275 lines
9.4 KiB
C++
275 lines
9.4 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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DMAFifo<32> heartbeatFifo __DMA (HEARTBEAT_DMA_Stream);
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void trainerSendNextFrame();
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void init_trainer_ppm()
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{
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GPIO_PinAFConfig(TRAINER_GPIO, TRAINER_OUT_GPIO_PinSource, TRAINER_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = TRAINER_OUT_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(TRAINER_GPIO, &GPIO_InitStructure);
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN;
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TRAINER_TIMER->PSC = TRAINER_TIMER_FREQ / 2000000 - 1; // 0.5uS
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TRAINER_TIMER->ARR = 45000;
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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->DIER |= TIM_DIER_UDE;
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TRAINER_TIMER->CR1 |= TIM_CR1_CEN;
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setupPulsesPPMTrainer();
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trainerSendNextFrame();
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NVIC_EnableIRQ(TRAINER_DMA_IRQn);
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NVIC_SetPriority(TRAINER_DMA_IRQn, 7);
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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_ppm()
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{
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NVIC_DisableIRQ(TRAINER_DMA_IRQn);
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NVIC_DisableIRQ(TRAINER_TIMER_IRQn);
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TRAINER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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TRAINER_TIMER->DIER = 0;
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TRAINER_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop counter
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}
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void init_trainer_capture()
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{
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GPIO_PinAFConfig(TRAINER_GPIO, TRAINER_IN_GPIO_PinSource, TRAINER_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = TRAINER_IN_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_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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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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NVIC_DisableIRQ(TRAINER_TIMER_IRQn); // Stop Interrupt
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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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}
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void trainerSendNextFrame()
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{
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TRAINER_TIMER->CCR4 = GET_TRAINER_PPM_DELAY() * 2;
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TRAINER_TIMER->CCER = TIM_CCER_CC4E | (GET_TRAINER_PPM_POLARITY() ? 0 : TIM_CCER_CC4P);
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TRAINER_TIMER->CCR1 = *(trainerPulsesData.ppm.ptr - 1) - 4000; // 2mS in advance
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TRAINER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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TRAINER_DMA_STREAM->CR |= TRAINER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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TRAINER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&TRAINER_TIMER->ARR);
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TRAINER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(trainerPulsesData.ppm.pulses);
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TRAINER_DMA_STREAM->NDTR = trainerPulsesData.ppm.ptr - trainerPulsesData.ppm.pulses;
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TRAINER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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extern "C" void TRAINER_DMA_IRQHandler()
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{
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if (!DMA_GetITStatus(TRAINER_DMA_STREAM, TRAINER_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(TRAINER_DMA_STREAM, TRAINER_DMA_FLAG_TC);
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TRAINER_TIMER->SR &= ~TIM_SR_CC1IF; // Clear flag
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TRAINER_TIMER->DIER |= TIM_DIER_CC1IE; // Enable this interrupt
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}
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extern "C" void TRAINER_TIMER_IRQHandler()
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{
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DEBUG_INTERRUPT(INT_TRAINER);
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uint16_t capture = 0;
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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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if (TRAINER_CONNECTED() && currentTrainerMode == TRAINER_MODE_MASTER_TRAINER_JACK) {
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doCapture = true;
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}
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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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if (currentTrainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE) {
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doCapture = true;
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}
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}
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if (doCapture) {
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captureTrainerPulses(capture);
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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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setupPulsesPPMTrainer();
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trainerSendNextFrame();
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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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GPIO_PinAFConfig(HEARTBEAT_GPIO, HEARTBEAT_GPIO_PinSource, HEARTBEAT_GPIO_AF_CAPTURE);
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GPIO_InitTypeDef GPIO_InitStructure;
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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_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(HEARTBEAT_GPIO, &GPIO_InitStructure);
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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()
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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_EXTERNAL_MODULE_ENABLED()) {
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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_SBUS);
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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_2MHz;
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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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DMA_InitTypeDef DMA_InitStructure;
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heartbeatFifo.clear();
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USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, DISABLE);
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USART_ITConfig(HEARTBEAT_USART, USART_IT_TXE, DISABLE);
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DMA_InitStructure.DMA_Channel = HEARTBEAT_DMA_Channel;
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DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&HEARTBEAT_USART->DR);
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DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(heartbeatFifo.buffer());
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = heartbeatFifo.size();
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(HEARTBEAT_DMA_Stream, &DMA_InitStructure);
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USART_DMACmd(HEARTBEAT_USART, USART_DMAReq_Rx, ENABLE);
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USART_Cmd(HEARTBEAT_USART, ENABLE);
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DMA_Cmd(HEARTBEAT_DMA_Stream, ENABLE);
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}
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void stop_sbus_on_heartbeat_capture()
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{
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DMA_Cmd(HEARTBEAT_DMA_Stream, DISABLE);
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USART_Cmd(HEARTBEAT_USART, DISABLE);
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USART_DMACmd(HEARTBEAT_USART, USART_DMAReq_Rx, DISABLE);
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DMA_DeInit(HEARTBEAT_DMA_Stream);
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NVIC_DisableIRQ(HEARTBEAT_USART_IRQn);
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if (!IS_EXTERNAL_MODULE_ENABLED()) {
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EXTERNAL_MODULE_OFF();
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}
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}
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int sbusGetByte(uint8_t * byte)
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{
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switch (currentTrainerMode) {
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case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
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return heartbeatFifo.pop(*byte);
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#if !defined(PCBX7) && !defined(PCBX9E) && !defined(PCBX3)
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case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
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return serial2RxFifo.pop(*byte);
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#endif
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default:
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return false;
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}
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}
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