277 lines
9.5 KiB
C++
277 lines
9.5 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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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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trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;
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configure_pins( TRAINER_GPIO_PIN_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 | PIN_OS25) ;
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configure_pins( TRAINER_GPIO_PIN_IN, PIN_PORTA | PIN_INPUT ) ;
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ;
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// setupTrainerPulses() is also configuring registers,
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// so it has to be called after the peripheral is enabled
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setupTrainerPulses() ;
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TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++ ;
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TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TRAINER_TIMER->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
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TRAINER_TIMER->BDTR = TIM_BDTR_MOE ;
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TRAINER_TIMER->EGR = 1 ;
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TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
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TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear flag
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TRAINER_TIMER->DIER |= TIM_DIER_CC1IE ;
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TRAINER_TIMER->DIER |= TIM_DIER_UIE ;
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TRAINER_TIMER->CR1 = TIM_CR1_CEN ;
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NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ;
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NVIC_SetPriority(TRAINER_TIMER_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( TRAINER_GPIO_PIN_OUT, PIN_INPUT | PIN_PORTC ) ; // Pin as input
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TRAINER_TIMER->DIER = 0 ; // Stop Interrupt
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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NVIC_DisableIRQ(TRAINER_TIMER_IRQn) ; // Stop Interrupt
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}
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void set_trainer_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive)
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{
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TRAINER_TIMER->CCR1 = idleTime;
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TRAINER_TIMER->CCR4 = delay;
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TRAINER_TIMER->CCER = TIM_CCER_CC4E | (positive ? TIM_CCER_CC4P : 0);
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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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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = TRAINER_GPIO_PIN_IN;
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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_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(TRAINER_GPIO, &GPIO_InitStructure);
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GPIO_PinAFConfig(TRAINER_GPIO, TRAINER_GPIO_PinSource_IN, TRAINER_GPIO_AF);
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TRAINER_TIMER->ARR = 0xFFFF ;
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TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TRAINER_TIMER->CR2 = 0 ;
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TRAINER_TIMER->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0 ;
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TRAINER_TIMER->CCER = TIM_CCER_CC3E ;
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TRAINER_TIMER->SR &= ~TIM_SR_CC3IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF ; // Clear flags
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TRAINER_TIMER->DIER |= TIM_DIER_CC3IE ;
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TRAINER_TIMER->CR1 = TIM_CR1_CEN ;
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NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ;
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NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
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}
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void stop_trainer_capture()
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{
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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TRAINER_TIMER->DIER = 0; // Stop Interrupt
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NVIC_DisableIRQ(TRAINER_TIMER_IRQn) ; // Stop Interrupt
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}
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#if !defined(SIMU)
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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 ( (TRAINER_TIMER->DIER & TIM_DIER_CC3IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC3IF ) ) {
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// capture mode on trainer jack
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capture = TRAINER_TIMER->CCR3 ;
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doCapture = true;
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}
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if ( ( TRAINER_TIMER->DIER & TIM_DIER_CC2IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC2IF ) ) {
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// capture mode on heartbeat pin (external module)
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capture = TRAINER_TIMER->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 ( ( TRAINER_TIMER->DIER & TIM_DIER_CC1IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC1IF ) ) {
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// compare interrupt
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TRAINER_TIMER->DIER &= ~TIM_DIER_CC1IE ; // stop this interrupt
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TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear flag
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setupTrainerPulses() ;
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trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;
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TRAINER_TIMER->DIER |= TIM_DIER_UDE ;
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TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear this flag
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TRAINER_TIMER->DIER |= TIM_DIER_UIE ; // Enable this interrupt
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}
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// PPM out update interrupt
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if ( (TRAINER_TIMER->DIER & TIM_DIER_UIE) && ( TRAINER_TIMER->SR & TIM_SR_UIF ) ) {
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TRAINER_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag
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TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++ ;
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if ( *trainerPulsesData.ppm.ptr == 0 ) {
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TRAINER_TIMER->SR &= ~TIM_SR_CC1IF ; // Clear this flag
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TRAINER_TIMER->DIER |= TIM_DIER_CC1IE ; // Enable this interrupt
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}
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}
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}
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#endif
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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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configure_pins(HEARTBEAT_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2);
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TRAINER_TIMER->ARR = 0xFFFF ;
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TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
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TRAINER_TIMER->CR2 = 0 ;
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TRAINER_TIMER->CCMR1 = TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_CC2S_0 ;
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TRAINER_TIMER->CCER = TIM_CCER_CC2E ;
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TRAINER_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag
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TRAINER_TIMER->DIER |= TIM_DIER_CC2IE ;
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TRAINER_TIMER->CR1 = TIM_CR1_CEN ;
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NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
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NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ;
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}
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void stop_cppm_on_heartbeat_capture(void)
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{
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TRAINER_TIMER->DIER = 0 ;
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN ; // Stop counter
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NVIC_DisableIRQ(TRAINER_TIMER_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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GPIO_PinAFConfig(GPIOC, HEARTBEAT_GPIO_PinSource, HEARTBEAT_GPIO_AF);
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GPIO_InitStructure.GPIO_Pin = HEARTBEAT_GPIO_PIN;
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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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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(HEARTBEAT_USART, &USART_InitStructure);
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USART_Cmd(HEARTBEAT_USART, ENABLE);
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USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, ENABLE);
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NVIC_SetPriority(HEARTBEAT_USART_IRQn, 6);
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NVIC_EnableIRQ(HEARTBEAT_USART_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(HEARTBEAT_GPIO_PIN, PIN_INPUT | PIN_PORTC);
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NVIC_DisableIRQ(HEARTBEAT_USART_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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#if !defined(SIMU) && !defined(REV9E)
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extern "C" void HEARTBEAT_USART_IRQHandler()
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{
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uint32_t status;
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uint8_t data;
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status = HEARTBEAT_USART->SR;
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while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
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data = HEARTBEAT_USART->DR;
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if (!(status & USART_FLAG_ERRORS))
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sbusFifo.push(data);
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status = HEARTBEAT_USART->SR;
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}
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}
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#endif
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