282 lines
9.4 KiB
C++
282 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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//fix it
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#if defined(EXTMODULE_USART)
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ModuleFifo extmoduleFifo;
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#endif
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bool stopOnTxDone = false;
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void extmoduleSendNextFrame();
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void EXTERNAL_MODULE_ON()
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{
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GPIO_SetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN);
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GPIO_ResetBits(EXTMODULE_PWR_FIX_GPIO, EXTMODULE_PWR_FIX_GPIO_PIN);
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}
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void EXTERNAL_MODULE_OFF()
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{
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GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN);
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GPIO_SetBits(EXTMODULE_PWR_FIX_GPIO, EXTMODULE_PWR_FIX_GPIO_PIN);
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}
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void extModuleInit()
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PWR_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_UP;
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GPIO_ResetBits(EXTMODULE_PWR_GPIO, EXTMODULE_PWR_GPIO_PIN);
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GPIO_Init(EXTMODULE_PWR_GPIO, &GPIO_InitStructure);
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//for additional transistor to ensuring module is completely disabled
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GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
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//pin must be pulled to V+ (voltage of board - VCC is not enough to fully close transistor)
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_PWR_FIX_GPIO_PIN;
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GPIO_SetBits(EXTMODULE_PWR_FIX_GPIO, EXTMODULE_PWR_FIX_GPIO_PIN);
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GPIO_Init(EXTMODULE_PWR_FIX_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = EXTMODULE_TX_INVERT_GPIO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_Init(EXTMODULE_TX_INVERT_GPIO, &GPIO_InitStructure);
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GPIO_SetBits(EXTMODULE_TX_INVERT_GPIO, EXTMODULE_TX_INVERT_GPIO_PIN);
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}
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void extmoduleStop()
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{
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EXTERNAL_MODULE_OFF();
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NVIC_DisableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_DisableIRQ(EXTMODULE_TIMER_IRQn);
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EXTMODULE_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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}
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void extmoduleNoneStart()
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{
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EXTERNAL_MODULE_OFF();
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GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
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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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GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); // Set high
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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->ARR = 36000; // 18mS
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EXTMODULE_TIMER->CCR2 = 32000; // Update time
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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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_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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// PPM generation principle:
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//
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// Hardware timer in PWM mode is used for PPM generation
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// Output is OFF if CNT<CCR1(delay) and ON if bigger
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// CCR1 register defines duration of pulse length and is constant
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// AAR register defines duration of each pulse, it is
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// updated after every pulse in Update interrupt handler.
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// CCR2 register defines duration of no pulses (time between two pulse trains)
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// it is calculated every round to have PPM period constant.
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// CC2 interrupt is then used to setup new PPM values for the
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// next PPM pulses train.
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EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop timer
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EXTMODULE_TIMER->PSC = EXTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
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EXTMODULE_TIMER->ARR = 45000;
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2; // PWM mode 1
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EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE;
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EXTMODULE_TIMER->EGR = 1; // Reloads register values now
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EXTMODULE_TIMER->DIER = TIM_DIER_UDE; // Update DMA request
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EXTMODULE_TIMER->CR1 = TIM_CR1_CEN; // Start timer
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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void extmoduleSerialStart(uint32_t baudrate, uint32_t period_half_us, bool inverted)
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{
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}
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void extmodulePxxStart()
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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_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->ARR = 18000;
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC1NE;
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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->DIER |= TIM_DIER_UDE; // Enable DMA on update
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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#if defined(DSM2)
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void extmoduleDsm2Start()
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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_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->ARR = 44000; // 22mS
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EXTMODULE_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P;
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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->DIER |= TIM_DIER_UDE; // Enable DMA on update
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EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0;
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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extmoduleSendNextFrame();
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NVIC_EnableIRQ(EXTMODULE_DMA_IRQn);
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NVIC_SetPriority(EXTMODULE_DMA_IRQn, 7);
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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#endif
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void extmoduleCrossfireStart()
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{
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EXTERNAL_MODULE_ON();
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GPIO_PinAFConfig(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PinSource, 0);
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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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GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); // Set high
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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->ARR = (2000 * CROSSFIRE_PERIOD);
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EXTMODULE_TIMER->CCR2 = (2000 * CROSSFIRE_PERIOD) - 1000;
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EXTMODULE_TIMER->EGR = 1; // Restart
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EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
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EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE; // Enable this interrupt
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EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
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NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn);
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NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7);
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}
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void extmoduleSendNextFrame()
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{
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// TODO
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}
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extern "C" void EXTMODULE_DMA_IRQHandler()
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{
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if (!DMA_GetITStatus(EXTMODULE_DMA_STREAM, EXTMODULE_DMA_FLAG_TC))
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return;
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DMA_ClearITPendingBit(EXTMODULE_DMA_STREAM, EXTMODULE_DMA_FLAG_TC);
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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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}
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extern "C" void EXTMODULE_TIMER_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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setupPulsesExternalModule();
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extmoduleSendNextFrame();
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}
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