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Directory transmitter renamed to radio

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Bertrand Songis
2013-12-02 07:13:57 +01:00
parent f4df52a033
commit 942e658c8e
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radio/src/targets/taranis/trainer_driver.cpp
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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include "../../opentx.h"
uint8_t currentTrainerMode;
uint16_t * TrainerPulsePtr;
extern uint16_t ppmStream[NUM_MODULES+1][20];
#define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)
// Trainer PPM oputput PC9, Timer 3 channel 4, (Alternate Function 2)
void init_trainer_ppm()
{
setupTrainerPulses() ;
TrainerPulsePtr = ppmStream[TRAINER_MODULE];
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
configure_pins( PIN_TR_PPM_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( PIN_TR_PPM_IN, PIN_PORTA | PIN_INPUT ) ;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
TIM3->ARR = *TrainerPulsePtr++ ;
TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TIM3->CCER = TIM_CCER_CC4E ;
if(!g_model.moduleData[TRAINER_MODULE].ppmPulsePol)
TIM3->CCER |= TIM_CCER_CC4P;
TIM3->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
TIM3->CCR4 = (g_model.moduleData[TRAINER_MODULE].ppmDelay*50+300)*2;
TIM3->BDTR = TIM_BDTR_MOE ;
TIM3->EGR = 1 ;
// TIM3->DIER = TIM_DIER_UDE ;
TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM3->DIER |= TIM_DIER_CC2IE ;
TIM3->DIER |= TIM_DIER_UIE ;
TIM3->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM3_IRQn) ;
}
// TODO - testing
void stop_trainer_ppm()
{
configure_pins( PIN_TR_PPM_OUT, PIN_INPUT | PIN_PORTC ) ; // Pin as input
TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
TIM3->DIER &= ~TIM_DIER_CC2IE ; // Stop Interrupt
TIM3->DIER &= ~TIM_DIER_UIE ; // Stop Interrupt
NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
}
// Trainer capture, PC8, Timer 3 channel 3
void init_trainer_capture()
{
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
configure_pins (PIN_TR_PPM_IN, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2) ;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
TIM3->ARR = 0xFFFF ;
TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TIM3->CR2 = 0 ;
TIM3->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0 ;
TIM3->CCER = TIM_CCER_CC3E ;
TIM3->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF ; // Clear flags
TIM3->DIER |= TIM_DIER_CC3IE ;
TIM3->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM3_IRQn) ;
}
void stop_trainer_capture()
{
TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
TIM3->DIER &= ~TIM_DIER_CC3IE ; // Stop Interrupt
NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
}
extern "C" void TIM3_IRQHandler()
{
uint16_t capture ;
static uint16_t lastCapt ;
uint16_t val ;
// What mode? in or out?
if ( (TIM3->DIER & TIM_DIER_CC3IE ) && ( TIM3->SR & TIM_SR_CC3IF ) ) {
// capture mode
capture = TIM3->CCR3 ;
val = (uint16_t)(capture - lastCapt) / 2 ;
lastCapt = capture;
// We prcoess g_ppmInsright here to make servo movement as smooth as possible
// while under trainee control
if ((val>4000) && (val < 19000)) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
}
else {
if (ppmInState && (ppmInState<=8)) {
if ((val>800) && (val<2200)) {
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
}
// PPM out compare interrupt
if ( ( TIM3->DIER & TIM_DIER_CC2IE ) && ( TIM3->SR & TIM_SR_CC2IF ) ) {
// compare interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM3->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupTrainerPulses() ;
TrainerPulsePtr = ppmStream[TRAINER_MODULE];
TIM3->DIER |= TIM_DIER_UDE ;
TIM3->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM3->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
// PPM out update interrupt
if ( (TIM3->DIER & TIM_DIER_UIE) && ( TIM3->SR & TIM_SR_UIF ) ) {
TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
TIM3->ARR = *TrainerPulsePtr++ ;
if ( *TrainerPulsePtr == 0 ) {
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM3->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
}