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#include "er9x.h"
#include "pulses.h"

extern uint16_t g_tmr1Latency_max;
extern uint16_t g_tmr1Latency_min;

#define PULSES_WORD_SIZE 72
#define PULSES_BYTE_SIZE (PULSES_WORD_SIZE * 2)

union p2mhz_t
{
uint16_t pword[PULSES_WORD_SIZE] ; //72
uint8_t pbyte[PULSES_BYTE_SIZE] ; //144
} pulses2MHz ;

uint8_t *pulses2MHzptr = pulses2MHz.pbyte ;
uint8_t heartbeat;
uint8_t Current_protocol;
uint8_t pxxFlag = 0;

#define CTRL_END 0
#define CTRL_CNT 1
#define CTRL_REP_1CMD -3
#define CTRL_REP_2CMD -6

#define BindBit 0x80
#define RangeCheckBit 0x20
#define FranceBit 0x10
#define DsmxBit 0x08
#define BadData 0x47


void set_timer3_capture( void ) ;
void set_timer3_ppm( void ) ;
void setupPulsesPPM16( void ) ;

//uint16_t PulseTotal ;

//ISR(TIMER1_OVF_vect)
ISR(TIMER1_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol;
static uint16_t *pulsePtr = pulses2MHz.pword;

// uint8_t i = 0;
// while((TCNT1L < 10) && (++i < 50)) // Timer does not read too fast, so i
// ;
uint16_t dt=TCNT1;//-OCR1A;

if(pulsePol)
{
PORTB |= (1<<OUT_B_PPM);
pulsePol = 0;
}else{
PORTB &= ~(1<<OUT_B_PPM);
pulsePol = 1;
}

// if (g_model.protocol==PROTO_PPM)
// {
// if ( *(pulsePtr+1) != 0 ) // Not the sync pulse
// {
// if ( channel & 1 ) // Channel pulse, not gap pulse
// {
// *pulsePtr = max(min(g_chans512[channel>>1],PPM_range),-PPM_range) + PPM_CENTER - PPM_gap + 600;
// }
// }
// else // sync pulse
// {
// uint16_t rest ;
// rest = PPM_frame - PulseTotal ;
// *pulsePtr = rest ;
// }
// channel += 1 ;
// }
// PulseTotal += (OCR1A = *pulsePtr++);
OCR1A = *pulsePtr++;

if ( dt > g_tmr1Latency_max) g_tmr1Latency_max = dt ; // max has leap, therefore vary in length
if ( dt < g_tmr1Latency_min) g_tmr1Latency_min = dt ; // max has leap, therefore vary in length

if( *pulsePtr == 0) {
//currpulse=0;
pulsePtr = pulses2MHz.pword;
pulsePol = !g_model.pulsePol;//0; // changed polarity
// channel = 0 ;
// PulseTotal = 0 ;

TIMSK &= ~(1<<OCIE1A); //stop reentrance
// sei(); // Don't do this yet
setupPulses();
// For DSM2 problem, missed interrupt
// if (g_model.protocol == PROTO_DSM2)
// {
// if ( TIFR & (1 << OCF1A ) ) // Interrupt pending
// {
// TCNT1 = 0 ;
// }
// }
if ( (g_model.protocol == PROTO_PPM) || (g_model.protocol == PROTO_PPM16) )
{
// cli(); // Not needed if sei() not done above
TIMSK |= (1<<OCIE1A);
sei();
}
}
heartbeat |= HEART_TIMER2Mhz;
}

void setupPulses()
{
// SPY_ON;
if ( Current_protocol != g_model.protocol )
{
Current_protocol = g_model.protocol ;
// switch mode here
switch(g_model.protocol)
{
case PROTO_PPM:
set_timer3_capture() ;
TCCR1B = 0 ; // Stop counter
OCR1A = 40000 ; // Next frame starts in 20 mS
TCNT1 = 0 ;
TIMSK &= ~0x3C ; // All interrupts off
// ETIMSK &= ~(1<<OCIE1C) ; // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10 ; // Enable COMPA
TCCR1A = (0<<WGM10) ;
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
break;
case PROTO_PXX:
set_timer3_capture() ;
TCCR1B = 0 ; // Stop counter
TCNT1 = 0 ;
OCR1B = 6000 ; // Next frame starts in 3 mS
OCR1C = 4000 ; // Next frame setup in 2 mS
TIMSK &= ~0x3C ; // All interrupts off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= (1<<OCIE1B) ; // Enable COMPB
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = 0;
TCCR1B = (2<<CS10); //ICNC3 16MHz / 8
break;
case PROTO_DSM2:
set_timer3_capture() ;
TCCR1B = 0 ; // Stop counter
OCR1C = 200 ; // 100 uS
TCNT1 = 300 ; // Past the OCR1C value
ICR1 = 44000 ; // Next frame starts in 22 mS
TIMSK &= ~0x3C ; // All interrupts off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x20 ; // Enable CAPT
ETIMSK |= (1<<OCIE1C); // Enable COMPC
TCCR1A = (0<<WGM10) ;
TCCR1B = (3 << WGM12) | (2<<CS10) ; // CTC ICR, 16MHz / 8
break;
case PROTO_PPM16 :
TCCR1B = 0 ; // Stop counter
OCR1A = 40000 ; // Next frame starts in 20 mS
TCNT1 = 0 ;
TIMSK &= ~0x3C ; // All interrupts off
ETIMSK &= ~(1<<OCIE1C) ; // COMPC1 off
TIFR = 0x3C ; // Clear all pending interrupts
ETIFR = 0x3F ; // Clear all pending interrupts
TIMSK |= 0x10 ; // Enable COMPA
TCCR1A = (0<<WGM10) ;
TCCR1B = (1 << WGM12) | (2<<CS10) ; // CTC OCRA, 16MHz / 8
setupPulsesPPM16();
OCR3A = 50000 ;
OCR3B = 5000 ;
set_timer3_ppm() ;
break ;
}

}
switch(g_model.protocol)
{
case PROTO_PPM:
setupPulsesPPM(); // Don't enable interrupts through here
break;
case PROTO_PXX:
sei() ; // Interrupts allowed here
setupPulsesPXX();
break;
case PROTO_DSM2:
sei() ; // Interrupts allowed here
setupPulsesDsm2(6);
break;
case PROTO_PPM16 :
setupPulsesPPM(); // Don't enable interrupts through here
// PPM16 pulses are set up automatically within the interrupts
break ;
}
// SPY_OFF;
}

//inline int16_t reduceRange(int16_t x) // for in case we want to have room for subtrims
//{
// return x-(x/4); //512+128 =? 640, 640 - 640/4 == 640 * 3/4 => 480 (just below 500msec - it can still reach 500 with offset)
//}
//int16_t PPM_range = 512*2; //range of 0.7..1.7msec
//uint16_t PPM_gap = 300 * 2; //Stoplen *2
//uint16_t PPM_frame ;

void setupPulsesPPM() // changed 10/05/2010 by dino Issue 128
{
#define PPM_CENTER 1200*2
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec

//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t *ptr ;
ptr = pulses2MHz.pword ;
uint8_t p=8+g_model.ppmNCH*2; //Channels *2
uint16_t q=(g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest=22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int16_t(g_model.ppmFrameLength))*1000;
// if(p>9) rest=p*(1720u*2 + q) + 4000u*2; //for more than 9 channels, frame must be longer
for(uint8_t i=0;i<p;i++){ //NUM_CHNOUT
int16_t v = max(min(g_chans512[i],PPM_range),-PPM_range) + PPM_CENTER;
rest-=(v+q);
// *ptr++ = q; //moved down two lines
// pulses2MHz[j++] = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
// pulses2MHz[j++] = v - q + 600; /* as Pat MacKenzie suggests */
*ptr++ = q; //to here
}
// *ptr=q; //reverse these two assignments
// *(ptr+1)=rest;
*ptr = rest;
*(ptr+1) = q;
*(ptr+2)=0;
// pulses2MHz[j++]=q;
// pulses2MHz[j++]=rest;
// pulses2MHz[j++]=0;
}


// DSM2 protocol pulled from th9x - Thanks thus!!!

//http://www.rclineforum.de/forum/board49-zubeh-r-elektronik-usw/fernsteuerungen-sender-und-emp/neuer-9-kanal-sender-f-r-70-au/Beitrag_3897736#post3897736
//(dsm2( LP4DSM aus den RTF ( Ready To Fly ) Sendern von Spektrum.
//http://www.rcgroups.com/forums/showpost.php?p=18554028&postcount=237
// /home/thus/txt/flieger/PPMtoDSM.c
/*
125000 Baud 8n1 _ xxxx xxxx - ---
#define DSM2_CHANNELS 6 // Max number of DSM2 Channels transmitted
#define DSM2_BIT (8*2)
bind:
DSM2_Header = 0x80,0
static byte DSM2_Channel[DSM2_CHANNELS*2] = {
ch
0x00,0xAA, 0 0aa
0x05,0xFF, 1 1ff
0x09,0xFF, 2 1ff
0x0D,0xFF, 3 1ff
0x13,0x54, 4 354
0x14,0xAA 5 0aa
};

normal:
DSM2_Header = 0,0;
DSM2_Channel[i*2] = (byte)(i<<2) | highByte(pulse);
DSM2_Channel[i*2+1] = lowByte(pulse);


*/

inline void _send_1(uint16_t v)
{
*pulses2MHzptr++ = v;
}

#define BITLEN_DSM2 (8*2) //125000 Baud
void sendByteDsm2(uint8_t b) //max 10changes 0 10 10 10 10 1
{
bool lev = 0;
uint8_t len = BITLEN_DSM2; //max val: 9*16 < 256
for( uint8_t i=0; i<=8; i++){ //8Bits + Stop=1
bool nlev = b & 1; //lsb first
if(lev == nlev){
len += BITLEN_DSM2;
}else{
_send_1(len -1);
len = BITLEN_DSM2;
lev = nlev;
}
b = (b>>1) | 0x80; //shift in stop bit
}
_send_1(len+BITLEN_DSM2-1); // 2 stop bits
}


static uint8_t *Dsm2_pulsePtr = pulses2MHz.pbyte ;
void setupPulsesDsm2(uint8_t chns)
{
static uint8_t dsmDat[2+6*2]={0xFF,0x00, 0x00,0xAA, 0x05,0xFF, 0x09,0xFF, 0x0D,0xFF, 0x13,0x54, 0x14,0xAA};
uint8_t counter ;
// CSwData &cs = g_model.customSw[NUM_CSW-1];

pulses2MHzptr = pulses2MHz.pbyte ;

// If more channels needed make sure the pulses union/array is large enough
if (dsmDat[0]&BadData) //first time through, setup header
{
switch(g_model.ppmNCH)
{
case LPXDSM2:
dsmDat[0]= 0x80;
break;
case DSM2only:
dsmDat[0]=0x90;
break;
default:
dsmDat[0]=0x98; //dsmx, bind mode
break;
}
}
if((dsmDat[0]&BindBit)&&(!keyState(SW_Trainer))) dsmDat[0]&=~BindBit; //clear bind bit if trainer not pulled
if ((!(dsmDat[0]&BindBit))&&getSwitch(MAX_DRSWITCH-1,0,0)) dsmDat[0]|=RangeCheckBit; //range check function
else dsmDat[0]&=~RangeCheckBit;
dsmDat[1]=g_eeGeneral.currModel+1; //DSM2 Header second byte for model match
for(uint8_t i=0; i<chns; i++)
{
uint16_t pulse = limit(0, (g_chans512[i]>>1)+512,1023);
dsmDat[2+2*i] = (i<<2) | ((pulse>>8)&0x03);
dsmDat[3+2*i] = pulse & 0xff;
}

for ( counter = 0 ; counter < 14 ; counter += 1 )
{
sendByteDsm2(dsmDat[counter]);
}
pulses2MHzptr-=1 ; //remove last stopbits and
_send_1( 255 ) ; //prolong them
_send_1(0); //end of pulse stream
Dsm2_pulsePtr = pulses2MHz.pbyte ;
}


ISR(TIMER1_CAPT_vect) //2MHz pulse generation
{
// static uint8_t pulsePol;
uint8_t x ;
PORTB ^= (1<<OUT_B_PPM);
x = *Dsm2_pulsePtr++; // Byte size
ICR1 = x ;
if ( x > 200 )
{
PORTB |= (1<<OUT_B_PPM); // Make sure pulses are the correct way up
}
heartbeat |= HEART_TIMER2Mhz;
}


ISR(TIMER1_COMPC_vect) // DSM2 or PXX end of frame
{

if ( g_model.protocol == PROTO_DSM2 )
{
// DSM2
ICR1 = 41536 ; //next frame starts in 22 msec 41536 = 2*(22000 - 14*11*8)
if (OCR1C<255) OCR1C = 39000; //delay setup pulses by 19.5 msec to reduce sytem latency
else
{
OCR1C=200;
setupPulses();
}
}
else // must be PXX
{
setupPulses() ;
}
}

// This interrupt for PXX

ISR(TIMER1_COMPB_vect) // PXX main interrupt
{
uint8_t x ;
PORTB ^= (1<<OUT_B_PPM) ;
x = *pulses2MHzptr; // Byte size
if ( ( x & 1 ) == 0 )
{
OCR1B += 32 ;
}
else
{
OCR1B += 16 ;
}
if ( (x >>= 1) == 0 )
{
if ( *(++pulses2MHzptr) == 0 )
{
OCR1B = OCR1C + 2000 ; // 1mS on from OCR1B
}
}
else
{
*pulses2MHzptr = x ;
}
heartbeat |= HEART_TIMER2Mhz;
}



void set_timer3_capture()
{
ETIMSK &= ~( (1<<OCIE3A) | (1<<OCIE3B) | (1<<OCIE3C) ) ; // Stop compare interrupts
DDRE &= ~0x80; PORTE |= 0x80 ; // Bit 7 input + pullup

TCCR3B = 0 ; // Stop counter
TCCR3A = 0;
TCCR3B = (1<<ICNC3) | (2<<CS30); //ICNC3 16MHz / 8
ETIMSK |= (1<<TICIE3);
}

void set_timer3_ppm()
{
ETIMSK &= ~( 1<<TICIE3) ; // Stop capture interrupt
DDRE |= 0x80; // Bit 7 output

TCCR3B = 0 ; // Stop counter
TCCR3A = (0<<WGM10);
TCCR3B = (1 << WGM12) | (2<<CS10); // CTC OCR1A, 16MHz / 8

ETIMSK |= ( (1<<OCIE3A) | (1<<OCIE3B) ); // enable immediately before mainloop
}


uint16_t B3_comp_value ;

ISR(TIMER3_COMPA_vect) //2MHz pulse generation
{
static uint8_t pulsePol;
static uint16_t *pulsePtr = &pulses2MHz.pword[PULSES_WORD_SIZE/2];

if(pulsePol)
{
PORTE |= 0x80 ; // (1<<OUT_B_PPM);
pulsePol = 0;
}else{
PORTE &= ~0x80 ; // (1<<OUT_B_PPM);
pulsePol = 1;
}

OCR3A = *pulsePtr++;
OCR3B = B3_comp_value ;

if( *pulsePtr == 0)
{
pulsePtr = &pulses2MHz.pword[PULSES_WORD_SIZE/2];
pulsePol = g_model.pulsePol;//0; // changed polarity
}
heartbeat |= HEART_TIMER2Mhz;
}

ISR(TIMER3_COMPB_vect) //2MHz pulse generation
{
sei() ;
setupPulsesPPM16() ;
}


void setupPulsesPPM16()
{
int16_t PPM_range = g_model.extendedLimits ? 640*2 : 512*2; //range of 0.7..1.7msec

//Total frame length = 22.5msec
//each pulse is 0.7..1.7ms long with a 0.3ms stop tail
//The pulse ISR is 2mhz that's why everything is multiplied by 2
uint16_t *ptr ;
ptr = &pulses2MHz.pword[PULSES_WORD_SIZE/2] ;
uint8_t p= 16+g_model.ppmNCH*2; //Channels *2
uint16_t q=(g_model.ppmDelay*50+300)*2; //Stoplen *2
uint16_t rest=22500u*2-q; //Minimum Framelen=22.5 ms
rest += (int16_t(g_model.ppmFrameLength))*1000;
// if(p>9) rest=p*(1720u*2 + q) + 4000u*2; //for more than 9 channels, frame must be longer
for(uint8_t i=p-8;i<p;i++)
{ //NUM_CHNOUT
int16_t v = max(min(g_chans512[i],PPM_range),-PPM_range) + PPM_CENTER;
rest-=(v+q);
*ptr++ = q; //moved down two lines
// pulses2MHz[j++] = q;
*ptr++ = v - q + 600; /* as Pat MacKenzie suggests */
// pulses2MHz[j++] = v - q + 600; /* as Pat MacKenzie suggests */
}
*ptr=q; //reverse these two assignments
*(ptr+1)=rest;
B3_comp_value = rest - 1000 ; // 500uS before end of sync pulse
*(ptr+2)=0;

}


prog_uint16_t APM CRCTable[]=
{
0x0000,0x1189,0x2312,0x329b,0x4624,0x57ad,0x6536,0x74bf,
0x8c48,0x9dc1,0xaf5a,0xbed3,0xca6c,0xdbe5,0xe97e,0xf8f7,
0x1081,0x0108,0x3393,0x221a,0x56a5,0x472c,0x75b7,0x643e,
0x9cc9,0x8d40,0xbfdb,0xae52,0xdaed,0xcb64,0xf9ff,0xe876,
0x2102,0x308b,0x0210,0x1399,0x6726,0x76af,0x4434,0x55bd,
0xad4a,0xbcc3,0x8e58,0x9fd1,0xeb6e,0xfae7,0xc87c,0xd9f5,
0x3183,0x200a,0x1291,0x0318,0x77a7,0x662e,0x54b5,0x453c,
0xbdcb,0xac42,0x9ed9,0x8f50,0xfbef,0xea66,0xd8fd,0xc974,
0x4204,0x538d,0x6116,0x709f,0x0420,0x15a9,0x2732,0x36bb,
0xce4c,0xdfc5,0xed5e,0xfcd7,0x8868,0x99e1,0xab7a,0xbaf3,
0x5285,0x430c,0x7197,0x601e,0x14a1,0x0528,0x37b3,0x263a,
0xdecd,0xcf44,0xfddf,0xec56,0x98e9,0x8960,0xbbfb,0xaa72,
0x6306,0x728f,0x4014,0x519d,0x2522,0x34ab,0x0630,0x17b9,
0xef4e,0xfec7,0xcc5c,0xddd5,0xa96a,0xb8e3,0x8a78,0x9bf1,
0x7387,0x620e,0x5095,0x411c,0x35a3,0x242a,0x16b1,0x0738,
0xffcf,0xee46,0xdcdd,0xcd54,0xb9eb,0xa862,0x9af9,0x8b70,
0x8408,0x9581,0xa71a,0xb693,0xc22c,0xd3a5,0xe13e,0xf0b7,
0x0840,0x19c9,0x2b52,0x3adb,0x4e64,0x5fed,0x6d76,0x7cff,
0x9489,0x8500,0xb79b,0xa612,0xd2ad,0xc324,0xf1bf,0xe036,
0x18c1,0x0948,0x3bd3,0x2a5a,0x5ee5,0x4f6c,0x7df7,0x6c7e,
0xa50a,0xb483,0x8618,0x9791,0xe32e,0xf2a7,0xc03c,0xd1b5,
0x2942,0x38cb,0x0a50,0x1bd9,0x6f66,0x7eef,0x4c74,0x5dfd,
0xb58b,0xa402,0x9699,0x8710,0xf3af,0xe226,0xd0bd,0xc134,
0x39c3,0x284a,0x1ad1,0x0b58,0x7fe7,0x6e6e,0x5cf5,0x4d7c,
0xc60c,0xd785,0xe51e,0xf497,0x8028,0x91a1,0xa33a,0xb2b3,
0x4a44,0x5bcd,0x6956,0x78df,0x0c60,0x1de9,0x2f72,0x3efb,
0xd68d,0xc704,0xf59f,0xe416,0x90a9,0x8120,0xb3bb,0xa232,
0x5ac5,0x4b4c,0x79d7,0x685e,0x1ce1,0x0d68,0x3ff3,0x2e7a,
0xe70e,0xf687,0xc41c,0xd595,0xa12a,0xb0a3,0x8238,0x93b1,
0x6b46,0x7acf,0x4854,0x59dd,0x2d62,0x3ceb,0x0e70,0x1ff9,
0xf78f,0xe606,0xd49d,0xc514,0xb1ab,0xa022,0x92b9,0x8330,
0x7bc7,0x6a4e,0x58d5,0x495c,0x3de3,0x2c6a,0x1ef1,0x0f78
};






uint8_t PcmByte ;
uint8_t PcmBitCount ;
uint8_t *PcmPtr ;
uint16_t PcmCrc ;
uint8_t PcmOnesCount ;

void crc( uint8_t data )
{
// uint8_t i ;

PcmCrc=(PcmCrc>>8)^pgm_read_word(&CRCTable[(PcmCrc^data) & 0xFF]);
}


void putPcmPart( uint8_t value )
{
PcmByte >>= 2 ;
PcmByte |= value ;
if ( ++PcmBitCount >= 4 )
{
*PcmPtr++ = PcmByte ;
PcmBitCount = PcmByte = 0 ;
}
}


void putPcmFlush()
{
while ( PcmBitCount != 0 )
{
putPcmPart( 0 ) ; // Empty
}
*PcmPtr = 0 ; // Mark end
}

void putPcmBit( uint8_t bit )
{
if ( bit )
{
PcmOnesCount += 1 ;
putPcmPart( 0x80 ) ;
}
else
{
PcmOnesCount = 0 ;
putPcmPart( 0xC0 ) ;
}
if ( PcmOnesCount >= 5 )
{
putPcmBit( 0 ) ; // Stuff a 0 bit in
}
}

void putPcmByte( uint8_t byte )
{
uint8_t i ;

crc( byte ) ;

for ( i = 0 ; i < 8 ; i += 1 )
{
putPcmBit( byte & 0x01 ) ;
byte >>= 1 ;
}
}

void putPcmHead()
{
// send 7E, do not CRC
// 01111110
putPcmPart( 0xC0 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0x80 ) ;
putPcmPart( 0xC0 ) ;
}

//void setUpPulsesPCM()
void setupPulsesPXX()
{
uint8_t i ;
uint16_t chan ;
uint16_t chan_1 ;

pulses2MHzptr = pulses2MHz.pbyte ;
PcmPtr = pulses2MHz.pbyte ;
PcmCrc = 0 ;
PcmBitCount = PcmByte = 0 ;
PcmOnesCount = 0 ;
putPcmHead( ) ; // sync byte
putPcmByte( g_model.ppmNCH ) ; // putPcmByte( g_model.rxnum ) ; //
putPcmByte( pxxFlag ) ; // First byte of flags
putPcmByte( 0 ) ; // Second byte of flags
pxxFlag = 0; // reset flag after send
for ( i = 0 ; i < 8 ; i += 2 ) // First 8 channels only
{ // Next 8 channels would have 2048 added
chan = g_chans512[i] *3 / 4 + 1024 ;
chan_1 = g_chans512[i+1] *3 / 4 + 1024 ;
if ( chan > 2047 )
{
chan = 2047 ;
}
if ( chan_1 > 2047 )
{
chan_1 = 2047 ;
}
putPcmByte( chan ) ; // Low byte of channel
putPcmByte( ( ( chan >> 8 ) & 0x0F ) | ( chan_1 << 4) ) ; // 4 bits each from 2 channels
putPcmByte( chan_1 >> 4 ) ; // High byte of channel
}
chan = PcmCrc ; // get the crc
putPcmByte( chan ) ; // Checksum lo
putPcmByte( chan >> 8 ) ; // Checksum hi
putPcmHead( ) ; // sync byte
putPcmFlush() ;
OCR1C += 40000 ; // 20mS on
PORTB |= (1<<OUT_B_PPM);
}


Change log

r708 by erezraviv on Feb 11, 2012   Diff
PXX work - change to not stuff the head
and tail bytes.
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Older revisions

r700 by michael....@mypostoffice.co.uk on Feb 4, 2012   Diff
Space saving and cell voltage display
r670 by erezraviv on Jan 22, 2012   Diff
menu changes, light on by sticks,
elaborate sw warning
r668 by erezraviv on Jan 20, 2012   Diff
Work on PXX menus
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