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Taranis - PXX/PPM for two modules, trainer input/output changes

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This commit is contained in:
michael.blandford@mypostoffice.co.uk
2013-04-14 14:44:29 +00:00
parent 452ac21f89
commit aa9ae51e21
5 changed files with 577 additions and 159 deletions
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src/taranis/trainer_driver.cpp
+76 -69
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@@ -72,72 +72,46 @@ void setupTrainerPulses()
*ptr++ = rest ;
*ptr = 0 ;
TIM8->CCR2 = rest - 1000 ; // Update time
TIM8->CCR4 = (g_model.ppmDelay*50+300)*2 ;
TIM3->CCR2 = rest - 1000 ; // Update time
TIM3->CCR4 = (g_model.ppmDelay*50+300)*2 ;
}
// Trainer PPM oputput PC9, Timer 8 channel 4
// Trainer PPM oputput PC9, Timer 3 channel 4, (Alternate Function 2)
void init_trainer_ppm()
{
setupTrainerPulses() ;
TrainerPulsePtr = TrainerPpmStream ;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
configure_pins( 0x0200, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
RCC->APB2ENR |= RCC_APB2ENR_TIM8EN ; // Enable clock
configure_pins( PIN_TR_PPM_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
configure_pins( PIN_TR_PPM_IN, PIN_PORTA | PIN_INPUT ) ;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
TIM8->ARR = *TrainerPulsePtr++ ;
TIM8->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM8->CCER = TIM_CCER_CC4E ;
TIM8->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
TIM8->CCR4 = 600 ; // 300 uS pulse
TIM8->BDTR = TIM_BDTR_MOE ;
TIM8->EGR = 1 ;
// TIM8->DIER = TIM_DIER_UDE ;
TIM3->ARR = *TrainerPulsePtr++ ;
TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TIM3->CCER = TIM_CCER_CC4E ;
TIM3->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
TIM3->CCR4 = 600 ; // 300 uS pulse
TIM3->BDTR = TIM_BDTR_MOE ;
TIM3->EGR = 1 ;
// TIM3->DIER = TIM_DIER_UDE ;
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM8->DIER |= TIM_DIER_CC2IE ;
TIM8->DIER |= TIM_DIER_UIE ;
TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM3->DIER |= TIM_DIER_CC2IE ;
TIM3->DIER |= TIM_DIER_UIE ;
TIM8->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM8_CC_IRQn) ;
NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn) ;
TIM3->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM3_IRQn) ;
// NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn) ;
}
// TODO - testing
void stop_trainer_ppm()
{
configure_pins( 0x0200, PIN_INPUT | PIN_PORTC ) ;
TIM8->CR1 &= ~TIM_CR1_CEN ; // Stop counter
NVIC_DisableIRQ(TIM8_CC_IRQn) ; // Stop Interrupt
NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn) ; // Stop Interrupt
}
extern "C" void TIM8_CC_IRQHandler()
{
TIM8->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupTrainerPulses() ;
TrainerPulsePtr = TrainerPpmStream ;
TIM8->DIER |= TIM_DIER_UDE ;
TIM8->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM8->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
extern "C" void TIM8_UP_TIM13_IRQHandler()
{
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->ARR = *TrainerPulsePtr++ ;
if ( *TrainerPulsePtr == 0 )
{
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM8->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
configure_pins( PIN_TR_PPM_OUT, PIN_INPUT | PIN_PORTC ) ;
TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
}
// Trainer capture, PC8, Timer 3 channel 3
@@ -152,7 +126,7 @@ void init_trainer_capture()
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 ; // Clear flag
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) ;
@@ -165,25 +139,58 @@ extern "C" void TIM3_IRQHandler()
static uint16_t lastCapt ;
uint16_t val ;
capture = TIM3->CCR3 ;
// 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;
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
}
}
}
// 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 = TrainerPpmStream ;
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
}
}
}