edgetx-gx12/radio/src/targets/horus/trainer_driver.cpp

/*
 * 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"

#define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)

void init_trainer_ppm()
{
  trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;

  configure_pins(TRAINER_GPIO_PIN_OUT, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2 | PIN_OS25);

  TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;

  // setupTrainerPulses() is also configuring registers,
  // so it has to be called after the peripheral is enabled
  setupTrainerPulses();

  TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++;
  TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
  TRAINER_TIMER->CCMR1 = TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
  TRAINER_TIMER->BDTR = TIM_BDTR_MOE;
  TRAINER_TIMER->EGR = 1;

  TRAINER_TIMER->SR &= ~TIM_SR_UIF;                               // Clear flag
  TRAINER_TIMER->SR &= ~TIM_SR_CC1IF;                             // Clear flag
  TRAINER_TIMER->DIER |= TIM_DIER_CC1IE;
  TRAINER_TIMER->DIER |= TIM_DIER_UIE;

  TRAINER_TIMER->CR1 = TIM_CR1_CEN;
  NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
  NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
}

void stop_trainer_ppm()
{
  configure_pins(TRAINER_GPIO_PIN_OUT, PIN_INPUT | PIN_PORTC); // Pin as input
  TRAINER_TIMER->DIER = 0;                                     // Stop Interrupt
  TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;                          // Stop counter
  NVIC_DisableIRQ(TRAINER_TIMER_IRQn);                         // Stop Interrupt
}

void set_trainer_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive)
{
  TRAINER_TIMER->CCR1 = idleTime;
  TRAINER_TIMER->CCR2 = delay;
  TRAINER_TIMER->CCER = TIM_CCER_CC2E | (positive ? TIM_CCER_CC2P : 0);
}

void init_trainer_capture()
{
  GPIO_InitTypeDef GPIO_InitStructure;

  GPIO_InitStructure.GPIO_Pin = TRAINER_GPIO_PIN_IN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_Init(TRAINER_GPIO, &GPIO_InitStructure);
  GPIO_PinAFConfig(TRAINER_GPIO, TRAINER_GPIO_PinSource_IN, TRAINER_GPIO_AF);

  TRAINER_TIMER->ARR = 0xFFFF;
  TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
  TRAINER_TIMER->CR2 = 0;
  TRAINER_TIMER->CCMR1 = TIM_CCMR1_IC1F_0 | TIM_CCMR1_IC1F_1 | TIM_CCMR1_CC1S_0;
  TRAINER_TIMER->CCER = TIM_CCER_CC1E;
  TRAINER_TIMER->SR &= ~TIM_SR_CC1IF & ~TIM_SR_CC2IF & ~TIM_SR_UIF; // Clear flags
  TRAINER_TIMER->DIER |= TIM_DIER_CC1IE;
  TRAINER_TIMER->CR1 = TIM_CR1_CEN;
  NVIC_EnableIRQ(TRAINER_TIMER_IRQn);
  NVIC_SetPriority(TRAINER_TIMER_IRQn, 7);
}

void stop_trainer_capture()
{
  TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
  TRAINER_TIMER->DIER = 0; // Stop Interrupt
  NVIC_DisableIRQ(TRAINER_TIMER_IRQn); // Stop Interrupt
}

#if !defined(SIMU)
extern "C" void TRAINER_TIMER_IRQHandler()
{
  DEBUG_INTERRUPT(INT_TRAINER);

  uint16_t capture = 0;
  bool doCapture = false;

  // What mode? in or out?
  if ((TRAINER_TIMER->DIER & TIM_DIER_CC1IE) && (TRAINER_TIMER->SR & TIM_SR_CC1IF)) {
    // capture mode on trainer jack
    capture = TRAINER_TIMER->CCR1;
    if (TRAINER_CONNECTED() && currentTrainerMode == TRAINER_MODE_MASTER_TRAINER_JACK) {
      doCapture = true;
    }
  }

  if (doCapture) {
    captureTrainerPulses(capture);
  }

  // PPM out compare interrupt
  if ((TRAINER_TIMER->DIER & TIM_DIER_CC1IE) && (TRAINER_TIMER->SR & TIM_SR_CC1IF)) {
    // compare interrupt
    TRAINER_TIMER->DIER &= ~TIM_DIER_CC1IE; // stop this interrupt
    TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag

    setupTrainerPulses();

    trainerPulsesData.ppm.ptr = trainerPulsesData.ppm.pulses;
    TRAINER_TIMER->DIER |= TIM_DIER_UDE;
    TRAINER_TIMER->SR &= ~TIM_SR_UIF; // Clear this flag
    TRAINER_TIMER->DIER |= TIM_DIER_UIE; // Enable this interrupt
  }

  // PPM out update interrupt
  if ((TRAINER_TIMER->DIER & TIM_DIER_UIE) && (TRAINER_TIMER->SR & TIM_SR_UIF)) {
    TRAINER_TIMER->SR &= ~TIM_SR_UIF; // Clear flag
    TRAINER_TIMER->ARR = *trainerPulsesData.ppm.ptr++;
    if (*trainerPulsesData.ppm.ptr == 0) {
      TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear this flag
      TRAINER_TIMER->DIER |= TIM_DIER_CC1IE; // Enable this interrupt
    }
  }
}

extern "C" void HEARTBEAT_TIMER_IRQHandler()
{
  uint16_t capture = 0;
  bool doCapture = false;

  if ((HEARTBEAT_TIMER->DIER & TIM_DIER_CC2IE ) && (HEARTBEAT_TIMER->SR & TIM_SR_CC2IF)) {
    // capture mode on heartbeat pin (external module)
    capture = HEARTBEAT_TIMER->CCR2;
    if (currentTrainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE) {
      doCapture = true;
    }
  }

  if (doCapture) {
    captureTrainerPulses(capture);
  }
}
#endif

void init_cppm_on_heartbeat_capture(void)
{
  EXTERNAL_MODULE_ON();

  configure_pins(HEARTBEAT_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTD | PIN_PER_2);

  HEARTBEAT_TIMER->ARR = 0xFFFF;
  HEARTBEAT_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1; // 0.5uS
  HEARTBEAT_TIMER->CR2 = 0;
  HEARTBEAT_TIMER->CCMR1 = TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_CC2S_0;
  HEARTBEAT_TIMER->CCER = TIM_CCER_CC2E;
  HEARTBEAT_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
  HEARTBEAT_TIMER->DIER |= TIM_DIER_CC2IE;
  HEARTBEAT_TIMER->CR1 = TIM_CR1_CEN;
  NVIC_SetPriority(HEARTBEAT_TIMER_IRQn, 7);
  NVIC_EnableIRQ(HEARTBEAT_TIMER_IRQn);
}

void stop_cppm_on_heartbeat_capture(void)
{
  HEARTBEAT_TIMER->DIER = 0;
  HEARTBEAT_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
  NVIC_DisableIRQ(HEARTBEAT_TIMER_IRQn); // Stop Interrupt

  if (!IS_EXTERNAL_MODULE_PRESENT()) {
    EXTERNAL_MODULE_OFF();
  }
}