// Trainer PPM oputput PC9, Timer 3 channel 4, (Alternate Function 2)
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) ;
configure_pins( TRAINER_GPIO_PIN_IN, PIN_PORTA | PIN_INPUT ) ;
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->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // 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);
}
extern "C" void TIM3_IRQHandler()
{
uint16_t capture = 0;
bool doCapture = false ;
// What mode? in or out?
if ( (TRAINER_TIMER->DIER & TIM_DIER_CC3IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC3IF ) ) {
// capture mode on trainer jack
capture = TRAINER_TIMER->CCR3 ;
if (TRAINER_CONNECTED() && currentTrainerMode == TRAINER_MODE_MASTER_TRAINER_JACK)
doCapture = true;
}
if ( ( TRAINER_TIMER->DIER & TIM_DIER_CC2IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC2IF ) ) {
// capture mode on heartbeat pin (external module)
capture = TRAINER_TIMER->CCR2 ;
if (currentTrainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE)
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 TIM3_IRQHandler()
{
uint16_t capture = 0;
static uint16_t lastCapt ;
uint16_t val ;
bool doCapture = false ;
// What mode? in or out?
if ( (TRAINER_TIMER->DIER & TIM_DIER_CC3IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC3IF ) ) {
// capture mode on trainer jack
capture = TRAINER_TIMER->CCR3 ;
doCapture = true;
}
if ( ( TRAINER_TIMER->DIER & TIM_DIER_CC2IE ) && ( TRAINER_TIMER->SR & TIM_SR_CC2IF ) ) {
// capture mode on heartbeat pin (external module)
capture = TRAINER_TIMER->CCR2 ;
doCapture = true ;
}
if (doCapture) {
val = (uint16_t)(capture - lastCapt) / 2 ;
lastCapt = capture;
// We process g_ppmInsright here to make servo movement as smooth as possible
// while under trainee control
if (val>4000 && val<19000) { // G: Prioritize reset pulse. (Needed when less than 16 incoming pulses)
ppmInState = 1; // triggered
}
else {
if (ppmInState>0 && ppmInState<=16) {
if (val>800 && val<2200) {
ppmInValid = PPM_IN_VALID_TIMEOUT;
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
}
// 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
}
}
}
