185 lines
6.6 KiB
C++
185 lines
6.6 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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#include "pulses/pulses.h"
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void intmoduleStop()
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{
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INTERNAL_MODULE_OFF();
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NVIC_DisableIRQ(INTMODULE_DMA_STREAM_IRQn);
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NVIC_DisableIRQ(INTMODULE_TIMER_CC_IRQn);
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_TIMER->DIER &= ~(TIM_DIER_CC2IE | TIM_DIER_UDE);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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}
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// #define HEARBEAT_OFFSET unsigned(6000 + g_model.flightModeData[0].gvars[0] * 100)
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constexpr unsigned HEARBEAT_OFFSET = 6000;
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void intmoduleSendNextFrame()
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{
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switch (moduleState[INTERNAL_MODULE].protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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{
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// uint32_t last = intmodulePulsesData.pxx.getLast();
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// if (heartbeatCapture.valid) {
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// if (getTmr2MHz() - heartbeatCapture.timestamp > HEARBEAT_OFFSET)
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// last -= 21;
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// else
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// last += 19;
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// intmodulePulsesData.pxx.setLast(last);
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// }
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if (INTMODULE_DMA_STREAM->CR & DMA_SxCR_EN)
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return;
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//disable timer
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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//INTMODULE_TIMER->CCR2 = last - 4000; // 2mS in advance
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_DMA_STREAM->CR |= INTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);
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INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(intmodulePulsesData.pxx.getData());
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INTMODULE_DMA_STREAM->NDTR = intmodulePulsesData.pxx.getSize();
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INTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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// re-init timer
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INTMODULE_TIMER->EGR = 1;
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INTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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break;
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}
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#endif
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#if defined(INTERNAL_MODULE_PPM)
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case PROTOCOL_CHANNELS_PPM:
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INTMODULE_TIMER->CCR3 = GET_MODULE_PPM_DELAY(INTERNAL_MODULE) * 2;
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INTMODULE_TIMER->CCER = TIM_CCER_CC3E | (GET_MODULE_PPM_POLARITY(INTERNAL_MODULE) ? 0 : TIM_CCER_CC3P);
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INTMODULE_TIMER->CCR2 = *(intmodulePulsesData.ppm.ptr - 1) - 4000; // 2mS in advance
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INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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INTMODULE_DMA_STREAM->CR |= INTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);
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INTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(intmodulePulsesData.ppm.pulses);
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INTMODULE_DMA_STREAM->NDTR = intmodulePulsesData.ppm.ptr - intmodulePulsesData.ppm.pulses;
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INTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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break;
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#endif
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default:
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE;
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break;
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}
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}
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void intmodulePxx1PulsesStart()
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{
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INTERNAL_MODULE_ON();
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GPIO_PinAFConfig(INTMODULE_TX_GPIO, INTMODULE_TX_GPIO_PinSource, INTMODULE_TX_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = INTMODULE_TX_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(INTMODULE_TX_GPIO, &GPIO_InitStructure);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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INTMODULE_TIMER->CCER = TIM_CCER_CC3E | TIM_CCER_CC3NE;
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INTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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INTMODULE_TIMER->CCR3 = 16;
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_0; // Force O/P high
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INTMODULE_TIMER->EGR = 1; // Restart
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2;
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INTMODULE_TIMER->ARR = 40000;
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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INTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
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INTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(INTMODULE_DMA_STREAM_IRQn);
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NVIC_SetPriority(INTMODULE_DMA_STREAM_IRQn, 7);
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NVIC_EnableIRQ(INTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(INTMODULE_TIMER_CC_IRQn, 7);
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}
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#if defined(INTERNAL_MODULE_PPM)
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void intmodulePpmStart()
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{
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INTERNAL_MODULE_ON();
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GPIO_PinAFConfig(INTMODULE_TX_GPIO, INTMODULE_TX_GPIO_PinSource, INTMODULE_TX_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = INTMODULE_TX_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(INTMODULE_TX_GPIO, &GPIO_InitStructure);
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INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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INTMODULE_TIMER->PSC = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
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INTMODULE_TIMER->ARR = 45000;
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INTMODULE_TIMER->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2; // PWM mode 1
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INTMODULE_TIMER->BDTR = TIM_BDTR_MOE;
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INTMODULE_TIMER->EGR = 1;
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INTMODULE_TIMER->DIER = TIM_DIER_UDE;
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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INTMODULE_TIMER->CCR2 = 40000; // The first frame will be sent in 20ms
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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INTMODULE_TIMER->CR1 = TIM_CR1_CEN;
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NVIC_EnableIRQ(INTMODULE_DMA_STREAM_IRQn);
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NVIC_SetPriority(INTMODULE_DMA_STREAM_IRQn, 7);
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NVIC_EnableIRQ(INTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(INTMODULE_TIMER_CC_IRQn, 7);
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}
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#endif // defined(INTERNAL_MODULE_PPM)
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extern "C" void INTMODULE_DMA_STREAM_IRQHandler()
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{
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if (!DMA_GetITStatus(INTMODULE_DMA_STREAM, INTMODULE_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(INTMODULE_DMA_STREAM, INTMODULE_DMA_FLAG_TC);
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switch (moduleState[INTERNAL_MODULE].protocol) {
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case PROTOCOL_CHANNELS_PPM:
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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INTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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break;
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}
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}
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extern "C" void INTMODULE_TIMER_CC_IRQHandler()
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{
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INTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
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INTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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if (setupPulsesInternalModule()) {
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intmoduleSendNextFrame();
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}
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}
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