560 lines
15 KiB
C++
560 lines
15 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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* open9x 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 "open9x.h"
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uint8_t s_pulses_paused = 0;
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uint8_t s_current_protocol = 255;
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uint8_t pxxFlag = 0 ;
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uint16_t ppmStream[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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uint16_t ppm2Stream[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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#if defined(PCBSKY9X)
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volatile uint32_t ppmStreamIndex = 0 ; // Modified in interrupt routine
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volatile uint32_t ppm2StreamIndex = 0 ; // Modified in interrupt routine
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uint8_t Bit_pulses[64] ; // Likely more than we need
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uint8_t *Pulses2MHzptr ;
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#else
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uint16_t pxxStream[400] ; // Transisitions
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uint16_t *pxxStreamPtr ;
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uint16_t PxxValue ;
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#endif
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// DSM2 control bits
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#define DSM2_CHANS 6
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#define BIND_BIT 0x80
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#define RANGECHECK_BIT 0x20
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#define FRANCE_BIT 0x10
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#define DSMX_BIT 0x08
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#define BAD_DATA 0x47
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uint8_t Serial_byte ;
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uint8_t Serial_bit_count;
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uint8_t Serial_byte_count ;
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void setupPulses();
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void setupPulsesDsm2(uint8_t chns);
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void setupPulsesPXX();
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void startPulses()
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{
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// TODO a single call to setupPulses() should be ok!
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#if defined(PCBSKY9X)
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init_main_ppm(3000, 1) ; // Default for now, initial period 1.5 mS, output on
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#else
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init_main_ppm();
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#endif
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}
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#if defined(PCBSKY9X)
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#define PPM_PORT_PARAM uint32_t ppmPort
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#else
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#define PPM_PORT_PARAM
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#endif
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void setupPulsesPPM(PPM_PORT_PARAM) // Don't enable interrupts through here
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{
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#if defined(PCBSKY9X)
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register Pwm *pwmptr = PWM;
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#endif
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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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#if defined(PCBSKY9X)
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uint32_t pwmCh;
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uint16_t * ptr;
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uint32_t firstCh, lastCh;
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if (ppmPort == 0) {
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pwmCh = 3;
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ptr = ppmStream;
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firstCh = g_model.ppmSCH;
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lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + 8 + (g_model.ppmNCH * 2));
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}
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else {
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pwmCh = 1;
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ptr = ppm2Stream;
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firstCh = g_model.ppm2SCH;
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lastCh = min<uint32_t>(NUM_CHNOUT, firstCh + 8 + (g_model.ppm2NCH * 2));
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}
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#else
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#define firstCh 0
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uint32_t lastCh = 8 + g_model.ppmNCH * 2; //Channels *2
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uint16_t * ptr = ppmStream;
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#endif
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#if defined(PCBSKY9X)
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pwmptr->PWM_CH_NUM[pwmCh].PWM_CDTYUPD = (g_model.ppmDelay * 50 + 300) * 2; //Stoplen *2
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if (g_model.pulsePol)
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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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uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
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rest += (int32_t(g_model.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, g_chans512[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(PCBX9D)
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TIM1->CCR2 = rest - 1000 ; // Update time
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TIM1->CCR1 = (g_model.ppmDelay*50+300)*2 ;
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#endif
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}
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const uint16_t CRCTable[]=
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{
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0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
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0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
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0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
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0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
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0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
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0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
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0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
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0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
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0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
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0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
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0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
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0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
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0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
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0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
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0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
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0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
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0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
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0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
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0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
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0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
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0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
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0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
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0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
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0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
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0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
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0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
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0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
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0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
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0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
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0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
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0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
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0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
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};
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uint16_t PcmCrc ;
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uint8_t PcmOnesCount ;
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void crc( uint8_t data )
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{
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// uint8_t i ;
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PcmCrc=(PcmCrc>>8)^(CRCTable[(PcmCrc^data) & 0xFF]);
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}
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#if defined(PCBSKY9X)
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void put_serial_bit( uint8_t bit )
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{
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Serial_byte >>= 1 ;
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if ( bit & 1 )
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{
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Serial_byte |= 0x80 ;
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}
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if ( ++Serial_bit_count >= 8 )
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{
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*Pulses2MHzptr++ = Serial_byte ;
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Serial_bit_count = 0 ;
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Serial_byte_count += 1 ;
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}
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}
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// 8uS/bit 01 = 0, 001 = 1
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void putPcmPart( uint8_t value )
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{
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put_serial_bit( 0 ) ;
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if ( value )
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{
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put_serial_bit( 0 ) ;
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}
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put_serial_bit( 1 ) ;
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}
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void putPcmFlush()
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{
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while ( Serial_bit_count != 0 )
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{
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put_serial_bit( 1 ) ; // Line idle level
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}
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}
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#else
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void putPcmPart( uint8_t value )
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{
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PxxValue += 18 ; // Output 1 for this time
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*pxxStreamPtr++ = PxxValue ;
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PxxValue += 14 ;
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if ( value ) {
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PxxValue += 16 ;
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}
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*pxxStreamPtr++ = PxxValue ; // Output 0 for this time
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}
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void putPcmFlush()
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{
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*pxxStreamPtr++ = 18010 ; // Past the 18000 of the ARR
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}
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#endif
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void putPcmBit( uint8_t bit )
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{
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if ( bit )
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{
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PcmOnesCount += 1 ;
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putPcmPart( 1 ) ;
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}
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else
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{
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PcmOnesCount = 0 ;
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putPcmPart( 0 ) ;
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}
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if ( PcmOnesCount >= 5 )
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{
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putPcmBit( 0 ) ; // Stuff a 0 bit in
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}
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}
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void putPcmByte( uint8_t byte )
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{
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crc(byte);
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for (uint8_t i=0; i<8; i++) {
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putPcmBit(byte & 0x80);
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byte <<= 1;
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}
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}
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void putPcmHead()
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{
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// send 7E, do not CRC
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// 01111110
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putPcmPart( 0 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 1 ) ;
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putPcmPart( 0 ) ;
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}
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void setupPulsesPXX()
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{
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uint16_t chan ;
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uint16_t chan_1 ;
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#if defined(PCBSKY9X)
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Serial_byte = 0 ;
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Serial_bit_count = 0 ;
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Serial_byte_count = 0 ;
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Pulses2MHzptr = Bit_pulses ;
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#else
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pxxStreamPtr = pxxStream ;
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PxxValue = 0 ;
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#endif
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PcmCrc = 0 ;
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PcmOnesCount = 0 ;
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putPcmHead( ) ; // sync byte
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putPcmByte( g_model.ppmNCH ) ; // TODO should be RX NUM ??? putPcmByte( g_model.rxnum ) ; //
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putPcmByte( pxxFlag ) ; // First byte of flags
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putPcmByte( 0 ) ; // Second byte of flags
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pxxFlag = 0; // reset flag after send
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for (uint32_t i=0; i<8; i+=2) { // First 8 channels only // Next 8 channels would have 2048 added
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chan = g_chans512[i] *3 / 4 + 2250 ;
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chan_1 = g_chans512[i+1] *3 / 4 + 2250 ;
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// if ( chan > 2047 )
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// {
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// chan = 2047 ;
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// }
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// if ( chan_1 > 2047 )
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// {
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// chan_1 = 2047 ;
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// }
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putPcmByte( chan ) ; // Low byte of channel
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putPcmByte( ( ( chan >> 8 ) & 0x0F ) | ( chan_1 << 4) ) ; // 4 bits each from 2 channels
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putPcmByte( chan_1 >> 4 ) ; // High byte of channel
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}
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chan = PcmCrc ; // get the crc
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putPcmByte( chan ) ; // Checksum lo
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putPcmByte( chan >> 8 ) ; // Checksum hi
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putPcmHead( ) ; // sync byte
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putPcmFlush() ;
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}
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#if defined(DSM2)
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#define BITLEN_DSM2 (8*2) //125000 Baud => 8uS per bit
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void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
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{
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put_serial_bit( 0 ) ; // Start bit
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for( uint8_t i=0; i<8; i++) // 8 data Bits
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{
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put_serial_bit( b & 1 ) ;
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b >>= 1 ;
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}
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put_serial_bit( 1 ) ; // Stop bit
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put_serial_bit( 1 ) ; // Stop bit
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}
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// This is the data stream to send, prepare after 19.5 mS
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// Send after 22.5 mS
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//static uint8_t *Dsm2_pulsePtr = pulses2MHz.pbyte ;
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void setupPulsesDsm2(uint8_t chns)
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{
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static uint8_t dsmDat[2+6*2]={0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
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uint8_t counter ;
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// CSwData &cs = g_model.customSw[NUM_CSW-1];
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Serial_byte = 0 ;
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Serial_bit_count = 0 ;
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Serial_byte_count = 0 ;
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Pulses2MHzptr = Bit_pulses ;
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// If more channels needed make sure the pulses union/array is large enough
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if (dsmDat[0]&BAD_DATA) //first time through, setup header
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{
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switch(s_current_protocol)
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{
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case PROTO_DSM2_LP45:
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dsmDat[0]= 0x80;
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break;
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case PROTO_DSM2_DSM2:
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dsmDat[0]=0x90;
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break;
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default:
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dsmDat[0]=0x98; //dsmx, bind mode
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break;
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}
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}
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if ((dsmDat[0] & BIND_BIT) && (!switchState(SW_TRN))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
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// TODO find a way to do that, FUNC SWITCH: if ((!(dsmDat[0] & BIND_BIT)) && getSwitch(MAX_DRSWITCH-1, 0, 0)) dsmDat[0] |= RANGECHECK_BIT; // range check function
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// else dsmDat[0] &= ~RANGECHECK_BIT;
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dsmDat[1]=g_eeGeneral.currModel+1; //DSM2 Header second byte for model match
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for(uint8_t i=0; i<chns; i++)
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{
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uint16_t pulse = limit(0, ((g_chans512[i]*13)>>5)+512,1023);
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dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
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dsmDat[3+2*i] = pulse & 0xff;
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}
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for ( counter = 0 ; counter < 14 ; counter += 1 )
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{
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sendByteDsm2(dsmDat[counter]);
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}
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for ( counter = 0 ; counter < 16 ; counter += 1 )
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{
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put_serial_bit( 1 ) ; // 16 extra stop bits
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}
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}
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#endif
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#if defined(PCBSKY9X) && !defined(SIMU)
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extern "C" void PWM_IRQHandler(void)
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{
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register Pwm *pwmptr;
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register Ssc *sscptr;
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uint32_t period;
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uint32_t reason;
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pwmptr = PWM;
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reason = pwmptr->PWM_ISR1 ;
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if (reason & PWM_ISR1_CHID3) {
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switch (s_current_protocol) // Use the current, don't switch until set_up_pulses
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{
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case PROTO_PXX:
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// Alternate periods of 15.5mS and 2.5 mS
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period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
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if (period == 5000) { // 2.5 mS
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period = 15500 * 2;
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}
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else {
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period = 5000;
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}
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pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
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if (period != 5000) { // 2.5 mS
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setupPulses();
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}
|
|
else {
|
|
|
|
// Kick off serial output here
|
|
sscptr = SSC;
|
|
sscptr->SSC_TPR = (uint32_t) Bit_pulses;
|
|
sscptr->SSC_TCR = Serial_byte_count;
|
|
sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers
|
|
}
|
|
break;
|
|
|
|
case PROTO_DSM2_LP45:
|
|
case PROTO_DSM2_DSM2:
|
|
case PROTO_DSM2_DSMX:
|
|
// Alternate periods of 19.5mS and 2.5 mS
|
|
period = pwmptr->PWM_CH_NUM[3].PWM_CPDR;
|
|
if (period == 5000) // 2.5 mS
|
|
{
|
|
period = 19500 * 2;
|
|
}
|
|
else {
|
|
period = 5000;
|
|
}
|
|
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = period; // Period in half uS
|
|
if (period != 5000) // 2.5 mS
|
|
{
|
|
setupPulses();
|
|
}
|
|
else {
|
|
// Kick off serial output here
|
|
sscptr = SSC;
|
|
sscptr->SSC_TPR = (uint32_t) Bit_pulses;
|
|
sscptr->SSC_TCR = Serial_byte_count;
|
|
sscptr->SSC_PTCR = SSC_PTCR_TXTEN; // Start transfers
|
|
}
|
|
break;
|
|
|
|
default:
|
|
pwmptr->PWM_CH_NUM[3].PWM_CPDRUPD = ppmStream[ppmStreamIndex++]; // Period in half uS
|
|
if (ppmStream[ppmStreamIndex] == 0) {
|
|
ppmStreamIndex = 0;
|
|
setupPulses();
|
|
}
|
|
break;
|
|
|
|
}
|
|
}
|
|
|
|
if (reason & PWM_ISR1_CHID1) {
|
|
pwmptr->PWM_CH_NUM[1].PWM_CPDRUPD = ppm2Stream[ppm2StreamIndex++] ; // Period in half uS
|
|
if (ppm2Stream[ppm2StreamIndex] == 0) {
|
|
ppm2StreamIndex = 0 ;
|
|
setupPulsesPPM(1) ;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void setupPulses()
|
|
{
|
|
heartbeat |= HEART_TIMER_PULSES;
|
|
|
|
uint8_t required_protocol = g_model.protocol;
|
|
if (s_pulses_paused)
|
|
required_protocol = PROTO_NONE;
|
|
|
|
if (s_current_protocol != required_protocol) {
|
|
|
|
switch (s_current_protocol) { // stop existing protocol hardware
|
|
case PROTO_PXX:
|
|
disable_pxx();
|
|
break;
|
|
#if defined(DSM2)
|
|
case PROTO_DSM2_LP45:
|
|
case PROTO_DSM2_DSM2:
|
|
case PROTO_DSM2_DSMX:
|
|
disable_ssc();
|
|
break;
|
|
#endif
|
|
default:
|
|
disable_main_ppm();
|
|
break;
|
|
}
|
|
|
|
s_current_protocol = required_protocol;
|
|
|
|
#if defined(PCBX9D)
|
|
switch (required_protocol) {
|
|
case PROTO_PXX:
|
|
init_pxx();
|
|
break;
|
|
default:
|
|
init_main_ppm();
|
|
break;
|
|
}
|
|
#elif defined(PCBSKY9X)
|
|
switch (required_protocol) { // Start new protocol hardware here
|
|
case PROTO_PXX:
|
|
init_main_ppm(5000, 0); // Initial period 2.5 mS, output off
|
|
init_ssc();
|
|
break;
|
|
case PROTO_DSM2_LP45:
|
|
case PROTO_DSM2_DSM2:
|
|
case PROTO_DSM2_DSMX:
|
|
init_main_ppm(5000, 0); // Initial period 2.5 mS, output off
|
|
init_ssc();
|
|
break;
|
|
case PROTO_NONE:
|
|
init_main_ppm(3000, 0); // Initial period 1.5 mS, output off
|
|
break;
|
|
default:
|
|
init_main_ppm(3000, 1); // Initial period 1.5 mS, output on
|
|
break;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// Set up output data here
|
|
switch (required_protocol) {
|
|
case PROTO_PXX:
|
|
setupPulsesPXX();
|
|
break;
|
|
#if defined(DSM2)
|
|
case PROTO_DSM2_LP45:
|
|
case PROTO_DSM2_DSM2:
|
|
case PROTO_DSM2_DSMX:
|
|
setupPulsesDsm2(6);
|
|
break;
|
|
#endif
|
|
default:
|
|
setupPulsesPPM(); // Don't enable interrupts through here
|
|
break ;
|
|
}
|
|
}
|