266 lines
11 KiB
C++
266 lines
11 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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void extmoduleSendNextFrame();
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void extmoduleStop()
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{
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NVIC_DisableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn);
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EXTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_TIMER->DIER &= ~(TIM_DIER_CC2IE | TIM_DIER_UDE);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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if (!IS_TRAINER_EXTERNAL_MODULE()) {
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EXTERNAL_MODULE_OFF();
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}
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}
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void extmoduleNoneStart()
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{
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if (!IS_TRAINER_EXTERNAL_MODULE()) {
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EXTERNAL_MODULE_OFF();
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}
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GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, 0);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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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(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
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GPIO_SetBits(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PIN); // Set high
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = 36000; // 18mS
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EXTMODULE_TIMER->CCR2 = 32000; // Update time
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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void extmodulePpmStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, EXTMODULE_PPM_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_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(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
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// PPM generation principle:
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//
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// Hardware timer in PWM mode is used for PPM generation
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// Output is OFF if CNT<CCR1(delay) and ON if bigger
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// CCR1 register defines duration of pulse length and is constant
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// AAR register defines duration of each pulse, it is
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// updated after every pulse in Update interrupt handler.
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// CCR2 register defines duration of no pulses (time between two pulse trains)
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// it is calculated every round to have PPM period constant.
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// CC2 interrupt is then used to setup new PPM values for the
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// next PPM pulses train.
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop timer
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = 45000;
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// CH1 PWM mode 1, CH1 out is OFF if CNT<CCR1(delay) and ON if bigger (up to AAR,which is pulse length)
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EXTMODULE_TIMER->CCR1 = GET_PPM_DELAY(EXTERNAL_MODULE)*2;
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | (GET_PPM_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1P : 0);
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1; // Reloads register values now
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Update DMA request
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN; // Start timer
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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void extmodulePxxStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, EXTMODULE_PPM_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_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(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = 18000;
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P | TIM_CCER_CC1NE | TIM_CCER_CC1NP; // TIM_CCER_CC1E | TIM_CCER_CC1P;
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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EXTMODULE_TIMER->CCR1 = 18;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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#if defined(DSM2)
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void extmoduleDsm2Start()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, EXTMODULE_PPM_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_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(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = 44000; // 22mS
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P;
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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EXTMODULE_TIMER->CCR1 = 0;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE; // Enable DMA on update
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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#endif
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void extmoduleCrossfireStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PinSource, 0);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PPM_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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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(EXTMODULE_PPM_GPIO, &GPIO_InitStructure);
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GPIO_SetBits(EXTMODULE_PPM_GPIO, EXTMODULE_PPM_GPIO_PIN); // Set high
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = (2000 * CROSSFIRE_FRAME_PERIOD);
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EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_FRAME_PERIOD) - 1000;
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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void extmoduleSendNextFrame()
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{
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if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PPM) {
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EXTMODULE_TIMER->CCR1 = GET_PPM_DELAY(EXTERNAL_MODULE)*2;
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | (GET_PPM_POLARITY(EXTERNAL_MODULE) ? TIM_CCER_CC1P : 0);
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EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].ppm.ptr - 1) - 4000; // 2mS in advance
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EXTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_DMA_STREAM->CR |= EXTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_1 | DMA_SxCR_MSIZE_1 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].ppm.pulses);
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EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].ppm.ptr - modulePulsesData[EXTERNAL_MODULE].ppm.pulses;
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EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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else if (s_current_protocol[EXTERNAL_MODULE] == PROTO_PXX) {
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EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].pxx.ptr - 1) - 4000; // 2mS in advance
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EXTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_DMA_STREAM->CR |= EXTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_1 | DMA_SxCR_MSIZE_1 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].pxx.pulses);
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EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].pxx.ptr - modulePulsesData[EXTERNAL_MODULE].pxx.pulses;
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EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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else if (IS_DSM2_PROTOCOL(s_current_protocol[EXTERNAL_MODULE]) || IS_MULTIMODULE_PROTOCOL(s_current_protocol[EXTERNAL_MODULE])) {
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EXTMODULE_TIMER->CCR2 = *(modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - 1) - 4000; // 2mS in advance
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EXTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_DMA_STREAM->CR |= EXTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_1 | DMA_SxCR_MSIZE_1 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_DMA_STREAM->M0AR = CONVERT_PTR_UINT(modulePulsesData[EXTERNAL_MODULE].dsm2.pulses);
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EXTMODULE_DMA_STREAM->NDTR = modulePulsesData[EXTERNAL_MODULE].dsm2.ptr - modulePulsesData[EXTERNAL_MODULE].dsm2.pulses;
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EXTMODULE_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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else {
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE;
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}
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}
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extern "C" void EXTMODULE_DMA_IRQHandler()
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{
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if (!DMA_GetITStatus(EXTMODULE_DMA_STREAM, EXTMODULE_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(EXTMODULE_DMA_STREAM, EXTMODULE_DMA_FLAG_TC);
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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}
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extern "C" void EXTMODULE_TIMER_IRQHandler()
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{
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EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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setupPulses(EXTERNAL_MODULE);
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extmoduleSendNextFrame();
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}
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