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Merge pull request #975 from paparazzi/cleanup_rc_nb_channel_defines
[radio_control] cleanup channel defines - PPM: remove PPM_NB_CHANNEL define an always decode RADIO_CTL_NB (number of channels in radio.xml) - PPM: the actually used/needed channels RADIO_CONTROL_NB_CHANNEL default to RADIO_CTL_NB but can be overwritten by user e.g. to use less channels for intermcu - SBUS: only provide a default for RADIO_CONTROL_NB_CHANNEL - Spektrum: always try to decode up to SPEKTRUM_NB_CHANNEL (12), but copy only used RADIO_CONTROL_NB_CHANNEL to radio_control.values - error if RADIO_CONTROL_NB_CHANNEL > max available channels As far as I can discern this should finally make it possible to override the actually used RADIO_CONTROL_NB_CHANNEL from the airframe file (e.g. to transfer less via intermcu) while still using the proper number of channels for parsing.
This commit is contained in:
Felix Ruess
@@ -13,6 +13,7 @@
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<!-- ************************* FIRMWARE ************************* -->
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<firmware name="fixedwing">
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<define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
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<target name="ap" board="lisa_l_1.0">
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<configure name="SEPARATE_FBW" value="1"/>
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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+1
-1
@@ -150,7 +150,7 @@
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telemetry="telemetry/default_fixedwing_imu.xml"
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flight_plan="flight_plans/nav_modules.xml"
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settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml"
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settings_modules="modules/nav_smooth.xml"
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settings_modules="modules/air_data.xml modules/nav_smooth.xml"
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gui_color="blue"
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/>
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<aircraft
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@@ -44,8 +44,6 @@
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) signed_cpu_ticks_of_usec(_v)
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#define USEC_OF_RC_PPM_TICKS(_v) usec_of_cpu_ticks(_v)
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#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
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#define PPM_IT PPM_CRI
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#define PPM_ISR() { \
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@@ -39,8 +39,6 @@
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_x) (_x)
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#define USEC_OF_RC_PPM_TICKS(_x) (_x)
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#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
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#if USE_NPS
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extern void radio_control_feed(void);
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#endif
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@@ -34,6 +34,10 @@
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#define RADIO_CONTROL_NB_CHANNEL 12
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > 12
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 12."
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#endif
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/* channel assignments */
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#define RADIO_THROTTLE 0
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#define RADIO_ROLL 1
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@@ -46,6 +46,4 @@
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#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*RC_PPM_TICKS_PER_USEC)
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#define USEC_OF_RC_PPM_TICKS(_v) ((_v)/RC_PPM_TICKS_PER_USEC)
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#define PPM_NB_CHANNEL RADIO_CONTROL_NB_CHANNEL
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#endif /* PPM_ARCH_H */
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@@ -35,6 +35,9 @@
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// for timer_get_frequency
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#include "mcu_arch.h"
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// for Min macro
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#include "std.h"
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#include BOARD_CONFIG
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#define SPEKTRUM_CHANNELS_PER_FRAME 7
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@@ -443,7 +446,7 @@ void RadioControlEventImp(void (*frame_handler)(void)) {
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case(0) : /* 10 bit */
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ChannelNum = (ChannelData >> 10) & 0x0f;
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/* don't bother decoding unused channels */
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if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
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if (ChannelNum < SPEKTRUM_NB_CHANNEL) {
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SpektrumBuf[ChannelNum] = ChannelData & 0x3ff;
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SpektrumBuf[ChannelNum] -= 0x200;
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SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x156;
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@@ -454,7 +457,7 @@ void RadioControlEventImp(void (*frame_handler)(void)) {
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case(1) : /* 11 bit */
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ChannelNum = (ChannelData >> 11) & 0x0f;
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/* don't bother decoding unused channels */
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if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
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if (ChannelNum < SPEKTRUM_NB_CHANNEL) {
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SpektrumBuf[ChannelNum] = ChannelData & 0x7ff;
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SpektrumBuf[ChannelNum] -= 0x400;
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SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x2AC;
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@@ -475,7 +478,10 @@ void RadioControlEventImp(void (*frame_handler)(void)) {
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radio_control.frame_cpt++;
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radio_control.time_since_last_frame = 0;
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radio_control.status = RC_OK;
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for (int i = 0; i < (MaxChannelNum + 1); i++) {
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/* since it is possible for the user use less than the actually available channels,
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* we only transfer only Min(RADIO_CONTROL_NB_CHANNEL, available_channels)
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*/
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for (int i = 0; i < Min(RADIO_CONTROL_NB_CHANNEL, (MaxChannelNum + 1)); i++) {
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radio_control.values[i] = SpektrumBuf[i];
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if (i == RADIO_THROTTLE ) {
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radio_control.values[i] += MAX_PPRZ;
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@@ -29,11 +29,16 @@
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* have the same channel assignments.
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*/
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#define SPEKTRUM_NB_CHANNEL 12
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#ifndef RADIO_CONTROL_NB_CHANNEL
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#define RADIO_CONTROL_NB_CHANNEL 12
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > 12
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 12."
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#endif
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/* default channel assignments */
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#ifndef RADIO_THROTTLE
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#define RADIO_THROTTLE 0
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@@ -30,10 +30,13 @@
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/* underlying hardware, also include if RADIO_CONTROL is not defined for ap in dual mcu case */
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#include RADIO_CONTROL_TYPE_H
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/* RADIO_CONTROL_NB_CHANNEL needs to be defined to suitable default the implementation.
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* If not all available channels are needed, can be overridden in airframe file.
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*/
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#if defined RADIO_CONTROL
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/* must be defined by underlying hardware */
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extern void radio_control_impl_init(void);
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/* RADIO_CONTROL_NB_CHANNEL has to be defined by the implementation */
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/* timeouts - for now assumes 60Hz periodic */
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#define RC_AVG_PERIOD 8 /* TODO remove if IIR filter is used */
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@@ -28,7 +28,7 @@
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#include "subsystems/radio_control.h"
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#include "subsystems/radio_control/ppm.h"
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uint16_t ppm_pulses[ PPM_NB_CHANNEL ];
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uint16_t ppm_pulses[RADIO_CTL_NB];
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volatile bool_t ppm_frame_available;
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/*
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@@ -60,12 +60,12 @@ static bool_t ppm_data_valid;
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static void send_ppm(struct transport_tx *trans, struct link_device *dev)
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{
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uint16_t ppm_pulses_usec[RADIO_CONTROL_NB_CHANNEL];
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for (int i = 0; i < RADIO_CONTROL_NB_CHANNEL; i++) {
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uint16_t ppm_pulses_usec[RADIO_CTL_NB];
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for (int i = 0; i < RADIO_CTL_NB; i++) {
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ppm_pulses_usec[i] = USEC_OF_RC_PPM_TICKS(ppm_pulses[i]);
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}
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pprz_msg_send_PPM(trans, dev, AC_ID,
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&radio_control.frame_rate, PPM_NB_CHANNEL, ppm_pulses_usec);
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&radio_control.frame_rate, RADIO_CTL_NB, ppm_pulses_usec);
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}
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#endif
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@@ -73,7 +73,7 @@ void radio_control_impl_init(void)
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{
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ppm_frame_available = FALSE;
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ppm_last_pulse_time = 0;
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ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
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ppm_cur_pulse = RADIO_CTL_NB;
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ppm_data_valid = FALSE;
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ppm_arch_init();
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@@ -111,7 +111,7 @@ void ppm_decode_frame(uint32_t ppm_time)
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uint32_t length = ppm_time - ppm_last_pulse_time;
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ppm_last_pulse_time = ppm_time;
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if (ppm_cur_pulse == PPM_NB_CHANNEL) {
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if (ppm_cur_pulse == RADIO_CTL_NB) {
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if (length > RC_PPM_TICKS_OF_USEC(PPM_SYNC_MIN_LEN) &&
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length < RC_PPM_TICKS_OF_USEC(PPM_SYNC_MAX_LEN)) {
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if (ppm_data_valid && RssiValid()) {
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@@ -127,11 +127,11 @@ void ppm_decode_frame(uint32_t ppm_time)
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length < RC_PPM_TICKS_OF_USEC(PPM_DATA_MAX_LEN)) {
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ppm_pulses[ppm_cur_pulse] = length;
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ppm_cur_pulse++;
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if (ppm_cur_pulse == PPM_NB_CHANNEL) {
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if (ppm_cur_pulse == RADIO_CTL_NB) {
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ppm_data_valid = TRUE;
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}
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} else {
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ppm_cur_pulse = PPM_NB_CHANNEL;
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ppm_cur_pulse = RADIO_CTL_NB;
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ppm_data_valid = FALSE;
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}
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}
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@@ -24,6 +24,9 @@
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#include "std.h"
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/* in case you want to override RADIO_CONTROL_NB_CHANNEL */
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#include "generated/airframe.h"
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/**
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* Architecture dependant code
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*/
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@@ -38,10 +41,15 @@ extern void ppm_arch_init(void);
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#include "generated/radio.h"
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/**
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* Define number of channels
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* Using generated code radio.h
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* Default number of channels to actually use.
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*/
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#ifndef RADIO_CONTROL_NB_CHANNEL
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#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > RADIO_CTL_NB
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than number of channels in radio file."
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#endif
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/**
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* ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
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@@ -49,7 +57,7 @@ extern void ppm_arch_init(void);
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#define PPM_PULSE_TYPE_POSITIVE 0
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#define PPM_PULSE_TYPE_NEGATIVE 1
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extern uint16_t ppm_pulses[ RADIO_CONTROL_NB_CHANNEL ];
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extern uint16_t ppm_pulses[RADIO_CTL_NB];
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extern volatile bool_t ppm_frame_available;
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/**
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@@ -30,6 +30,9 @@
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#include "std.h"
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#include "mcu_periph/uart.h"
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/* in case you want to override RADIO_CONTROL_NB_CHANNEL */
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#include "generated/airframe.h"
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/**
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* Macro to use radio.h file
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*
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@@ -57,7 +60,17 @@
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*/
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#define SBUS_BUF_LENGTH 24
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#define SBUS_NB_CHANNEL 16
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/**
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* Default number of channels to actually use.
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*/
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#ifndef RADIO_CONTROL_NB_CHANNEL
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#define RADIO_CONTROL_NB_CHANNEL SBUS_NB_CHANNEL
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > SBUS_NB_CHANNEL
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 16."
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#endif
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/**
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* SBUS structure
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@@ -33,6 +33,10 @@
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#define RADIO_CONTROL_NB_CHANNEL 14
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#endif
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#if RADIO_CONTROL_NB_CHANNEL > 14
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#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 14."
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#endif
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/* The channel ordering is always the same for DSM2 and DSMX */
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#define RADIO_THROTTLE 0
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#define RADIO_ROLL 1
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