69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
/*
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Copyright 2017 fishpepper <AT> gmail.com
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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 as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http:// www.gnu.org/licenses/>.
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author: fishpepper <AT> gmail.com
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*/
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#ifndef HAL_PPM_H_
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#define HAL_PPM_H_
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#include "config.h"
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#include "hal_cc25xx.h"
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#include <stdint.h>
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#ifdef SBUS_ENABLED
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#define hal_ppm_init() {}
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#else
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void hal_ppm_init(void);
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void hal_ppm_failsafe_exit(void);
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void hal_ppm_failsafe_enter(void);
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void hal_ppm_timer1_interrupt(void) __interrupt T1_VECTOR;
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/*
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static void hal_ppm_init_rcc(void);
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static void hal_ppm_init_gpio(void);
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static void hal_ppm_init_timer(void);
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static void hal_ppm_init_nvic(void);
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static void hal_ppm_init_ocx(uint8_t ch, TIM_TypeDef *TIMx, TIM_OCInitTypeDef *tim_oc_init);
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*/
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// from frsky to ticks coresponding to 1000...2000 us
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// frsky seems to send us*1.5 (~1480...3020) -> divide by 1.5 (=*2/3) to get us
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// us -> ticks = ((_us*13)/4) -> (((_frsky*2/3)*13)/4) = ((_frsky*13)/6)
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#define HAL_PPM_FRSKY_TO_TICKCOUNT(_frsky) (((_frsky << 3) + (_frsky << 2)+(_frsky))/6)
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// from us to ticks:
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// ((_us*13)/4) = ((_us * (8+4+1))/4) = (((_us<<3)+(_us<<2)+(_us))>>2)
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#define HAL_PPM_US_TO_TICKCOUNT(_us) (((_us << 3) + (_us << 2)+(_us)) >> 2)
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#define PPM_TIMER_ISR(void) hal_ppm_timer1_interrupt(void) __interrupt T1_VECTOR
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#define HAL_PPM_UPDATE_CCVALUE(val) SET_WORD_LO_FIRST(T1CC0H, T1CC0L, val)
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#define HAL_PPM_ISR_DISABLE() { cli(); }
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#define HAL_PPM_ISR_ENABLE() { sei(); }
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#define HAL_PPM_ISR_FLAG_SET() (1)
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#define HAL_PPM_ISR_CLEAR_FLAG() { \
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T1CTL &= ~(T1CTL_CH0_IF | T1CTL_CH1_IF | T1CTL_CH2_IF | T1CTL_OVFIF);}
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#endif // SBUS_ENABLED
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#endif // HAL_PPM_H_
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