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Code Issues Wiki Activity

PPM changes pulled from er9x (by Pat Mackenzie)

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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 #ifdef DSM2_SERIAL
if (g_model.protocol == PROTO_DSM2) { if (g_model.protocol == PROTO_DSM2) {
OCR1A = 40000; OCR1A = 40000;
sei(); // sei will be called inside setupPulses()
setupPulses(); setupPulses();
cli(); cli();
UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
@ -142,17 +142,18 @@ ISR(TIMER1_COMPA_vect) //2MHz pulse generation
pulsePol = g_model.pulsePol; pulsePol = g_model.pulsePol;
// TODO does it exist PCBV3? If no, replace PCBV3 by PCBV4 everywhere
#if defined(PCBV3) #if defined(PCBV3)
TIMSK1 &= ~(1<<OCIE1A); //stop reentrance TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
#else #else
TIMSK &= ~(1<<OCIE1A); //stop reentrance TIMSK &= ~(1<<OCIE1A); //stop reentrance
#endif #endif
sei(); // sei will be called inside setupPulses()
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 // 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 // read the PPM out pin when connected to OC1B. Vincent says
// it works on the '64A. I haven't personally tested it. // 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 q = (g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int16_t(g_model.ppmFrameLength))*1000; 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++) { 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; int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + PPM_CENTER;
rest -= (v+q); rest -= (v+q);
*ptr++ = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */ *ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
*ptr++ = q;
} }
*ptr = q; *ptr = rest;
*(ptr+1) = rest; *(ptr+1) = q;
pulses2MHzWPtr = ptr+2; pulses2MHzWPtr = ptr+2;
} }
@ -563,15 +563,18 @@ void setupPulses()
#endif #endif
#ifdef PXX #ifdef PXX
case PROTO_PXX: case PROTO_PXX:
sei();
setupPulsesPXX(); setupPulsesPXX();
break; break;
#endif #endif
#ifdef DSM2_SERIAL #ifdef DSM2_SERIAL
case PROTO_DSM2: case PROTO_DSM2:
sei();
setupPulsesDsm2(); setupPulsesDsm2();
break; break;
#endif #endif
default: default:
// no sei here
setupPulsesPPM(); setupPulsesPPM();
break; break;
} }
@ -596,7 +599,7 @@ ISR(TIMER1_COMPB_vect) // DSM2 end of frame
} }
else { else {
OCR1B = 200; OCR1B = 200;
sei(); // sei will be called inside setupPulses()
setupPulses(); setupPulses();
} }
} }