310 lines
11 KiB
C++
310 lines
11 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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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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#include "extmodule_driver.h"
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#include "timers_driver.h"
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#if defined(CROSSFIRE)
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#include "pulses/crossfire.h"
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#endif
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void extmoduleStop()
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{
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NVIC_DisableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
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NVIC_DisableIRQ(EXTMODULE_TIMER_CC_IRQn);
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EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_TIMER->DIER &= ~(TIM_DIER_CC2IE | TIM_DIER_UDE);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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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(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
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if (!IS_TRAINER_EXTERNAL_MODULE()) {
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EXTERNAL_MODULE_PWR_OFF();
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}
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}
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void extmodulePpmStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, EXTMODULE_TIMER_TX_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_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(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS from 30MHz
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EXTMODULE_TIMER->CCR1 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE)*2;
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EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | (GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE) ? EXTMODULE_TIMER_OUTPUT_POLARITY : 0); // // we are using complementary output so logic has to be reversed here
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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EXTMODULE_TIMER->ARR = 45000;
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EXTMODULE_TIMER->CCR2 = 40000; // The first frame will be sent in 20ms
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE | TIM_DIER_CC2IE;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
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}
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#if defined(PXX1)
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void extmodulePxx1PulsesStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, EXTMODULE_TIMER_TX_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_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(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->CCR3 = 0;
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EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | EXTMODULE_TIMER_OUTPUT_POLARITY; // polarity, default low
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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EXTMODULE_TIMER->CCR1 = 18;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2; // 0 TOGGLE / 2 PWM1
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EXTMODULE_TIMER->ARR = 40000;
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
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}
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#endif
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void extmoduleSerialStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, EXTMODULE_TIMER_TX_GPIO_AF);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_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(EXTMODULE_TX_GPIO, &GPIO_InitStructure);
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2 MHz)
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EXTMODULE_TIMER->CCR3 = 0;
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EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE | EXTMODULE_TIMER_OUTPUT_POLARITY;
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE; // Enable outputs
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EXTMODULE_TIMER->CCR1 = 0;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0; // Force O/P high
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0;
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EXTMODULE_TIMER->ARR = 40000; // dummy value until the DMA request kicks in
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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EXTMODULE_TIMER->DIER |= TIM_DIER_UDE;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_CC_IRQn, 7);
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}
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static void extmoduleSendNextFramePpm(const void* pulses, uint16_t length,
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uint16_t trailing_pulse)
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{
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EXTMODULE_TIMER->CCR1 = GET_MODULE_PPM_DELAY(EXTERNAL_MODULE) * 2;
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EXTMODULE_TIMER->CCER =
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EXTMODULE_TIMER_OUTPUT_ENABLE |
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(GET_MODULE_PPM_POLARITY(EXTERNAL_MODULE)
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? EXTMODULE_TIMER_OUTPUT_POLARITY
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: 0); // // we are using complementary output so logic has to be
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// reversed here
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EXTMODULE_TIMER->CCR2 = trailing_pulse - 4000; // 2mS in advance
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EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_TIMER_DMA_STREAM->CR |=
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EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC |
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DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(pulses);
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EXTMODULE_TIMER_DMA_STREAM->NDTR = length;
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EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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}
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#if defined(PXX1)
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void extmoduleSendNextFramePxx1(const void* pulses, uint16_t length)
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{
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if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) return;
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// disable timer
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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EXTMODULE_TIMER_DMA_STREAM->CR |=
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EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC |
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DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(pulses);
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EXTMODULE_TIMER_DMA_STREAM->NDTR = length;
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EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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// re-init timer
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EXTMODULE_TIMER->EGR = 1;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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}
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#endif
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#if defined(AFHDS3) && !(defined(EXTMODULE_USART) && defined(EXTMODULE_TX_INVERT_GPIO))
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void extmoduleSendNextFrameAFHDS3(const void* dataPtr, uint16_t dataSize)
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{
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if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) return;
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EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_TIMER_DMA_STREAM->CR |=
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EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC |
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DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_TIMER_DMA_STREAM->M0AR = CONVERT_PTR_UINT(dataPtr);
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EXTMODULE_TIMER_DMA_STREAM->NDTR = dataSize;
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EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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// re-init timer
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EXTMODULE_TIMER->EGR = TIM_PSCReloadMode_Immediate;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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}
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#endif
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void extmoduleSendNextFrameSoftSerial100kbit(const void* pulses, uint16_t length)
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{
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if (EXTMODULE_TIMER_DMA_STREAM->CR & DMA_SxCR_EN) return;
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// disable timer
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
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if (PROTOCOL_CHANNELS_SBUS == moduleState[EXTERNAL_MODULE].protocol) {
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EXTMODULE_TIMER->CCER = EXTMODULE_TIMER_OUTPUT_ENABLE |
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(GET_SBUS_POLARITY(EXTERNAL_MODULE)
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? EXTMODULE_TIMER_OUTPUT_POLARITY
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: 0); // reverse polarity for Sbus if needed
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}
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// send DMA request
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EXTMODULE_TIMER_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
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EXTMODULE_TIMER_DMA_STREAM->CR |=
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EXTMODULE_TIMER_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC |
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DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
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EXTMODULE_TIMER_DMA_STREAM->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->ARR);
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EXTMODULE_TIMER_DMA_STREAM->M0AR =
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CONVERT_PTR_UINT(extmodulePulsesData.dsm2.pulses);
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EXTMODULE_TIMER_DMA_STREAM->NDTR =
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extmodulePulsesData.dsm2.ptr - extmodulePulsesData.dsm2.pulses;
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EXTMODULE_TIMER_DMA_STREAM->CR |= DMA_SxCR_EN | DMA_SxCR_TCIE; // Enable DMA
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// re-init timer
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EXTMODULE_TIMER->EGR = 1;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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}
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void extmoduleSendInvertedByte(uint8_t byte)
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{
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uint16_t time;
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uint32_t i;
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__disable_irq();
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time = getTmr2MHz();
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GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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while ((uint16_t) (getTmr2MHz() - time) < 34) {
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// wait
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}
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time += 34;
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for (i = 0 ; i < 8 ; i += 1) {
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if (byte & 1) {
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GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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}
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else {
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GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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}
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byte >>= 1 ;
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while ((uint16_t) (getTmr2MHz() - time) < 35) {
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// wait
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}
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time += 35 ;
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}
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GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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__enable_irq() ; // No need to wait for the stop bit to complete
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while ((uint16_t) (getTmr2MHz() - time) < 34) {
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// wait
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}
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}
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extern "C" void EXTMODULE_TIMER_DMA_STREAM_IRQHandler()
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{
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if (!DMA_GetITStatus(EXTMODULE_TIMER_DMA_STREAM, EXTMODULE_TIMER_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(EXTMODULE_TIMER_DMA_STREAM, EXTMODULE_TIMER_DMA_FLAG_TC);
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switch (moduleState[EXTERNAL_MODULE].protocol) {
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case PROTOCOL_CHANNELS_PPM:
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF; // Clear flag
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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break;
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}
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}
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extern "C" void EXTMODULE_TIMER_CC_IRQHandler()
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{
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EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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setupPulsesPPMExternalModule();
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extmoduleSendNextFramePpm(
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extmodulePulsesData.ppm.pulses,
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extmodulePulsesData.ppm.ptr - extmodulePulsesData.ppm.pulses,
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*(extmodulePulsesData.ppm.ptr - 1));
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}
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