71 lines
2.2 KiB
C++
71 lines
2.2 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 T>
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void setupPulsesPPM(uint8_t port, PpmPulsesData<T> * ppmPulsesData)
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{
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int16_t PPM_range = g_model.extendedLimits ? (512*LIMIT_EXT_PERCENT/100) * 2 : 512 * 2; // range of 0.7 .. 1.7msec
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// Total frame length = 22.5msec
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// each pulse is 0.7..1.7ms long with a 0.3ms stop tail
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// The pulse ISR is 2mhz that's why everything is multiplied by 2
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uint32_t firstCh = g_model.moduleData[port].channelsStart;
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uint32_t lastCh = min<unsigned int>(MAX_OUTPUT_CHANNELS, firstCh + 8 + g_model.moduleData[port].channelsCount);
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#if defined(STM32)
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ppmPulsesData->ptr = ppmPulsesData->pulses;
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#else
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uint16_t * ptr = ppmPulsesData->pulses;
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ppmPulsesData->ptr = ptr;
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#endif
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int32_t rest = 22500u * 2;
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rest += (int32_t(g_model.moduleData[port].ppm.frameLength)) * 1000;
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for (uint32_t i=firstCh; i<lastCh; i++) {
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int16_t v = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
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rest -= v;
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#if defined(STM32)
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*ppmPulsesData->ptr++ = v; /* as Pat MacKenzie suggests */
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#else
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*ptr++ = v; /* as Pat MacKenzie suggests */
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#endif
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}
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rest = limit<int32_t>(9000, rest, 65535); /* avoids that CCR2 is bigger than ARR which would cause reboot */
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#if defined(STM32)
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*ppmPulsesData->ptr++ = rest;
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#else
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*ptr = rest;
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*(ptr + 1) = 0;
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#endif
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}
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void setupPulsesPPMModule(uint8_t port)
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{
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setupPulsesPPM<pulse_duration_t>(port, &modulePulsesData[port].ppm);
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}
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void setupPulsesPPMTrainer()
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{
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setupPulsesPPM<trainer_pulse_duration_t>(TRAINER_MODULE, &trainerPulsesData.ppm);
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}
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