160 lines
4.2 KiB
C++
160 lines
4.2 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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#define TIMESAMPLE_COUNT 6
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uint8_t analogs_pwm_disabled = 0;
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volatile uint32_t pwm_interrupt_count;
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volatile uint8_t timer_capture_states[4];
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volatile uint32_t timer_capture_rising_time[4];
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volatile uint32_t timer_capture_values[4][TIMESAMPLE_COUNT];
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volatile uint8_t timer_capture_indexes[4];
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void analogPwmInit()
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = PWM_GPIOA_PINS;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_Init(PWM_GPIO, &GPIO_InitStructure);
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GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource0, PWM_GPIO_AF);
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GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource1, PWM_GPIO_AF);
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GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource2, PWM_GPIO_AF);
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GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource3, PWM_GPIO_AF);
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PWM_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop timer
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PWM_TIMER->PSC = 80;
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PWM_TIMER->ARR = 0xffff;
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PWM_TIMER->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
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PWM_TIMER->CCMR2 = TIM_CCMR2_CC3S_0 | TIM_CCMR2_CC4S_0;
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PWM_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E;
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PWM_TIMER->DIER |= TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4;
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PWM_TIMER->CR1 = TIM_CR1_CEN; // Start timer
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NVIC_EnableIRQ(PWM_IRQn);
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NVIC_SetPriority(PWM_IRQn, 10);
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}
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inline uint32_t TIM_GetCapture(uint8_t n)
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{
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switch (n) {
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case 0:
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return PWM_TIMER->CCR1;
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case 1:
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return PWM_TIMER->CCR2;
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case 2:
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return PWM_TIMER->CCR3;
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case 3:
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return PWM_TIMER->CCR4;
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default:
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return 0;
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}
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}
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inline void TIM_SetPolarityRising(uint8_t n)
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{
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PWM_TIMER->CCER &= ~(TIM_CCER_CC1P << (n * 4));
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}
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inline void TIM_SetPolarityFalling(uint8_t n)
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{
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PWM_TIMER->CCER |= (TIM_CCER_CC1P << (n * 4));
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}
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inline void TIM_ClearITPendingBit(uint8_t n)
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{
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PWM_TIMER->SR = ~(TIM_IT_CC1 << n);
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}
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inline uint32_t diff_with_16bits_overflow(uint32_t a, uint32_t b)
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{
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if (b > a)
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return b - a;
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else
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return b + 0xffff - a;
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}
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extern "C" void PWM_IRQHandler(void)
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{
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for (int i=0; i<4; i++) {
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if (PWM_TIMER->SR & (TIM_DIER_CC1IE << i)) {
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uint32_t capture = TIM_GetCapture(i);
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if (timer_capture_states[i] != 0) {
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uint32_t value = diff_with_16bits_overflow(timer_capture_rising_time[i], capture);
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if (value < 10000) {
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pwm_interrupt_count++;
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timer_capture_values[i][timer_capture_indexes[i]++] = value;
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timer_capture_indexes[i] %= TIMESAMPLE_COUNT;
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}
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TIM_SetPolarityRising(i);
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timer_capture_states[i] = 0;
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}
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else {
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timer_capture_rising_time[i] = capture;
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TIM_SetPolarityFalling(i);
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timer_capture_states[i] = 0x80;
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}
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TIM_ClearITPendingBit(i);
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}
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}
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}
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void analogPwmRead(uint16_t * values)
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{
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uint32_t tmp[4];
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for (int i=0; i<4; i++) {
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uint32_t mycount = 0;
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uint32_t mymax = 0;
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uint32_t mymin = 4095;
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for (uint32_t j=0; j<TIMESAMPLE_COUNT; j++) {
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uint32_t value = timer_capture_values[i][j];
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mycount += value;
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if (value > mymax)
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mymax = value;
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if (value < mymin)
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mymin = value;
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}
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// from the 6 values, remove the min and max and divide by 4
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tmp[i] = (mycount - mymax - mymin) >> 2;
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}
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values[0] = tmp[0];
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values[1] = tmp[1];
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values[2] = tmp[3];
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values[3] = tmp[2];
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}
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void analogPwmCheck()
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{
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// I have ~1860 interrupts with only one stick
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if (pwm_interrupt_count < 1000) {
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analogs_pwm_disabled = true;
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#if !defined(SIMU)
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adcInit();
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#endif
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}
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}
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