void PWM_IRQ_HANDLER(void) {
uint16_t pwmValue;
uint16_t periodValue;
uint8_t edge;
edge = !(PWM_TIM->SR & TIM_IT_CC2);
periodValue = PWM_TIM->CCR1;
pwmValue = PWM_TIM->CCR2;
// is this an OW reset pulse?
if (state == ESC_STATE_DISARMED && edge == 1 && (periodValue - pwmValue) > OW_RESET_MIN && (periodValue - pwmValue) < OW_RESET_MAX) {
owReset();
}
// look for good RC PWM input
else if (inputMode == ESC_INPUT_PWM && periodValue >= pwmMinPeriod && periodValue <= pwmMaxPeriod && pwmValue >= pwmMinValue && pwmValue <= pwmMaxValue) {
if (edge == 0) {
pwmValidMicros = timerMicros;
runNewInput(pwmValue);
}
}
// otherwise if already in OW mode, pass control to OW
else if (inputMode == ESC_INPUT_OW) {
owEdgeDetect(edge);
}
}
//timer1 TIM1_CC_IRQHandler中断
void PWM_IRQ_HANDLER(void) {
uint16_t pwmValue;
uint16_t periodValue;
uint8_t edge;
edge = !(PWM_TIM->SR & TIM_IT_CC2);
periodValue = PWM_TIM->CCR1; //IO 输入PA8 周期
pwmValue = PWM_TIM->CCR2; //IO 输入(但是没有看到配置了使用哪个IO做为输入了) 脉宽长度
// is this an OW reset pulse?
if (state == ESC_STATE_DISARMED &&
edge == 1 &&
(periodValue - pwmValue) > OW_RESET_MIN &&
(periodValue - pwmValue) < OW_RESET_MAX)
{
owReset();//ow的初始化,在调用owEdgeDetect前一定要先调用
}
// look for good RC PWM input
else if (inputMode == ESC_INPUT_PWM && //PWM输入模式
periodValue >= pwmMinPeriod && periodValue <= pwmMaxPeriod && //pa8输入的周期范围
pwmValue >= pwmMinValue && pwmValue <= pwmMaxValue //脉宽长度
)
{
if (edge == 0) {
pwmValidMicros = timerMicros;
runNewInput(pwmValue); //PWM正确.输入
}
}
// otherwise if already in OW mode, pass control to OW
else if (inputMode == ESC_INPUT_OW) {
//是1wire通讯协议
owEdgeDetect(edge);
}
}
