/* $Id$ */ /* * Copyright (c) 2011 Dimitri Sokolyuk * * Permission to use, copy, modify, and distribute this software for any * purpose with or without fee is hereby granted, provided that the above * copyright notice and this permission notice appear in all copies. * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */ #include #include #include "kernel.h" #include "tasks.h" #define ON PORTB |= _BV(PB1) #define OFF PORTB &= ~_BV(PB1) #if 0 void ppm(void *arg) { struct ppmarg *a = (struct ppmarg *)arg; uint32_t r = release(); uint32_t d = deadline(); uint32_t t; uint32_t s; uint8_t i; DDRB |= _BV(DDB1); PORTB &= ~_BV(PB1); /* high is low */ /* frame length 22.5ms, channel 0.7-1.7ms, stop 0.3 ms */ for (;;) { s = 0; t = (uint32_t)a->value[i] * MSEC(1) / 0x3ff; s += MSEC(1) + t; /* channel frame 0.7..1.7ms high */ OFF; r = d += MSEC(1) + t; update(r, d); /* stop frame 0.3ms low */ ON; r = d += MSEC(25) - t - MSEC(1); update(r, d); } } #endif void ppm(void *arg) { struct ppmarg *a = (struct ppmarg *)arg; uint32_t r = release(); uint32_t d = deadline(); uint32_t t; uint8_t i; DDRB |= _BV(DDB1); PORTB &= ~_BV(PB1); /* high is low */ /* frame length 22.5ms, channel 0.7-1.7ms, stop 0.3 ms */ for (;;) { /* start frame 0.3ms low */ OFF; r = d += USEC(300); update(r, d); wait(0); for (i = 0, t = 0; i < ADCCHANNELS; i++) t += a->value[i]; /* sync frame */ ON; //r = d += USEC(22500) - MSEC(t) / 0x3ff - MSEC(ADCCHANNELS) - USEC(300); r = d += MSEC(20) - MSEC(t) / 0x3ff - MSEC(ADCCHANNELS) - USEC(300); update(r, d); for (i = 0; i < ADCCHANNELS; i++) { /* start frame 0.3ms low */ OFF; r = d += USEC(300); update(r, d); /* channel frame 0.7..1.7ms high */ ON; r = d += USEC(700) + MSEC(a->value[i]) / 0x3ff; update(r, d); } signal(0); } }