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Code Issues Wiki Activity

PPM changes pulled from er9x (by Pat Mackenzie)

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This commit is contained in:
bsongis 2012-01-20 18:19:58 +00:00
parent f9d3e11956
commit 80bfc11a83
1 changed files with 11 additions and 8 deletions
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19
src/pulses.cpp
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@ -94,7 +94,7 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
#ifdef DSM2_SERIAL
if (g_model.protocol == PROTO_DSM2) {
OCR1A = 40000;
sei();
// sei will be called inside setupPulses()
setupPulses();
cli();
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
@ -142,17 +142,18 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
pulsePol = g_model.pulsePol;
// TODO does it exist PCBV3? If no, replace PCBV3 by PCBV4 everywhere
#if defined(PCBV3)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else
TIMSK &= ~(1<<OCIE1A); //stop reentrance
#endif
sei();
// sei will be called inside setupPulses()
setupPulses();
#if !defined(PCBV3) && defined(DPPMPB7_HARDWARE)
#if defined(DPPMPB7_HARDWARE)
// G: NOTE: This strategy does not work on the '2560 becasue you can't
// read the PPM out pin when connected to OC1B. Vincent says
// it works on the '64A. I haven't personally tested it.
@ -196,15 +197,14 @@ FORCEINLINE void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
uint16_t q = (g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int16_t(g_model.ppmFrameLength))*1000;
if(p>9) rest=p*(1720u*2 + q) + 4000u*2; //for more than 9 channels, frame must be longer
for (uint8_t i=0; i<p; i++) {
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + PPM_CENTER;
rest -= (v+q);
*ptr++ = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
*ptr++ = q;
}
*ptr = q;
*(ptr+1) = rest;
*ptr = rest;
*(ptr+1) = q;
pulses2MHzWPtr = ptr+2;
}
@ -563,15 +563,18 @@ void setupPulses()
#endif
#ifdef PXX
case PROTO_PXX:
sei();
setupPulsesPXX();
break;
#endif
#ifdef DSM2_SERIAL
case PROTO_DSM2:
sei();
setupPulsesDsm2();
break;
#endif
default:
// no sei here
setupPulsesPPM();
break;
}
@ -596,7 +599,7 @@ ISR(TIMER1_COMPB_vect) // DSM2 end of frame
}
else {
OCR1B = 200;
sei();
// sei will be called inside setupPulses()
setupPulses();
}
}