96 lines
3.6 KiB
C++
96 lines
3.6 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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#if defined(PCBTARANIS)
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// TODO internal module doesn't send PPM
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uint16_t ppmStream[NUM_MODULES+1][20] = { { 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
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{ 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
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{ 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 } };
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#else
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uint16_t ppmStream[NUM_MODULES][20] = { MODULES_INIT({ 2000, 2200, 2400, 2600, 2800, 3000, 3200, 3400, 9000, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }) };
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#endif
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void setupPulsesPPM(unsigned int port) // Don't enable interrupts through here
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{
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int16_t PPM_range = g_model.extendedLimits ? 640 * 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>(NUM_CHNOUT, firstCh + 8 + g_model.moduleData[port].channelsCount);
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#if defined(PCBSKY9X)
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register Pwm *pwmptr = PWM;
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uint32_t pwmCh = (port == 0 ? 3 : 1);
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.moduleData[port].ppmDelay * 50 + 300) * 2; //Stoplen *2
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if (g_model.moduleData[port].ppmPulsePol)
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR |= 0x00000200 ; // CPOL
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else
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CMR &= ~0x00000200 ; // CPOL
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#endif
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uint16_t * ptr = ppmStream[port];
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uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
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rest += (int32_t(g_model.moduleData[port].ppmFrameLength)) * 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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*ptr++ = v; /* as Pat MacKenzie suggests */
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}
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rest = (rest > 65535) ? 65535 : rest;
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*ptr = rest;
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*(ptr + 1) = 0;
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#if defined(PCBTARANIS)
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if (port == TRAINER_MODULE) {
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TIM3->CCR2 = rest - 1000 ; // Update time
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TIM3->CCR4 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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}
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else if (port == EXTERNAL_MODULE) {
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TIM8->CCR2 = rest - 1000; // Update time
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TIM8->CCR1 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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}
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else {
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TIM1->CCR2 = rest - 1000; // Update time
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TIM1->CCR3 = (g_model.moduleData[port].ppmDelay*50+300)*2;
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}
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#endif
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}
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