uint8_t OneTinyPpmGen::begin(uint8_t PpmModu, uint8_t ChNb, uint16_t PpmPeriod_us /*= DEFAULT_PPM_PERIOD*/)
{
boolean Ok = false;
uint8_t Ch;
_ChMaxNb = (ChNb > CHANNEL_MAX_NB)?CHANNEL_MAX_NB:ChNb; /* Max is 12 Channels */
_Next = (OneChSt_t *)malloc(sizeof(OneChSt_t) * (_ChMaxNb + 1)); /* + 1 for Synchro Channel */
Ok = (_Next != NULL);
if (Ok)
{
_Idx = _ChMaxNb; /* To reload values at startup */
_PpmPeriod_us = PpmPeriod_us;
if(_PpmPeriod_us < PPM_FRAME_MIN_PERIOD_US) _PpmPeriod_us = PPM_FRAME_MIN_PERIOD_US;
if(_PpmPeriod_us < ((_ChMaxNb * (uint16_t)CHANNEL_MAX_US) + SYNCHRO_MIN_US)) _PpmPeriod_us = (_ChMaxNb * (uint16_t)CHANNEL_MAX_US) + SYNCHRO_MIN_US;
if(_PpmPeriod_us > PPM_FRAME_MAX_PERIOD_US) _PpmPeriod_us = PPM_FRAME_MAX_PERIOD_US;
for(Ch = 1; Ch <= _ChMaxNb; Ch++) /* Init all the channels to Neutral */
{
setChWidth_us(Ch, PPM_NEUTRAL_US);
}
#if 1
#warning TO DO: fix issue with positive modulation ! (bad signal randomly generated)
/* Set Pin as Output according to the PPM modulation level */
PPM_OC_DDR |= PPM_OC_PIN_MSK; /* Set pin as output */
if(PpmModu == TINY_PPM_GEN_NEG_MOD)
{
PPM_OC_PIN |= PPM_OC_PIN_MSK; /* Set pin to high */
}
else
{
PPM_OC_PIN &= ~PPM_OC_PIN_MSK; /* Set pin to low */
}
TIM_MODE_NORMAL();
if(PpmModu == TINY_PPM_GEN_POS_MOD)
{
PPM_OC_FORCE(); /* Force Output Compare to initialize properly the output */
}
else delay(1);
#else
//test
PPM_OC_DDR |= PPM_OC_PIN_MSK; /* Set pin as output */
TIM_MODE_NORMAL();
INIT_PPM_PIN(PpmModu);
#endif
TOGGLE_PPM_PIN_ENABLE();
PPM_OC_INT_ENABLE();
}
return(Ok);
}
void OneTinyPpmGen::setChWidth_us(uint8_t Ch, uint16_t Width_us)
{
uint16_t ChTickNb, SumTick = 0, SynchTick;
uint8_t Ch_Next_Ovf, Ch_Next_Rem, Ch0_Next_Ovf, Ch0_Next_Rem;
if((Ch >= 1) && (Ch <= _ChMaxNb))
{
ChTickNb = PPM_US_TO_TICK(Width_us - PPM_HEADER_US + (MS_TIMER_TICK_DURATION_US / 2)); /* Convert in rounded Timer Ticks */
Ch_Next_Ovf = (ChTickNb & 0xFF00) >> 8;
Ch_Next_Rem = (ChTickNb & 0x00FF);
if(Ch_Next_Rem < PPM_GUARD_TICK)
{
Ch_Next_Ovf |= HALF_OVF_MASK;
Ch_Next_Rem += HALF_OVF_VAL;
}
/* Update Synchro Time */
for(uint8_t Idx = 1; Idx <= _ChMaxNb; Idx++)
{
SumTick += PPM_US_TO_TICK(PPM_HEADER_US);
if(Idx != Ch)
{
SumTick += ((_Ch[Idx].Cur.Ovf & FULL_OVF_MASK) << 8) + _Ch[Idx].Next.Rem;
if(_Ch[Idx].Cur.Ovf & HALF_OVF_MASK) SumTick -= HALF_OVF_VAL;
}
else
{
SumTick += ((Ch_Next_Ovf & FULL_OVF_MASK) << 8) + Ch_Next_Rem;
if(Ch_Next_Ovf & HALF_OVF_MASK) SumTick -= HALF_OVF_VAL;
}
}
SynchTick = PPM_US_TO_TICK(_PpmPeriod_us) - SumTick - PPM_US_TO_TICK(PPM_HEADER_US);
Ch0_Next_Ovf = (SynchTick & 0xFF00) >> 8;
Ch0_Next_Rem = (SynchTick & 0x00FF);
if(Ch0_Next_Rem < PPM_GUARD_TICK)
{
Ch0_Next_Ovf |= HALF_OVF_MASK;
Ch0_Next_Rem += HALF_OVF_VAL;
}
/* Update requested Channel AND Synchro to keep constant the period (20ms) */
PPM_OC_INT_DISABLE();
_Ch[0].Next.Ovf = Ch0_Next_Ovf;
_Ch[0].Next.Rem = Ch0_Next_Rem;
_Ch[Ch].Next.Ovf = Ch_Next_Ovf;
_Ch[Ch].Next.Rem = Ch_Next_Rem;
PPM_OC_INT_ENABLE();
}
uint8_t OneTinyPpmGen::begin(uint8_t PpmModu, uint8_t ChNb, uint16_t PpmPeriod_us /*= DEFAULT_PPM_PERIOD*/)
{
boolean Ok = false;
uint8_t Ch;
_ChMaxNb = (ChNb > 8)?8:ChNb; /* Max is 8 Channels */
_Ch = (ChSt_t *)malloc(sizeof(ChSt_t) * (_ChMaxNb + 1)); /* + 1 for Synchro Channel */
Ok = (_Ch != NULL);
if (Ok)
{
_Idx = _ChMaxNb; /* To reload values at startup */
_PpmPeriod_us = PpmPeriod_us;
if(_PpmPeriod_us < PPM_FRAME_MIN_PERIOD_US) _PpmPeriod_us = PPM_FRAME_MIN_PERIOD_US;
if(_PpmPeriod_us > PPM_FRAME_MAX_PERIOD_US) _PpmPeriod_us = PPM_FRAME_MAX_PERIOD_US;
for(Ch = 1; Ch <= _ChMaxNb; Ch++)
{
setChWidth_us(Ch, PPM_NEUTRAL_US);
}
/* Set Pin as Output according to the PPM modulation level */
PPM_OC_DDR |= PPM_OC_PIN_MSK; /* Set pin as output */
if(PpmModu == TINY_PPM_GEN_NEG_MOD)
{
PPM_OC_PIN |= PPM_OC_PIN_MSK; /* Set pin to high */
}
else
{
PPM_OC_PIN &= ~PPM_OC_PIN_MSK; /* Set pin to low */
}
TIM_MODE_NORMAL();
if(PpmModu == TINY_PPM_GEN_POS_MOD)
{
PPM_OC_FORCE(); /* Force Output Compare to initialize properly the output */
}
else delay(1);
TOGGLE_PPM_PIN_ENABLE();
PPM_OC_INT_ENABLE();
}
return(Ok);
}