mirror of
https://github.com/opentx/opentx.git
synced 2025-07-25 17:25:13 +03:00
6bc2ddc3d4
Revert the last Haptic changes (was unfinished, no more spare time during the week-end, sorry!) Revert my last modification on main views (offset not displayed in Bar Graphs, I was wrong) PPM Center now configurable for each servo No mean on the Batt voltage when in the calibration menu to have a faster response when calibrating SD card Backup / Restore Models feature started Some french translations fixed
832 lines
22 KiB
C++
832 lines
22 KiB
C++
/*
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* Authors (alphabetical order)
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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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* - Jean-Pierre Parisy
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* - Karl Szmutny <shadow@privy.de>
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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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#if defined(DSM2)
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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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#endif
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uint8_t s_current_protocol = 255;
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#ifdef DSM2_SERIAL
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inline void DSM2_EnableTXD(void)
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{
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UCSR0B |= (1 << TXEN0); // enable TX
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// UCSR0B |= (1 << UDRIE0); // don't enable UDRE0 interrupt, it will be enabled during next setupPulses
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}
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#endif
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void set_timer3_capture( void ) ;
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void set_timer3_ppm( void ) ;
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void setupPulsesPPM16( void ) ;
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void startPulses()
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{
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#ifndef SIMU
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setupPulses();
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#ifdef DSM2_SERIAL
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if (g_model.protocol != PROTO_DSM2)
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#endif
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{
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#if defined(PCBV4)
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OCR1B = 0xffff; /* Prevent any PPM_PUT pin toggle before the TCNT1 interrupt
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fires for the first time and sets up the pulse period. */
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// TCCR1A |= (1<<COM1B0); // (COM1B1=0 and COM1B0=1 in TCCR1A) toogle the state of PB6(OC1B) on each TCNT1==OCR1B
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TCCR1A = (3<<COM1B0); // Connect OC1B to PPM_OUT pin (SET the state of PB6(OC1B) on next TCNT1==OCR1B)
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#endif
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}
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#if defined(PCBV4)
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TIMSK1 |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
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#else
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TIMSK |= (1<<OCIE1A); // Pulse generator enable immediately before mainloop
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#endif
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#endif // SIMU
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}
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#define PULSES_SIZE 144
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uint8_t pulses2MHz[PULSES_SIZE] = {0}; // TODO check this length, pulled from er9x, perhaps too big
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uint8_t *pulses2MHzRPtr = pulses2MHz;
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#if defined(DSM2) || defined(PXX)
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uint8_t *pulses2MHzWPtr = pulses2MHz;
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#endif
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#define CTRL_END 0
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#define CTRL_CNT 1
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#define CTRL_REP_1CMD -3
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#define CTRL_REP_2CMD -6
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#ifndef SIMU
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ISR(TIMER1_COMPA_vect) //2MHz pulse generation
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{
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static uint8_t pulsePol; // TODO strange, it's always 0 at first, shouldn't it be initialized properly in setupPulses?
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// Latency -- how far further on from interrupt trigger has the timer counted?
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// (or -- how long did it take to get to this function)
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uint8_t dt = TCNT1L;
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#ifdef DSM2_SERIAL
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if (g_model.protocol == PROTO_DSM2) {
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OCR1A = 40000;
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// sei will be called inside setupPulses()
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setupPulses();
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cli();
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UCSR0B |= (1 << UDRIE0); // enable UDRE0 interrupt
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}
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else
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#endif
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{
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// Orginal bitbang for PPM
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#if !defined(PCBV4)
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if (pulsePol) {
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PORTB |= (1<<OUT_B_PPM); // GCC optimisation should result in a single SBI instruction
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pulsePol = 0;
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}
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else {
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PORTB &= ~(1<<OUT_B_PPM);
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pulsePol = 1;
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}
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#endif
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OCR1A = *((uint16_t*)pulses2MHzRPtr); // Schedule next interrupt vector (to this handler)
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#if defined(PCBV4)
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OCR1B = *((uint16_t*)pulses2MHzRPtr); /* G: Using timer in CTC mode, restricted to using OCR1A for interrupt triggering.
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So we actually have to handle the OCR1B register separately in this way. */
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// We cannot read the status of the PPM_OUT pin when OC1B is connected to it on the ATmega2560.
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// So the only way to set polarity is to manually control set/reset mode in COM1B0/1
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if (pulsePol) {
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TCCR1A = (3<<COM1B0); // SET the state of PB6(OC1B) on next TCNT1==OCR1B
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pulsePol = 0;
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}
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else {
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TCCR1A = (2<<COM1B0); // CLEAR the state of PB6(OC1B) on next TCNT1==OCR1B
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pulsePol = 1;
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}
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#endif
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pulses2MHzRPtr += sizeof(uint16_t);
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if (*((uint16_t*)pulses2MHzRPtr) == 0) {
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pulsePol = !g_model.pulsePol;
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#if defined(PCBV4)
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TIMSK1 &= ~(1<<OCIE1A); //stop reentrance
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#else
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TIMSK &= ~(1<<OCIE1A); //stop reentrance
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#endif
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// sei will be called inside setupPulses()
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setupPulses();
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// TODO test that it's optimized
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if (1
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#if defined(PXX)
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&& g_model.protocol != PROTO_PXX
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#endif
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#if defined(DSM2_PPM)
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&& g_model.protocol != PROTO_DSM2
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#endif
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) {
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// cli is not needed because for these 2 protocols interrupts are not enabled when entering here
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#if defined(PCBV4)
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TIMSK1 |= (1<<OCIE1A);
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#else
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TIMSK |= (1<<OCIE1A);
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#endif
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sei();
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}
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}
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}
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if (dt > g_tmr1Latency_max) g_tmr1Latency_max = dt;
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if (dt < g_tmr1Latency_min) g_tmr1Latency_min = dt;
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heartbeat |= HEART_TIMER_PULSES;
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}
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#endif
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#define PPM_CENTER 1500
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FORCEINLINE void setupPulsesPPM()
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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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// G: Found the following reference at th9x. The below code does not seem
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// to produce quite exactly this, to my eye. *shrug*
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// http://www.aerodesign.de/peter/2000/PCM/frame_ppm.gif
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uint16_t *ptr = (uint16_t *)pulses2MHz;
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uint8_t p = 8+(g_model.ppmNCH*2); // channels count
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uint16_t q = (g_model.ppmDelay*50+300)*2; //Stoplen *2
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uint16_t rest = 22500u*2-q; //Minimum Framelen=22.5 ms
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rest += (int16_t(g_model.ppmFrameLength))*1000;
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for (uint8_t i=0; i<p; i++) {
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int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*(PPM_CENTER+g_model.servoCenter[i]);
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rest -= v;
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*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
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*ptr++ = q;
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}
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*ptr = rest;
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*(ptr+1) = q;
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*(ptr+2) = 0;
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pulses2MHzRPtr = pulses2MHz;
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}
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#if defined(PXX)
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const pm_uint16_t CRCTable[] PROGMEM =
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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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uint8_t PcmByte ;
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uint8_t PcmBitCount ;
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uint16_t PcmCrc ;
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uint8_t PcmOnesCount ;
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uint8_t pxxFlag = 0;
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void crc( uint8_t data )
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{
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PcmCrc=(PcmCrc>>8)^pgm_read_word(&CRCTable[(PcmCrc^data) & 0xFF]);
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}
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void putPcmPart( uint8_t value )
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{
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PcmByte >>= 2 ;
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PcmByte |= value ;
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if ( ++PcmBitCount >= 4 )
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{
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*pulses2MHzWPtr++ = PcmByte ;
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PcmBitCount = PcmByte = 0 ;
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}
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}
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void putPcmFlush()
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{
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while ( PcmBitCount != 0 )
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{
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putPcmPart( 0 ) ; // Empty
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}
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*pulses2MHzWPtr = 0 ; // Mark end
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}
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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( 0x80 ) ;
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}
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else
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{
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PcmOnesCount = 0 ;
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putPcmPart( 0xC0 ) ;
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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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uint8_t i ;
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crc( byte ) ;
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for (i=0; i<8; i++)
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{
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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( 0xC0 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0x80 ) ;
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putPcmPart( 0xC0 ) ;
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}
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void setupPulsesPXX()
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{
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uint8_t i ;
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uint16_t chan ;
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uint16_t chan_1 ;
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pulses2MHzWPtr = pulses2MHz;
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pulses2MHzRPtr = pulses2MHz;
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PcmCrc = 0 ;
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PcmBitCount = PcmByte = 0 ;
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PcmOnesCount = 0 ;
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putPcmHead() ;
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putPcmByte( g_model.modelId ) ; // 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 ( i = 0 ; i < 8 ; i += 2 ) // First 8 channels only
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{
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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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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( ) ;
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putPcmFlush() ;
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OCR1C += 40000 ; // 20mS on
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PORTB |= (1<<OUT_B_PPM);
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}
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#endif
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#ifdef DSM2_SERIAL
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// DSM2 protocol pulled from th9x - Thanks thus!!!
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//http://www.rclineforum.de/forum/board49-zubeh-r-elektronik-usw/fernsteuerungen-sender-und-emp/neuer-9-kanal-sender-f-r-70-au/Beitrag_3897736#post3897736
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//(dsm2( LP4DSM aus den RTF ( Ready To Fly ) Sendern von Spektrum.
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//http://www.rcgroups.com/forums/showpost.php?p=18554028&postcount=237
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// /home/thus/txt/flieger/PPMtoDSM.c
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/*
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125000 Baud 8n1 _ xxxx xxxx - ---
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#define DSM2_CHANNELS 6 // Max number of DSM2 Channels transmitted
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#define DSM2_BIT (8*2)
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bind:
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DSM2_Header = 0x80,0
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static byte DSM2_Channel[DSM2_CHANNELS*2] = {
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ch
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0x00,0xAA, 0 0aa
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0x05,0xFF, 1 1ff
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0x09,0xFF, 2 1ff
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0x0D,0xFF, 3 1ff
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0x13,0x54, 4 354
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0x14,0xAA 5 0aa
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};
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normal:
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DSM2_Header = 0,0;
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DSM2_Channel[i*2] = (byte)(i<<2) | highByte(pulse);
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DSM2_Channel[i*2+1] = lowByte(pulse);
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*/
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bool s_bind_allowed = true;
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FORCEINLINE void setupPulsesDsm2()
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{
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uint16_t *ptr = (uint16_t *)pulses2MHz;
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if (s_bind_allowed) {
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*ptr++ = (keyState(SW_Trainer) ? BIND_BIT : 0x00);
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s_bind_allowed = false;
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}
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else {
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*ptr++ = 0x00;
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}
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*ptr++ = g_model.modelId;
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for (uint8_t i=0; i<DSM2_CHANS; i++) {
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uint16_t pulse = limit(0, ((g_chans512[i]*13)>>5)+512,1023);
|
|
*ptr++ = (i<<2) | ((pulse>>8)&0x03);
|
|
*ptr++ = pulse & 0xff;
|
|
}
|
|
|
|
pulses2MHzWPtr = (uint8_t *)ptr;
|
|
pulses2MHzRPtr = pulses2MHz;
|
|
}
|
|
|
|
void DSM2_Done()
|
|
{
|
|
UCSR0B &= ~((1 << TXEN0) | (1 << UDRIE0)); // disable UART TX and interrupt
|
|
}
|
|
|
|
void DSM2_Init(void)
|
|
{
|
|
#ifndef SIMU
|
|
|
|
DDRE &= ~(1 << DDE0); // set RXD0 pin as input
|
|
PORTE |= (1 << PORTE0); // enable pullup on RXD0 pin
|
|
|
|
#undef BAUD
|
|
#define BAUD 125000
|
|
|
|
#include <util/setbaud.h>
|
|
|
|
UBRR0H = UBRRH_VALUE;
|
|
UBRR0L = UBRRL_VALUE;
|
|
UCSR0A &= ~(1 << U2X0); // disable double speed operation.
|
|
|
|
// set 8N1 (leave TX and RX disabled for now)
|
|
UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02);
|
|
UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00);
|
|
|
|
while (UCSR0A & (1 << RXC0)) UDR0; // flush receive buffer
|
|
|
|
// These should be running right from power up on a FrSky enabled '9X.
|
|
DSM2_EnableTXD(); // enable DSM2 UART transmitter
|
|
|
|
#endif // SIMU
|
|
}
|
|
#endif
|
|
|
|
#if defined(DSM2_PPM)
|
|
inline void _send_1(uint8_t v)
|
|
{
|
|
*pulses2MHzWPtr++ = v;
|
|
}
|
|
|
|
#define BITLEN_DSM2 (8*2) //125000 Baud
|
|
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
|
|
{
|
|
bool lev = 0;
|
|
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
|
|
for( uint8_t i=0; i<=8; i++){ //8Bits + Stop=1
|
|
bool nlev = b & 1; //lsb first
|
|
if(lev == nlev){
|
|
len += BITLEN_DSM2;
|
|
}else{
|
|
_send_1(len -1);
|
|
len = BITLEN_DSM2;
|
|
lev = nlev;
|
|
}
|
|
b = (b>>1) | 0x80; //shift in stop bit
|
|
}
|
|
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
|
|
}
|
|
|
|
void setupPulsesDsm2()
|
|
{
|
|
static uint8_t dsmDat[2+6*2] = {0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
|
|
uint8_t counter;
|
|
|
|
pulses2MHzWPtr = pulses2MHz;
|
|
|
|
// If more channels needed make sure the pulses union/array is large enough
|
|
if (dsmDat[0] & BAD_DATA) // first time through, setup header
|
|
{
|
|
switch(g_model.ppmNCH)
|
|
{
|
|
case LPXDSM2:
|
|
dsmDat[0] = BIND_BIT;
|
|
break;
|
|
case DSM2only:
|
|
dsmDat[0] = 0x90;
|
|
break;
|
|
default:
|
|
dsmDat[0] = 0x98; // DSMX bind mode
|
|
break;
|
|
}
|
|
}
|
|
if ((dsmDat[0] & BIND_BIT) && (!keyState(SW_Trainer))) dsmDat[0] &= ~BIND_BIT; // clear bind bit if trainer not pulled
|
|
// 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
|
|
// else dsmDat[0] &= ~RANGECHECK_BIT;
|
|
dsmDat[1] = g_model.modelId; // DSM2 Header second byte for model match
|
|
for (uint8_t i=0; i<DSM2_CHANS; i++)
|
|
{
|
|
uint16_t pulse = limit(0, ((g_chans512[i]*13)>>5)+512,1023);
|
|
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
|
|
dsmDat[3+2*i] = pulse & 0xff;
|
|
}
|
|
|
|
for (counter=0; counter<14; counter++)
|
|
sendByteDsm2(dsmDat[counter]);
|
|
|
|
pulses2MHzWPtr -= 1; //remove last stopbits and
|
|
_send_1(255); //prolong them
|
|
_send_1(0); //end of pulse stream
|
|
|
|
pulses2MHzRPtr = pulses2MHz;
|
|
}
|
|
#endif
|
|
|
|
void setupPulses()
|
|
{
|
|
if (s_current_protocol != g_model.protocol) {
|
|
|
|
s_current_protocol = g_model.protocol;
|
|
|
|
switch (g_model.protocol) {
|
|
|
|
#if defined(DSM2_PPM)
|
|
case PROTO_DSM2:
|
|
set_timer3_capture() ;
|
|
TCCR1B = 0; // Stop counter
|
|
OCR1C = 200; // 100 uS
|
|
TCNT1 = 300; // Past the OCR1C value
|
|
ICR1 = 44000; // Next frame starts in 22 mS
|
|
#if defined(PCBV4)
|
|
TIMSK1 &= ~0x3C; // All interrupts off
|
|
TIFR1 = 0x2F;
|
|
TIMSK1 |= 0x28; // Enable CAPT and COMPB
|
|
#else
|
|
TIMSK &= ~0x3C; // All interrupts off
|
|
TIFR = 0x3C;
|
|
ETIFR = 0x3F ;
|
|
TIMSK |= 0x20; // Enable CAPT
|
|
ETIMSK |= (1<<OCIE1C); // Enable COMPC
|
|
#endif
|
|
TCCR1A = (0 << WGM10);
|
|
TCCR1B = (3 << WGM12) | (2 << CS10); // CTC ICR, 16MHz / 8
|
|
break;
|
|
#endif
|
|
|
|
#if defined(PXX)
|
|
case PROTO_PXX:
|
|
set_timer3_capture() ;
|
|
TCCR1B = 0 ; // Stop counter
|
|
TCNT1 = 0 ;
|
|
OCR1B = 6000 ; // Next frame starts in 3 mS
|
|
OCR1C = 4000 ; // Next frame setup in 2 mS
|
|
TIMSK &= ~0x3C; // All interrupts off
|
|
TIFR = 0x3C ;
|
|
ETIFR = 0x3F ;
|
|
TIMSK |= (1<<OCIE1B) ; // Enable COMPB
|
|
ETIMSK |= (1<<OCIE1C); // Enable COMPC
|
|
TCCR1A = 0;
|
|
TCCR1B = (2<<CS10); //ICNC3 16MHz / 8
|
|
break;
|
|
#endif
|
|
|
|
#if defined(PPM16)
|
|
case PROTO_PPM16 :
|
|
TCCR1B = 0 ; // Stop counter
|
|
OCR1A = 40000 ; // Next frame starts in 20 mS
|
|
TCNT1 = 0 ;
|
|
TIMSK &= ~0x3C ; // All interrupts off
|
|
ETIMSK &= ~(1<<OCIE1C); // COMPC1 off
|
|
TIFR = 0x3C ; // Clear all pending interrupts // TODO comment
|
|
ETIFR = 0x3F ; // Clear all pending interrupts
|
|
TIMSK |= 0x10 ; // Enable COMPA
|
|
TCCR1A = (0<<WGM10) ;
|
|
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
|
|
setupPulsesPPM16();
|
|
OCR3A = 50000 ;
|
|
OCR3B = 5000 ;
|
|
set_timer3_ppm() ;
|
|
break ;
|
|
#endif
|
|
|
|
default:
|
|
set_timer3_capture() ;
|
|
TCCR1B = 0; // Stop counter
|
|
OCR1A = 40000; // Next frame starts in 20 mS
|
|
TCNT1 = 0;
|
|
#if defined(PCBV4)
|
|
TIMSK1 &= ~0x3C; // All interrupts off
|
|
TIFR1 = 0x2F;
|
|
TIMSK1 |= 0x10; // Enable COMPA
|
|
#else
|
|
TIMSK &= ~0x3C; // All interrupts off
|
|
TIFR = 0x3C;
|
|
ETIFR = 0x3F ; // Clear all pending interrupts
|
|
TIMSK |= 0x10; // Enable COMPA
|
|
#endif
|
|
// TCNT1 2MHz counter (auto-cleared) plus Capture Compare int.
|
|
// Used for PPM pulse generator
|
|
TCCR1A = (0 << WGM10);
|
|
TCCR1B = (1 << WGM12) | (2 << CS10); // CTC OCRA, 16MHz / 8
|
|
break;
|
|
}
|
|
}
|
|
|
|
switch(g_model.protocol) {
|
|
|
|
#ifdef PXX
|
|
case PROTO_PXX:
|
|
sei();
|
|
setupPulsesPXX();
|
|
break;
|
|
#endif
|
|
|
|
#ifdef DSM2
|
|
case PROTO_DSM2:
|
|
sei();
|
|
setupPulsesDsm2();
|
|
break;
|
|
#endif
|
|
|
|
default:
|
|
// no sei here
|
|
setupPulsesPPM();
|
|
// if PPM16, PPM16 pulses are set up automatically within the interrupts
|
|
break;
|
|
}
|
|
}
|
|
|
|
#ifndef SIMU
|
|
|
|
#if defined(DSM2_PPM) || defined(PXX)
|
|
ISR(TIMER1_CAPT_vect) // 2MHz pulse generation
|
|
{
|
|
uint8_t x ;
|
|
PORTB ^= (1<<OUT_B_PPM);
|
|
x = *pulses2MHzRPtr++; // Byte size
|
|
ICR1 = x ;
|
|
if (x > 200) PORTB |= (1<<OUT_B_PPM); // Make sure pulses are the correct way up
|
|
heartbeat |= HEART_TIMER_PULSES; // TODO why not in TIMER1_COMPB_vect (in setupPulses)?
|
|
}
|
|
|
|
#if defined(PXX)
|
|
ISR(TIMER1_COMPB_vect) // PXX main interrupt
|
|
{
|
|
uint8_t x ;
|
|
PORTB ^= (1<<OUT_B_PPM) ;
|
|
x = *pulses2MHzRPtr; // Byte size
|
|
if ( ( x & 1 ) == 0 )
|
|
{
|
|
OCR1B += 32 ;
|
|
}
|
|
else
|
|
{
|
|
OCR1B += 16 ;
|
|
}
|
|
if ( (x >>= 1) == 0 )
|
|
{
|
|
if ( *(++pulses2MHzRPtr) == 0 )
|
|
{
|
|
OCR1B = OCR1C + 2000 ; // 1mS on from OCR1B
|
|
}
|
|
}
|
|
else
|
|
{
|
|
*pulses2MHzRPtr = x;
|
|
}
|
|
|
|
heartbeat |= HEART_TIMER_PULSES;
|
|
}
|
|
#endif
|
|
|
|
ISR(TIMER1_COMPC_vect) // DSM2 or PXX end of frame
|
|
{
|
|
#if defined(DSM2_PPM) && defined(PXX)
|
|
if ( g_model.protocol == PROTO_DSM2 ) {
|
|
#endif
|
|
|
|
#if defined(DSM2_PPM)
|
|
ICR1 = 41536 ; // next frame starts in 22ms 41536 = 2*(22000 - 14*11*8)
|
|
if (OCR1C < 255) {
|
|
OCR1C = 39000; // delay setup pulses by 19.5ms to reduce system latency
|
|
}
|
|
else {
|
|
OCR1C = 200;
|
|
// sei will be called inside setupPulses()
|
|
setupPulses();
|
|
}
|
|
#endif
|
|
|
|
#if defined(DSM2_PPM) && defined(PXX)
|
|
}
|
|
else {
|
|
#endif
|
|
|
|
#if defined(PXX)
|
|
// must be PXX
|
|
setupPulses() ;
|
|
#endif
|
|
|
|
#if defined(DSM2_PPM) && defined(PXX)
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
void set_timer3_capture()
|
|
{
|
|
#ifndef SIMU
|
|
#if defined (PCBV4)
|
|
TIMSK3 &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
|
|
#else
|
|
ETIMSK &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
|
|
#endif
|
|
DDRE &= ~0x80; PORTE |= 0x80 ; // Bit 7 input + pullup
|
|
|
|
TCCR3B = 0 ; // Stop counter
|
|
TCCR3A = 0;
|
|
// Noise Canceller enabled, neg. edge, clock at 16MHz / 8 (2MHz) (Correct for PCB V4.x+ also)
|
|
TCCR3B = (1<<ICNC3) | (0b010 << CS30);
|
|
#if defined (PCBV4)
|
|
TIMSK3 |= (1<<ICIE3);
|
|
#else
|
|
ETIMSK |= (1<<TICIE3);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if defined(PPM16)
|
|
void set_timer3_ppm()
|
|
{
|
|
#ifndef SIMU
|
|
#if defined (PCBV4)
|
|
TIMSK3 &= ~(1<<ICIE3);
|
|
#else
|
|
ETIMSK &= ~(1<<TICIE3) ; // Stop capture interrupt
|
|
#endif
|
|
DDRE |= 0x80; // Bit 7 output
|
|
|
|
TCCR3B = 0 ; // Stop counter
|
|
TCCR3A = (0<<WGM10);
|
|
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8
|
|
|
|
ETIMSK |= ( (1<<OCIE3A) | (1<<OCIE3B) ); // enable immediately before mainloop
|
|
#endif
|
|
}
|
|
|
|
uint16_t B3_comp_value ;
|
|
|
|
#ifndef SIMU
|
|
|
|
ISR(TIMER3_COMPA_vect) //2MHz pulse generation
|
|
{
|
|
static uint8_t pulsePol;
|
|
static uint16_t *pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
|
|
|
if (pulsePol) {
|
|
PORTE |= 0x80 ; // (1<<OUT_B_PPM);
|
|
pulsePol = 0;
|
|
}
|
|
else {
|
|
PORTE &= ~0x80; // (1<<OUT_B_PPM);
|
|
pulsePol = 1;
|
|
}
|
|
|
|
OCR3A = *pulse2MHzPPM16RPtr++;
|
|
OCR3B = B3_comp_value ;
|
|
|
|
if (*pulse2MHzPPM16RPtr == 0) {
|
|
pulse2MHzPPM16RPtr = (uint16_t*) &pulses2MHz[PULSES_SIZE/2];
|
|
pulsePol = g_model.pulsePol;
|
|
}
|
|
|
|
heartbeat |= HEART_TIMER_PULSES;
|
|
}
|
|
|
|
ISR(TIMER3_COMPB_vect) //2MHz pulse generation
|
|
{
|
|
sei() ;
|
|
setupPulsesPPM16() ;
|
|
}
|
|
|
|
#endif // SIMU
|
|
|
|
void setupPulsesPPM16()
|
|
{
|
|
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec
|
|
|
|
//Total frame length = 22.5msec
|
|
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
|
|
//The pulse ISR is 2mhz that's why everything is multiplied by 2
|
|
uint16_t *ptr ;
|
|
ptr = (uint16_t *) &pulses2MHz[PULSES_SIZE/2] ;
|
|
uint8_t p= 16+g_model.ppmNCH*2; //Channels *2
|
|
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;
|
|
for (uint8_t i=p-8; i<p; i++) { //NUM_CHNOUT
|
|
int16_t v = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*(PPM_CENTER+g_model.servoCenter[i]);
|
|
rest -= v;
|
|
*ptr++ = q;
|
|
*ptr++ = v - q; /* as Pat MacKenzie suggests, reviewed and modified by Cam */
|
|
}
|
|
*ptr = q; //reverse these two assignments
|
|
*(ptr+1) = rest;
|
|
B3_comp_value = rest - 1000 ; // 500uS before end of sync pulse
|
|
*(ptr+2) = 0;
|
|
}
|
|
#endif
|