272 lines
8.9 KiB
C++
272 lines
8.9 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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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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*/
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#include "../../opentx.h"
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uint16_t * TrainerPulsePtr;
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extern uint16_t ppmStream[NUM_MODULES+1][20];
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extern Fifo<32> sbusFifo;
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#define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)
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// Trainer PPM oputput PC9, Timer 3 channel 4, (Alternate Function 2)
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void init_trainer_ppm()
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{
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setupTrainerPulses() ;
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TrainerPulsePtr = ppmStream[TRAINER_MODULE];
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
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configure_pins( PIN_TR_PPM_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 | PIN_OS25 | PIN_PUSHPULL ) ;
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configure_pins( PIN_TR_PPM_IN, PIN_PORTA | PIN_INPUT ) ;
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
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TIM3->ARR = *TrainerPulsePtr++ ;
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TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TIM3->CCER = TIM_CCER_CC4E ;
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if(!g_model.moduleData[TRAINER_MODULE].ppmPulsePol)
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TIM3->CCER |= TIM_CCER_CC4P;
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TIM3->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
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TIM3->CCR4 = (g_model.moduleData[TRAINER_MODULE].ppmDelay*50+300)*2;
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TIM3->BDTR = TIM_BDTR_MOE ;
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TIM3->EGR = 1 ;
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// TIM3->DIER = TIM_DIER_UDE ;
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TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
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TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
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TIM3->DIER |= TIM_DIER_CC2IE ;
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TIM3->DIER |= TIM_DIER_UIE ;
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TIM3->CR1 = TIM_CR1_CEN ;
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NVIC_EnableIRQ(TIM3_IRQn) ;
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NVIC_SetPriority(TIM3_IRQn, 7);
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}
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// TODO - testing
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void stop_trainer_ppm()
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{
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configure_pins( PIN_TR_PPM_OUT, PIN_INPUT | PIN_PORTC ) ; // Pin as input
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TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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TIM3->DIER = 0 ; // Stop Interrupt
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NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
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}
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// Trainer capture, PC8, Timer 3 channel 3
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void init_trainer_capture()
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{
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
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configure_pins (PIN_TR_PPM_IN, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2) ;
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
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TIM3->ARR = 0xFFFF ;
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TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TIM3->CR2 = 0 ;
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TIM3->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0 ;
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TIM3->CCER = TIM_CCER_CC3E ;
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TIM3->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF ; // Clear flags
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TIM3->DIER |= TIM_DIER_CC3IE ;
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TIM3->CR1 = TIM_CR1_CEN ;
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NVIC_SetPriority(TIM3_IRQn, 7);
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NVIC_EnableIRQ(TIM3_IRQn) ;
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}
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void stop_trainer_capture()
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{
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TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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TIM3->DIER = 0; // Stop Interrupt
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NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
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}
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extern "C" void TIM3_IRQHandler()
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{
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uint16_t capture = 0;
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static uint16_t lastCapt ;
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uint16_t val ;
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bool doCapture = false ;
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// What mode? in or out?
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if ( (TIM3->DIER & TIM_DIER_CC3IE ) && ( TIM3->SR & TIM_SR_CC3IF ) ) {
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// capture mode on trainer jack
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capture = TIM3->CCR3 ;
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doCapture = true;
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}
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if ( (TIM3->DIER & TIM_DIER_CC2IE ) && ( TIM3->SR & TIM_SR_CC2IF ) ) {
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// capture mode on heartbeat pin (external module)
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capture = TIM3->CCR2 ;
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doCapture = true ;
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}
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if (doCapture) {
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val = (uint16_t)(capture - lastCapt) / 2 ;
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lastCapt = capture;
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// We process g_ppmInsright here to make servo movement as smooth as possible
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// while under trainee control
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if (val>4000 && val<19000) { // G: Prioritize reset pulse. (Needed when less than 16 incoming pulses)
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ppmInState = 1; // triggered
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}
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else {
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if (ppmInState>0 && ppmInState<=16) {
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if (val>800 && val<2200) {
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ppmInValid = PPM_IN_VALID_TIMEOUT;
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g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
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}
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else {
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ppmInState = 0; // not triggered
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}
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}
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}
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}
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// PPM out compare interrupt
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if ( ( TIM3->DIER & TIM_DIER_CC2IE ) && ( TIM3->SR & TIM_SR_CC2IF ) ) {
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// compare interrupt
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TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
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TIM3->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
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TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
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setupTrainerPulses() ;
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TrainerPulsePtr = ppmStream[TRAINER_MODULE];
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TIM3->DIER |= TIM_DIER_UDE ;
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TIM3->SR &= ~TIM_SR_UIF ; // Clear this flag
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TIM3->DIER |= TIM_DIER_UIE ; // Enable this interrupt
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}
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// PPM out update interrupt
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if ( (TIM3->DIER & TIM_DIER_UIE) && ( TIM3->SR & TIM_SR_UIF ) ) {
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TIM3->SR &= ~TIM_SR_UIF ; // Clear flag
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TIM3->ARR = *TrainerPulsePtr++ ;
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if ( *TrainerPulsePtr == 0 ) {
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TIM3->SR &= ~TIM_SR_CC2IF ; // Clear this flag
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TIM3->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
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}
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}
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}
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void init_cppm_on_heartbeat_capture(void)
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{
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EXTERNAL_MODULE_ON();
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
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configure_pins( 0x0080, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 ) ;
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
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TIM3->ARR = 0xFFFF ;
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TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TIM3->CR2 = 0 ;
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TIM3->CCMR1 = TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_CC2S_0 ;
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TIM3->CCER = TIM_CCER_CC2E ;
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TIM3->SR &= ~TIM_SR_CC2IF ; // Clear flag
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TIM3->DIER |= TIM_DIER_CC2IE ;
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TIM3->CR1 = TIM_CR1_CEN ;
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NVIC_SetPriority(TIM3_IRQn, 7);
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NVIC_EnableIRQ(TIM3_IRQn) ;
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}
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void stop_cppm_on_heartbeat_capture(void)
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{
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TIM3->DIER = 0 ;
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TIM3->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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NVIC_DisableIRQ(TIM3_IRQn) ; // Stop Interrupt
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if (!IS_PULSES_EXTERNAL_MODULE()) {
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EXTERNAL_MODULE_OFF();
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}
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}
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void init_sbus_on_heartbeat_capture()
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{
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EXTERNAL_MODULE_ON();
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USART_InitTypeDef USART_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_USART6);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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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_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6, ENABLE);
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USART_InitStructure.USART_BaudRate = 100000;
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USART_InitStructure.USART_WordLength = USART_WordLength_9b;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_Even;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx;
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USART_Init(USART6, &USART_InitStructure);
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USART_Cmd(USART6, ENABLE);
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USART_ITConfig(USART6, USART_IT_RXNE, ENABLE);
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NVIC_SetPriority(USART6_IRQn, 6);
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NVIC_EnableIRQ(USART6_IRQn);
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}
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void stop_sbus_on_heartbeat_capture(void)
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{
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configure_pins( 0x0080, PIN_INPUT | PIN_PORTC ) ;
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NVIC_DisableIRQ(USART6_IRQn) ;
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if (!IS_PULSES_EXTERNAL_MODULE()) {
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EXTERNAL_MODULE_OFF();
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}
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}
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extern "C" void USART6_IRQHandler()
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{
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uint32_t status;
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uint8_t data;
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status = USART6->SR;
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while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
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data = USART6->DR;
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if (!(status & USART_FLAG_ERRORS))
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sbusFifo.push(data);
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status = USART6->SR;
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}
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}
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