85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
/*
|
|
* Copyright (C) OpenTX
|
|
*
|
|
* Based on code named
|
|
* th9x - http://code.google.com/p/th9x
|
|
* er9x - http://code.google.com/p/er9x
|
|
* gruvin9x - http://code.google.com/p/gruvin9x
|
|
*
|
|
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
|
|
*
|
|
* 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"
|
|
#include "mixer_scheduler.h"
|
|
|
|
#if !defined(SIMU)
|
|
|
|
#include "FreeRTOSConfig.h"
|
|
|
|
// Start scheduler with default period
|
|
void mixerSchedulerStart()
|
|
{
|
|
MIXER_SCHEDULER_TIMER->CR1 &= ~TIM_CR1_CEN;
|
|
|
|
MIXER_SCHEDULER_TIMER->CR1 = TIM_CR1_URS; // do not generate interrupt on soft update
|
|
MIXER_SCHEDULER_TIMER->PSC = MIXER_SCHEDULER_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
|
|
MIXER_SCHEDULER_TIMER->CCER = 0;
|
|
MIXER_SCHEDULER_TIMER->CCMR1 = 0;
|
|
MIXER_SCHEDULER_TIMER->ARR = 2 * getMixerSchedulerPeriod() - 1;
|
|
MIXER_SCHEDULER_TIMER->EGR = TIM_EGR_UG; // reset timer
|
|
|
|
NVIC_EnableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
|
|
NVIC_SetPriority(MIXER_SCHEDULER_TIMER_IRQn,
|
|
configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
|
|
|
|
MIXER_SCHEDULER_TIMER->SR &= TIM_SR_UIF; // clear interrupt flag
|
|
MIXER_SCHEDULER_TIMER->DIER |= TIM_DIER_UIE; // enable interrupt
|
|
MIXER_SCHEDULER_TIMER->CR1 |= TIM_CR1_CEN;
|
|
}
|
|
|
|
void mixerSchedulerStop()
|
|
{
|
|
MIXER_SCHEDULER_TIMER->CR1 &= ~TIM_CR1_CEN;
|
|
NVIC_DisableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
|
|
}
|
|
|
|
void mixerSchedulerResetTimer()
|
|
{
|
|
mixerSchedulerDisableTrigger();
|
|
MIXER_SCHEDULER_TIMER->CNT = 0;
|
|
mixerSchedulerEnableTrigger();
|
|
}
|
|
|
|
void mixerSchedulerEnableTrigger()
|
|
{
|
|
MIXER_SCHEDULER_TIMER->DIER |= TIM_DIER_UIE; // enable interrupt
|
|
}
|
|
|
|
void mixerSchedulerDisableTrigger()
|
|
{
|
|
MIXER_SCHEDULER_TIMER->DIER &= ~TIM_DIER_UIE; // disable interrupt
|
|
}
|
|
|
|
extern "C" void MIXER_SCHEDULER_TIMER_IRQHandler(void)
|
|
{
|
|
MIXER_SCHEDULER_TIMER->SR &= ~TIM_SR_UIF; // clear flag
|
|
mixerSchedulerDisableTrigger();
|
|
|
|
// set next period
|
|
MIXER_SCHEDULER_TIMER->ARR = 2 * getMixerSchedulerPeriod() - 1;
|
|
|
|
// trigger mixer start
|
|
mixerSchedulerISRTrigger();
|
|
}
|
|
|
|
#endif
|