts
ETIFR = 0x3F; // Clear all pending interrupts
#endif
switch (required_protocol) {
#if defined(DSM2_PPM) // For DSM2=SERIAL, the default: case is executed, below
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
set_timer3_capture();
OCR1C = 200; // 100 uS
TCNT1 = 300; // Past the OCR1C value
ICR1 = 44000; // Next frame starts in 22 mS
#if defined(CPUM2560) || defined(CPUM2561)
TIMSK1 |= 0x28; // Enable Timer1 COMPC and CAPT interrupts
TCCR1A = (0 << WGM10); // Set output waveform mode to normal, for now. Note that
// WGM will be changed to toggle OCR1B pin on compare capture,
// in next switch(required_protocol) {...}, below
#else
TIMSK |= 0x20; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (0 << WGM10);
#endif
TCCR1B = (3 << WGM12) | (2 << CS10); // CTC ICR, 16MHz / 8
break;
#endif // defined(DSM2_PPM)
#if defined(PXX)
case PROTO_PXX:
set_timer3_capture();
OCR1B = 6000; // Next frame starts in 3 mS
OCR1C = 4000; // Next frame setup in 2 mS
#if defined(CPUM2560) || defined(CPUM2561)
TIMSK1 |= (1<<OCIE1B); // Enable COMPB
TIMSK1 |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK |= (1<<OCIE1B); // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = 0;
#endif
TCCR1B = (2<<CS10); // ICNC3 16MHz / 8
break;
#endif
case PROTO_PPM16:
OCR1A = 40000; // Next frame starts in 20 mS
#if defined(CPUM2560) || defined(CPUM2561)
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching
#else
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0<<WGM10);
#endif
TCCR1B = (1 << WGM12) | (2<<CS10); // CTC OCRA, 16MHz / 8
setupPulsesPPM(PROTO_PPM16);
OCR3A = 50000;
OCR3B = 5000;
set_timer3_ppm();
break;
case PROTO_PPMSIM:
#if defined(CPUM2560) || defined(CPUM2561)
TCCR1A = 0; // Disconnect OC1B for bit-bang PPM switching
#endif
setupPulsesPPM(PROTO_PPMSIM);
OCR3A = 50000;
OCR3B = 5000;
set_timer3_ppm();
PORTB &= ~(1<<OUT_B_PPM); // Hold PPM output low
break;
#if defined(DSM2_SERIAL) && defined(TELEMETRY_FRSKY)
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
DSM2_Init();
// no break
#endif
default: // PPM and DSM2=SERIAL modes
set_timer3_capture();
OCR1A = 44000; // Next frame starts in 22ms -- DSM mode.
// This is arbitrary and for the first frame only. In fact, ...
// DSM2 mode will set frame timing again at each ISR(TIMER1_COMPC_vect)
// and
// PPM mode will dynamically adjust to the frame rate set in model SETUP menu,
// from within setupPulsesPPM().
#if defined(CPUM2560) || defined(CPUM2561)
TIMSK1 |= (1<<OCIE1A); // Enable COMPA
TCCR1A = (3 << COM1B0); // Connect OC1B for hardware PPM switching. G: Not needed
// for DSM2=SERIAL. But OK.
#else
TIMSK |= 0x10; // Enable COMPA
TCCR1A = (0 << WGM10);
#endif
TCCR1B = (1 << WGM12) | (2 << CS10); // CTC OCRA, 16MHz / 8
break;
}
}
switch(required_protocol) {
#if defined(PXX)
case PROTO_PXX:
// schedule next Mixer calculations
SCHEDULE_MIXER_END(20*16);
sei();
setupPulsesPXX();
break;
#endif
#if defined(DSM2)
case PROTO_DSM2_LP45:
case PROTO_DSM2_DSM2:
case PROTO_DSM2_DSMX:
// schedule next Mixer calculations
SCHEDULE_MIXER_END(22*16);
#if defined(DSM2_PPM)
sei();
#endif
setupPulsesDSM2(); // Different versions for DSM2=SERIAL vs. DSM2=PPM
#if defined(CPUM2560) && defined(DSM2_PPM)
// Ensure each DSM2=PPM serial packet starts out with the correct bit polarity
TCCR1A = (0 << WGM10) | (3<<COM1B1); // Make Waveform Generator 'SET' OCR1B pin on next compare event and ...
TCCR1C = (1<<FOC1B); // ... force compare event, to set OCR1B pin high.
TCCR1A = (1<<COM1B0); // Output is ready. Now configure OCR1B pin into 'TOGGLE' mode.
#endif
break;
#endif
#if defined(IRPROTOS)
case PROTO_PICZ:
setupPulsesPiccoZ(g_model.ppmNCH);
// TODO BSS stbyLevel = 0; //start with 1
break;
#endif
default: // standard PPM protocol
#if !defined(SIMU)
g_ppmPulsePolarity = g_model.pulsePol;
#endif
// schedule next Mixer calculations
SCHEDULE_MIXER_END(45*8+g_model.ppmFrameLength*8);
// no sei here
setupPulsesPPM(PROTO_PPM);
// if PPM16, PPM16 pulses are set up automatically within the interrupts
break;
}
#if defined(DEBUG) && !defined(VOICE)
PORTH &= ~0x80; // PORTH:7 HIGH->LOW signals end of setupPulses()
#endif
}
#ifndef SIMU
#if defined(DSM2_PPM) || defined(PXX)
ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
{
#if defined (CPUM2560)
/*** G9X V4 hardware toggled PPM_out avoids any chance of output timing jitter ***/
// OCR1B output pin (PPM_OUT) is pre-SET in setupPulses -- on every new
// frame, for safety -- and then configured to toggle on each OCR1B compare match.
// Thus, all we need do here is update the compare regisiter(s) ...
uint8_t x;
x = *pulses2MHzRPtr++; // Byte size
ICR1 = x;
OCR1B = (uint16_t)x; // Duplicate capture compare value for OCR1B, because Timer1 is in CTC mode
// and thus we cannot use the OCR1B int. vector. (Should have put PPM_OUT
// pin on OCR1A. Oh well.)
#else // manual bit-bang mode
uint8_t x;
PORTB ^= (1<<OUT_B_PPM); // Toggle PPM_OUT
x = *pulses2MHzRPtr++; // Byte size
ICR1 = x;
if (x > 200) PORTB |= (1<<OUT_B_PPM); // Make sure pulses are the correct way up.
#endif
}
#if defined(PXX)
ISR(TIMER1_COMPB_vect) // PXX main interrupt
{
uint8_t x;
PORTB ^= (1<<OUT_B_PPM);
x = *pulses2MHzRPtr; // Byte size
if ((x & 1) == 0) {
OCR1B += 32;
}
else {
OCR1B += 16;
}
if ((x >>= 1) == 0) {
if (*(++pulses2MHzRPtr) == 0) {
OCR1B = OCR1C + 2000; // 1mS on from OCR1B
}
}
else {
*pulses2MHzRPtr = x;
}
heartbeat |= HEART_TIMER_PULSES;
}
#endif
ISR(TIMER1_COMPC_vect) // DSM2_PPM or PXX end of frame
{
#if defined(DSM2_PPM) && defined(PXX)
if (IS_DSM2_PROTOCOL(s_current_protocol[0])) {
#endif
#if defined(DSM2_PPM)
ICR1 = 41536; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
if (OCR1C < 255) {
OCR1C = 39000; // delay setup pulses by 19.5ms to reduce system latency
}
else {
OCR1C = 200;
// sei will be called inside setupPulses()
setupPulses();
}
heartbeat |= HEART_TIMER_PULSES;
#endif
#if defined(DSM2_PPM) && defined(PXX)
}
else {
#endif
#if defined(PXX)
// must be PXX
setupPulses();
#endif
#if defined(DSM2_PPM) && defined(PXX)
}
#endif
}
#endif // defined(DSM2_PPM) || defined(PXX)
#endif // ifndef SIMU
void set_timer3_capture()
{
#ifndef SIMU
#if defined (CPUM2560) || defined(CPUM2561) // TODO TIMSK3 in #define!
TIMSK3 &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C)); // Stop compare interrupts
#else
ETIMSK &= ~((1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C)); // Stop compare interrupts
#endif
// TODO G: This can't work with V3.2/4.x boards. Select and use a different pin
// for secondary 8-ch PPM output (PORTH or Spare1 or Spare2 maybe?)
DDRE &= ~0x80; PORTE |= 0x80; // Bit 7 input + pullup
TCCR3B = 0; // Stop counter
TCCR3A = 0;
// Noise Canceller enabled, neg. edge, clock at 16MHz / 8 (2MHz) (Correct for PCB V4.x+ also)
TCCR3B = (1<<ICNC3) | (0b010 << CS30);
RESUME_PPMIN_INTERRUPT();
#endif
}
void set_timer3_ppm()
{
#ifndef SIMU
PAUSE_PPMIN_INTERRUPT();
DDRE |= 0x80; // Bit 7 output
TCCR3B = 0; // Stop counter
TCCR3A = (0<<WGM10);
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8
#if defined (CPUM2560) || defined(CPUM2561)
TIMSK3 |= ((1<<OCIE3A) | (1<<OCIE3B)); // enable immediately before mainloop
#else
ETIMSK |= ((1<<OCIE3A) | (1<<OCIE3B)); // enable immediately before mainloop
#endif
#endif
}
#ifndef SIMU
// G: TIMER3_COMPA and COMPB int. vectors are used for PPM16 (8+8, actually)
// and PPMSIM modes
ISR(TIMER3_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol;
static uint16_t * pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
if (pulsePol) {
PORTE |= 0x80; // (1<<OUT_B_PPM);
pulsePol = 0;
}
else {
PORTE &= ~0x80; // (1<<OUT_B_PPM);
pulsePol = 1;
}
OCR3A = *pulse2MHzPPM16RPtr++;
OCR3B = B3_comp_value;
if (*pulse2MHzPPM16RPtr == 0) {
pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
pulsePol = g_model.pulsePol;
}
heartbeat |= HEART_TIMER_PULSES;
}
ISR(TIMER3_COMPB_vect) //2MHz pulse generation
{
sei();
if (s_current_protocol[0] != g_model.protocol) {
if (s_current_protocol[0] == PROTO_PPMSIM) {
setupPulses();
}
}
else {
setupPulsesPPM(g_model.protocol);
}
}
#endif // SIMU
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