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Implement CPPM reception. Keep it as an option for now.

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Recalibrate the radio, as the timings have changed.
And, it seems a couple of channels are now swapped with the new radio. Or
rather, unswapped. So fix the channel map to match.
This commit is contained in:
Gavan Fantom
2013-04-07 01:39:36 +00:00
parent 2fa58944fa
commit b9c08d88b1
4 changed files with 52 additions and 18 deletions
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29
timer.c
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@@ -61,7 +61,13 @@
volatile unsigned int timer1_rising[4];
volatile unsigned int timer1_width[4];
unsigned int timer_map[] = {0, 3, 2, 1};
#ifdef TIMER_CPPM
volatile unsigned int timer1_cppm[8];
volatile unsigned int timer1_cppm_chan = 0;
volatile unsigned int timer1_sync_timestamp;
#endif
unsigned int timer_map[] = {0, 1, 2, 3, 4, 5, 6, 7};
void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void);
void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void);
@@ -174,6 +180,18 @@ void __attribute__((interrupt("IRQ"))) timer1_interrupt_handler(void)
timer1_rising[0] = T1WREG(CR0);
} else {
timer1_width[0] = T1WREG(CR0) - timer1_rising[0];
#ifdef TIMER_CPPM
if (timer1_width[0] > TIMER_CPPM_SYNC) {
timer1_cppm_chan = 0;
timer1_sync_timestamp = timer1_rising[0];
} else {
if (timer1_cppm_chan < 8) {
timer1_cppm[timer1_cppm_chan] =
timer1_width[0];
timer1_cppm_chan++;
}
}
#endif
}
}
if (ir & (1<<5)) {
@@ -212,6 +230,14 @@ bool timer_valid(int channel) {
return (time - chtime) < TIMER_INPUT_TIMEOUT;
}
#ifdef TIMER_CPPM
bool timer_allvalid(void) {
/* Be careful here to ensure that this can't be in the past */
unsigned int chtime = timer1_sync_timestamp; /* Atomic */
unsigned int time = T1WREG(TC); /* Atomic */
return (time - chtime) < TIMER_INPUT_TIMEOUT;
}
#else
bool timer_allvalid(void) {
unsigned int time;
unsigned int chtime[4];
@@ -225,6 +251,7 @@ bool timer_allvalid(void) {
return FALSE;
return TRUE;
}
#endif
void timer_set_pwm_value(int channel, int value)
{