[paparazzi-commits] [5698] introduced a new macro to make it possible to have different PPM tic and SYS tic

[antoine drouin]

Revision: 5698
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5698
Author:   poine
Date:     2010-08-26 10:44:21 +0000 (Thu, 26 Aug 2010)
Log Message:
-----------
introduced a new macro to make it possible to have different PPM tic and SYS tic

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/radio_control.h
    paparazzi3/trunk/sw/tools/gen_radio.ml

Modified: paparazzi3/trunk/sw/airborne/radio_control.h
===================================================================
--- paparazzi3/trunk/sw/airborne/radio_control.h        2010-08-26 07:53:51 UTC 
(rev 5697)
+++ paparazzi3/trunk/sw/airborne/radio_control.h        2010-08-26 10:44:21 UTC 
(rev 5698)
@@ -59,7 +59,16 @@
 extern uint8_t time_since_last_ppm;
 extern uint8_t ppm_cpt, last_ppm_cpt;
 
+/* 
+ * On tiny (and booz) the ppm counter is running at the same speed as
+ * the systic counter. There is no reason for this to be true.
+ * Let's add a pair of macros to make it possible for them to be different.
+ *
+ */
+#define RC_PPM_TICS_OF_USEC        SYS_TICS_OF_USEC
+#define RC_PPM_SIGNED_TICS_OF_USEC SIGNED_SYS_TICS_OF_USEC
 
+
 /************* INIT ******************************************************/
 static inline void radio_control_init ( void ) {
   rc_status = RC_REALLY_LOST; 

Modified: paparazzi3/trunk/sw/tools/gen_radio.ml
===================================================================
--- paparazzi3/trunk/sw/tools/gen_radio.ml      2010-08-26 07:53:51 UTC (rev 
5697)
+++ paparazzi3/trunk/sw/tools/gen_radio.ml      2010-08-26 10:44:21 UTC (rev 
5698)
@@ -70,9 +70,9 @@
 
 let norm1_ppm = fun c ->
   if c.neutral = c.min then
-    sprintf "tmp_radio * (MAX_PPRZ / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" 
c.max c.min, "0"
+    sprintf "tmp_radio * (MAX_PPRZ / 
(float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d)))" c.max c.min, "0"
   else
-    sprintf "tmp_radio * (tmp_radio >=0 ? 
(MAX_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : 
(MIN_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min 
c.neutral, "MIN_PPRZ"
+    sprintf "tmp_radio * (tmp_radio >=0 ? 
(MAX_PPRZ/(float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d))) : 
(MIN_PPRZ/(float)(RC_PPM_SIGNED_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min 
c.neutral, "MIN_PPRZ"
       
 let gen_normalize_ppm = fun channels ->
   printf "#define NormalizePpm() {\\\n";
@@ -84,7 +84,7 @@
       if c.averaged then begin
        printf "  avg_rc_values[RADIO_%s] += ppm_pulses[RADIO_%s];\\\n" c.name 
c.name
       end else begin
-       printf "  tmp_radio = ppm_pulses[RADIO_%s] - SYS_TICS_OF_USEC(%d);\\\n" 
c.name c.neutral;
+       printf "  tmp_radio = ppm_pulses[RADIO_%s] - 
RC_PPM_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
        printf "  rc_values[RADIO_%s] = %s;\\\n" c.name value;
        printf "  Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name 
min_pprz;
       end
@@ -97,7 +97,7 @@
     (fun c ->
       if c.averaged then begin
        let value, min_pprz = norm1_ppm c in
-       printf "    tmp_radio = avg_rc_values[RADIO_%s] / RC_AVG_PERIOD -  
SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
+       printf "    tmp_radio = avg_rc_values[RADIO_%s] / RC_AVG_PERIOD -  
RC_PPM_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
        printf "    rc_values[RADIO_%s] = %s;\\\n" c.name value;
        printf "    avg_rc_values[RADIO_%s] = 0;\\\n" c.name;
        printf "    Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name 
min_pprz;