644 lines
17 KiB
C++
Executable File
644 lines
17 KiB
C++
Executable File
/*
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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 "opentx.h"
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#include "mixer_scheduler.h"
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#include "io/frsky_pxx2.h"
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#include "io/multi_protolist.h"
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#include "pulses/pxx2.h"
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#include "pulses/flysky.h"
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uint8_t s_pulses_paused = 0;
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ModuleState moduleState[NUM_MODULES];
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InternalModulePulsesData intmodulePulsesData __DMA;
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ExternalModulePulsesData extmodulePulsesData __DMA;
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TrainerPulsesData trainerPulsesData __DMA;
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//use only for PXX
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void ModuleState::startBind(BindInformation * destination, ModuleCallback bindCallback)
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{
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bindInformation = destination;
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callback = bindCallback;
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mode = MODULE_MODE_BIND;
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#if defined(SIMU)
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bindInformation->candidateReceiversCount = 2;
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strcpy(bindInformation->candidateReceiversNames[0], "SimuRX1");
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strcpy(bindInformation->candidateReceiversNames[1], "SimuRX2");
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#endif
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}
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void getModuleStatusString(uint8_t moduleIdx, char * statusText)
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{
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*statusText = 0;
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#if defined(MULTIMODULE)
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if (isModuleMultimodule(moduleIdx)) {
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//change it
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getMultiModuleStatus(moduleIdx).getStatusString(statusText);
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}
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#endif
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#if defined(AFHDS3)
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if (moduleIdx == EXTERNAL_MODULE && isModuleAFHDS3(moduleIdx)) {
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extmodulePulsesData.afhds3.getStatusString(statusText);
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}
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#endif
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}
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void getModuleSyncStatusString(uint8_t moduleIdx, char * statusText)
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{
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*statusText = 0;
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#if defined(MULTIMODULE)
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if (isModuleMultimodule(moduleIdx)) {
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getModuleSyncStatus(moduleIdx).getRefreshString(statusText);
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}
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#endif
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#if defined(AFHDS3)
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if (moduleIdx == EXTERNAL_MODULE && isModuleAFHDS3(moduleIdx)) {
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extmodulePulsesData.afhds3.getPowerStatus(statusText);
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}
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#endif
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}
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#if defined(AFHDS3)
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uint8_t actualAfhdsRunPower(int moduleIndex)
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{
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if (moduleIndex == EXTERNAL_MODULE && isModuleAFHDS3(moduleIndex)) {
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return (uint8_t)extmodulePulsesData.afhds3.actualRunPower();
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}
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return 0;
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}
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#endif
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ModuleSettingsMode getModuleMode(int moduleIndex)
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{
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return (ModuleSettingsMode)moduleState[moduleIndex].mode;
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}
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void setModuleMode(int moduleIndex, ModuleSettingsMode mode)
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{
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moduleState[moduleIndex].mode = mode;
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}
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uint8_t getModuleType(uint8_t module)
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{
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uint8_t type = g_model.moduleData[module].type;
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#if defined(HARDWARE_INTERNAL_MODULE)
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if (module == INTERNAL_MODULE && isInternalModuleAvailable(type)) {
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return type;
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}
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#endif
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if (module == EXTERNAL_MODULE && isExternalModuleAvailable(type)) {
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return type;
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}
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return MODULE_TYPE_NONE;
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}
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uint8_t getRequiredProtocol(uint8_t module)
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{
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uint8_t protocol = PROTOCOL_CHANNELS_UNINITIALIZED;
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switch (getModuleType(module)) {
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case MODULE_TYPE_PPM:
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protocol = PROTOCOL_CHANNELS_PPM;
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break;
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case MODULE_TYPE_XJT_PXX1:
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#if defined(INTMODULE_USART)
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if (module == INTERNAL_MODULE) {
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protocol = PROTOCOL_CHANNELS_PXX1_SERIAL;
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break;
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}
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#endif
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protocol = PROTOCOL_CHANNELS_PXX1_PULSES;
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break;
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case MODULE_TYPE_R9M_PXX1:
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protocol = PROTOCOL_CHANNELS_PXX1_PULSES;
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break;
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#if defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
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case MODULE_TYPE_R9M_LITE_PXX1:
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protocol = PROTOCOL_CHANNELS_PXX1_SERIAL;
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break;
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case MODULE_TYPE_R9M_LITE_PXX2:
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protocol = PROTOCOL_CHANNELS_PXX2_LOWSPEED;
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break;
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#endif
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case MODULE_TYPE_ISRM_PXX2:
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case MODULE_TYPE_R9M_PXX2:
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#if defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
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case MODULE_TYPE_XJT_LITE_PXX2:
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case MODULE_TYPE_R9M_LITE_PRO_PXX2:
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#endif
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protocol = PROTOCOL_CHANNELS_PXX2_HIGHSPEED;
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break;
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case MODULE_TYPE_SBUS:
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protocol = PROTOCOL_CHANNELS_SBUS;
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break;
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#if defined(MULTIMODULE)
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case MODULE_TYPE_MULTIMODULE:
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protocol = PROTOCOL_CHANNELS_MULTIMODULE;
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break;
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#endif
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#if defined(DSM2)
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case MODULE_TYPE_DSM2:
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protocol = limit<uint8_t>(PROTOCOL_CHANNELS_DSM2_LP45, PROTOCOL_CHANNELS_DSM2_LP45+g_model.moduleData[module].rfProtocol, PROTOCOL_CHANNELS_DSM2_DSMX);
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// The module is set to OFF during one second before BIND start
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{
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static tmr10ms_t bindStartTime = 0;
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if (moduleState[module].mode == MODULE_MODE_BIND) {
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if (bindStartTime == 0) bindStartTime = get_tmr10ms();
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if ((tmr10ms_t)(get_tmr10ms() - bindStartTime) < 100) {
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protocol = PROTOCOL_CHANNELS_NONE;
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break;
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}
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}
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else {
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bindStartTime = 0;
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}
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}
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break;
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#endif
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#if defined(CROSSFIRE)
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case MODULE_TYPE_CROSSFIRE:
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protocol = PROTOCOL_CHANNELS_CROSSFIRE;
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break;
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#endif
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#if defined(AFHDS3) || defined(AFHDS2)
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case MODULE_TYPE_FLYSKY:
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if (isModuleAFHDS3(module)) {
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protocol = PROTOCOL_CHANNELS_AFHDS3;
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} else if (isModuleAFHDS2A(module)) {
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protocol = PROTOCOL_CHANNELS_AFHDS2A;
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}
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break;
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#endif
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#if defined(GHOST)
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case MODULE_TYPE_GHOST:
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protocol = PROTOCOL_CHANNELS_GHOST;
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break;
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#endif
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default:
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protocol = PROTOCOL_CHANNELS_NONE;
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break;
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}
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if (s_pulses_paused) {
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protocol = PROTOCOL_CHANNELS_NONE;
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}
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#if 0
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// will need an EEPROM conversion
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if (moduleState[module].mode == MODULE_OFF) {
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protocol = PROTOCOL_CHANNELS_NONE;
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}
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#endif
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return protocol;
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}
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#if defined(HARDWARE_EXTERNAL_MODULE)
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void enablePulsesExternalModule(uint8_t protocol)
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{
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// start new protocol hardware here
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switch (protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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extmodulePxx1PulsesStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
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break;
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#endif
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#if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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extmodulePxx1SerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
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break;
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#endif
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#if defined(DSM2)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2000, false);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, DSM2_PERIOD);
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#endif
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTOCOL_CHANNELS_CROSSFIRE:
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EXTERNAL_MODULE_ON();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
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break;
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#endif
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#if defined(GHOST)
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case PROTOCOL_CHANNELS_GHOST:
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EXTERNAL_MODULE_ON();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, GHOST_PERIOD);
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break;
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#endif
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#if defined(PXX2) && defined(EXTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
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extmoduleInvertedSerialStart(PXX2_HIGHSPEED_BAUDRATE);
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_NO_HEARTBEAT_PERIOD);
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break;
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case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
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extmoduleInvertedSerialStart(PXX2_LOWSPEED_BAUDRATE);
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_NO_HEARTBEAT_PERIOD);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000, true);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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#endif
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getMultiModuleStatus(EXTERNAL_MODULE).failsafeChecked = false;
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getMultiModuleStatus(EXTERNAL_MODULE).flags = 0;
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#if defined(MULTI_PROTOLIST)
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MultiRfProtocols::instance(EXTERNAL_MODULE)->triggerScan();
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#endif
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break;
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#endif
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#if defined(SBUS)
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case PROTOCOL_CHANNELS_SBUS:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(SBUS_BAUDRATE, SBUS_PERIOD_HALF_US, false);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
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#endif
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break;
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#endif
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#if defined(PPM)
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case PROTOCOL_CHANNELS_PPM:
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extmodulePpmStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
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break;
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#endif
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#if defined(AFHDS3)
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case PROTOCOL_CHANNELS_AFHDS3:
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extmodulePulsesData.afhds3.init(EXTERNAL_MODULE);
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, AFHDS3_COMMAND_TIMEOUT * 1000 /* us */);
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break;
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#endif
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default:
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// external module stopped, use default mixer period
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, 0);
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break;
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}
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}
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bool setupPulsesExternalModule(uint8_t protocol)
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{
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switch (protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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extmodulePulsesData.pxx.setupFrame(EXTERNAL_MODULE);
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return true;
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#endif
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#if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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extmodulePulsesData.pxx_uart.setupFrame(EXTERNAL_MODULE);
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return true;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
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case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
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extmodulePulsesData.pxx2.setupFrame(EXTERNAL_MODULE);
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return true;
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#endif
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#if defined(SBUS)
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case PROTOCOL_CHANNELS_SBUS:
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setupPulsesSbus();
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// SBUS_PERIOD is not a constant! It can be set from UI
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
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return true;
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#endif
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#if defined(DSM2)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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setupPulsesDSM2();
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return true;
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#endif
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#if defined(CROSSFIRE)
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case PROTOCOL_CHANNELS_CROSSFIRE:
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{
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ModuleSyncStatus& status = getModuleSyncStatus(EXTERNAL_MODULE);
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if (status.isValid())
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, status.getAdjustedRefreshRate());
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
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setupPulsesCrossfire();
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return true;
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}
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#endif
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#if defined(GHOST)
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case PROTOCOL_CHANNELS_GHOST:
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{
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ModuleSyncStatus& status = getModuleSyncStatus(EXTERNAL_MODULE);
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if (status.isValid())
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, status.getAdjustedRefreshRate());
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, GHOST_PERIOD);
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setupPulsesGhost();
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return true;
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}
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#endif
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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{
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ModuleSyncStatus& status = getModuleSyncStatus(EXTERNAL_MODULE);
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if (status.isValid())
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, status.getAdjustedRefreshRate());
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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setupPulsesMultiExternalModule();
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return true;
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}
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#endif
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#if defined(PPM)
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case PROTOCOL_CHANNELS_PPM:
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setupPulsesPPMExternalModule();
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return true;
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#endif
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#if defined(AFHDS3)
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case PROTOCOL_CHANNELS_AFHDS3:
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extmodulePulsesData.afhds3.setupFrame();
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return true;
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#endif
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default:
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return false;
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}
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}
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#endif
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#if defined(HARDWARE_INTERNAL_MODULE)
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static void enablePulsesInternalModule(uint8_t protocol)
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{
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// start new protocol hardware here
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switch (protocol) {
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#if defined(PXX1) && !defined(INTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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intmodulePxx1PulsesStart();
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#if defined(INTMODULE_HEARTBEAT)
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init_intmodule_heartbeat();
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#endif
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mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
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break;
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#endif
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#if defined(PXX1) && defined(INTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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intmodulePxx1SerialStart();
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#if defined(INTMODULE_HEARTBEAT)
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init_intmodule_heartbeat();
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#endif
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mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
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break;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
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intmoduleSerialStart(PXX2_HIGHSPEED_BAUDRATE, true, USART_Parity_No, USART_StopBits_1, USART_WordLength_8b);
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resetAccessAuthenticationCount();
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#if defined(INTMODULE_HEARTBEAT)
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// use backup trigger (1 ms later)
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init_intmodule_heartbeat();
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#endif
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mixerSchedulerSetPeriod(INTERNAL_MODULE, PXX2_PERIOD);
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break;
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#endif
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#if defined(INTERNAL_MODULE_MULTI)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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intmodulePulsesData.multi.initFrame();
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intmoduleSerialStart(MULTIMODULE_BAUDRATE, true, USART_Parity_Even, USART_StopBits_2, USART_WordLength_9b);
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mixerSchedulerSetPeriod(INTERNAL_MODULE, MULTIMODULE_PERIOD);
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getMultiModuleStatus(INTERNAL_MODULE).failsafeChecked = false;
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getMultiModuleStatus(INTERNAL_MODULE).flags = 0;
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#if defined(MULTI_PROTOLIST)
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TRACE("enablePulsesInternalModule(): trigger scan");
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MultiRfProtocols::instance(INTERNAL_MODULE)->triggerScan();
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TRACE("counter = %d", moduleState[INTERNAL_MODULE].counter);
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#endif
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break;
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#endif
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#if defined(INTERNAL_MODULE_PPM)
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case PROTOCOL_CHANNELS_PPM:
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intmodulePpmStart();
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mixerSchedulerSetPeriod(INTERNAL_MODULE, PPM_PERIOD(INTERNAL_MODULE));
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break;
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#endif
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#if defined(AFHDS2)
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case PROTOCOL_CHANNELS_AFHDS2A:
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resetPulsesAFHDS2();
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intmoduleSerialStart(INTMODULE_USART_AFHDS2_BAUDRATE, true,
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USART_Parity_No, USART_StopBits_1,
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USART_WordLength_8b);
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mixerSchedulerSetPeriod(INTERNAL_MODULE, AFHDS2_PERIOD);
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break;
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#endif
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default:
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// internal module stopped, use default mixer period
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mixerSchedulerSetPeriod(INTERNAL_MODULE, 0);
|
|
break;
|
|
}
|
|
}
|
|
|
|
bool setupPulsesInternalModule(uint8_t protocol)
|
|
{
|
|
switch (protocol) {
|
|
#if defined(HARDWARE_INTERNAL_MODULE) && defined(PXX1) && !defined(INTMODULE_USART)
|
|
case PROTOCOL_CHANNELS_PXX1_PULSES:
|
|
intmodulePulsesData.pxx.setupFrame(INTERNAL_MODULE);
|
|
return true;
|
|
#endif
|
|
|
|
#if defined(PXX1) && defined(INTMODULE_USART)
|
|
case PROTOCOL_CHANNELS_PXX1_SERIAL:
|
|
intmodulePulsesData.pxx_uart.setupFrame(INTERNAL_MODULE);
|
|
return true;
|
|
#endif
|
|
|
|
#if defined(PXX2)
|
|
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
|
|
{
|
|
bool result = intmodulePulsesData.pxx2.setupFrame(INTERNAL_MODULE);
|
|
if (moduleState[INTERNAL_MODULE].mode == MODULE_MODE_SPECTRUM_ANALYSER || moduleState[INTERNAL_MODULE].mode == MODULE_MODE_POWER_METER) {
|
|
mixerSchedulerSetPeriod(INTERNAL_MODULE, PXX2_TOOLS_PERIOD);
|
|
}
|
|
else {
|
|
mixerSchedulerSetPeriod(INTERNAL_MODULE, PXX2_PERIOD);
|
|
}
|
|
return result;
|
|
}
|
|
#endif
|
|
|
|
#if defined(PCBTARANIS) && defined(INTERNAL_MODULE_PPM)
|
|
case PROTOCOL_CHANNELS_PPM:
|
|
setupPulsesPPMInternalModule();
|
|
return true;
|
|
#endif
|
|
|
|
#if defined(INTERNAL_MODULE_MULTI)
|
|
case PROTOCOL_CHANNELS_MULTIMODULE:
|
|
setupPulsesMultiInternalModule();
|
|
mixerSchedulerSetPeriod(INTERNAL_MODULE, MULTIMODULE_PERIOD);
|
|
return true;
|
|
#endif
|
|
|
|
#if defined(AFHDS2)
|
|
case PROTOCOL_CHANNELS_AFHDS2A:
|
|
{
|
|
ModuleSyncStatus& status = getModuleSyncStatus(INTERNAL_MODULE);
|
|
mixerSchedulerSetPeriod(
|
|
INTERNAL_MODULE,
|
|
status.isValid() ? status.getAdjustedRefreshRate() : AFHDS2_PERIOD);
|
|
status.invalidate();
|
|
setupPulsesAFHDS2();
|
|
return true;
|
|
}
|
|
#endif
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void stopPulsesInternalModule()
|
|
{
|
|
if (moduleState[INTERNAL_MODULE].protocol != PROTOCOL_CHANNELS_UNINITIALIZED) {
|
|
mixerSchedulerSetPeriod(INTERNAL_MODULE, 0);
|
|
intmoduleStop();
|
|
moduleState[INTERNAL_MODULE].protocol = PROTOCOL_CHANNELS_NONE;
|
|
}
|
|
}
|
|
|
|
bool setupPulsesInternalModule()
|
|
{
|
|
uint8_t protocol = getRequiredProtocol(INTERNAL_MODULE);
|
|
|
|
heartbeat |= (HEART_TIMER_PULSES << INTERNAL_MODULE);
|
|
|
|
if (moduleState[INTERNAL_MODULE].protocol != protocol) {
|
|
intmoduleStop();
|
|
enablePulsesInternalModule(protocol);
|
|
moduleState[INTERNAL_MODULE].protocol = protocol;
|
|
return false;
|
|
}
|
|
else {
|
|
return setupPulsesInternalModule(protocol);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if defined(HARDWARE_EXTERNAL_MODULE)
|
|
void stopPulsesExternalModule()
|
|
{
|
|
if (moduleState[EXTERNAL_MODULE].protocol != PROTOCOL_CHANNELS_UNINITIALIZED) {
|
|
mixerSchedulerSetPeriod(EXTERNAL_MODULE, 0);
|
|
extmoduleStop();
|
|
moduleState[EXTERNAL_MODULE].protocol = PROTOCOL_CHANNELS_NONE;
|
|
}
|
|
}
|
|
|
|
bool setupPulsesExternalModule()
|
|
{
|
|
uint8_t protocol = getRequiredProtocol(EXTERNAL_MODULE);
|
|
|
|
heartbeat |= (HEART_TIMER_PULSES << EXTERNAL_MODULE);
|
|
|
|
if (moduleState[EXTERNAL_MODULE].protocol != protocol) {
|
|
extmoduleStop();
|
|
enablePulsesExternalModule(protocol);
|
|
moduleState[EXTERNAL_MODULE].protocol = protocol;
|
|
return false;
|
|
}
|
|
else {
|
|
return setupPulsesExternalModule(protocol);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void setCustomFailsafe(uint8_t moduleIndex)
|
|
{
|
|
if (moduleIndex < NUM_MODULES) {
|
|
for (int ch=0; ch<MAX_OUTPUT_CHANNELS; ch++) {
|
|
if (ch < g_model.moduleData[moduleIndex].channelsStart || ch >= sentModuleChannels(moduleIndex) + g_model.moduleData[moduleIndex].channelsStart) {
|
|
g_model.failsafeChannels[ch] = 0;
|
|
}
|
|
else if (g_model.failsafeChannels[ch] < FAILSAFE_CHANNEL_HOLD) {
|
|
g_model.failsafeChannels[ch] = channelOutputs[ch];
|
|
}
|
|
}
|
|
storageDirty(EE_MODEL);
|
|
}
|
|
}
|
|
|
|
int32_t getChannelValue(uint8_t channel)
|
|
{
|
|
return channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
|
|
}
|