[X9D] Renamed to Taranis

[9x] New logo!
2013-03-21 11:22:46 +00:00
parent cf54528a9e
commit c41185f690
191 changed files with 367 additions and 369 deletions
@@ -0,0 +1,189 @@
+/*
+ * 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"
+
+uint16_t TrainerPpmStream[20] =
+{
+  2000,
+  2200,
+  2400,
+  2600,
+  2800,
+  3000,
+  3200,
+  3400,
+  45000-21600,
+  0,0,0,0,0,0,0,0,0,0,0
+};
+
+uint16_t * TrainerPulsePtr;
+
+void setupTrainerPulses()
+{
+  int16_t PPM_range = g_model.extendedLimits ? 640 * 2 : 512 * 2; //range of 0.7..1.7msec
+
+  uint16_t *ptr ;
+  uint32_t p=8+g_model.ppmNCH*2; //Channels *2
+
+  ptr = TrainerPpmStream ;
+
+  uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
+  rest += int32_t(g_model.ppmFrameLength) * 1000;
+
+  for (uint32_t i = 0 ; i < p ; i += 1 ) {
+    uint32_t pulse = limit((int16_t)-PPM_range, channelOutputs[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
+    rest -= pulse ;
+    *ptr++ = pulse ;
+  }
+  *ptr++ = rest ;
+  *ptr = 0 ;
+
+  TIM8->CCR2 = rest - 1000 ;             // Update time
+  TIM8->CCR4 = (g_model.ppmDelay*50+300)*2 ;
+}
+
+// Trainer PPM oputput PC9, Timer 8 channel 4
+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
+
+  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 ;
+
+  TIM8->SR &= ~TIM_SR_UIF ;                               // Clear flag
+  TIM8->SR &= ~TIM_SR_CC2IF ;                             // Clear flag
+  TIM8->DIER |= TIM_DIER_CC2IE ;
+  TIM8->DIER |= TIM_DIER_UIE ;
+
+  TIM8->CR1 = TIM_CR1_CEN ;
+  NVIC_EnableIRQ(TIM8_CC_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
+  }
+}
+
+// Trainer capture, PC8, Timer 3 channel 3
+void init_trainer_capture()
+{
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ;           // Enable portC clock
+  configure_pins( 0x0100, PIN_PERIPHERAL | PIN_PORTC | PIN_TR_PPM_IN ) ;
+  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 ;                             // Clear flag
+  TIM3->DIER |= TIM_DIER_CC3IE ;
+  TIM3->CR1 = TIM_CR1_CEN ;
+  NVIC_EnableIRQ(TIM3_IRQn) ;
+}
+
+
+extern "C" void TIM3_IRQHandler()
+{
+  uint16_t capture ;
+  static uint16_t lastCapt ;
+  uint16_t val ;
+
+  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
+      }
+    }
+  }
+}
+