void init_sbus_on_heartbeat_capture() { EXTERNAL_MODULE_ON(); USART_InitTypeDef USART_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; GPIO_PinAFConfig(GPIOC, HEARTBEAT_GPIO_PinSource, HEARTBEAT_GPIO_AF); GPIO_InitStructure.GPIO_Pin = HEARTBEAT_GPIO_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); USART_InitStructure.USART_BaudRate = 100000; USART_InitStructure.USART_WordLength = USART_WordLength_9b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_Even; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx; USART_Init(HEARTBEAT_USART, &USART_InitStructure); USART_Cmd(HEARTBEAT_USART, ENABLE); USART_ITConfig(HEARTBEAT_USART, USART_IT_RXNE, ENABLE); NVIC_SetPriority(HEARTBEAT_USART_IRQn, 6); NVIC_EnableIRQ(HEARTBEAT_USART_IRQn); }
// PPM output // Timer 1, channel 1 on PA8 for prototype // Pin is AF1 function for timer 1 static void extmodulePpmStart() { EXTERNAL_MODULE_ON(); // Timer1 configure_pins(EXTMODULE_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTA | PIN_PER_3 | PIN_OS25); EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ; // setupPulsesPPM() is also configuring registers, // so it has to be called after the peripheral is enabled setupPulsesPPM(EXTERNAL_MODULE) ; EXTMODULE_TIMER->ARR = *modulePulsesData[EXTERNAL_MODULE].ppm.ptr++ ; EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE ; // PWM mode 1 EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE ; EXTMODULE_TIMER->EGR = 1 ; EXTMODULE_TIMER->DIER = TIM_DIER_UDE ; EXTMODULE_TIMER->SR &= ~TIM_SR_UIF ; // Clear flag EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; EXTMODULE_TIMER->DIER |= TIM_DIER_UIE ; EXTMODULE_TIMER->CR1 = TIM_CR1_CEN ; NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn) ; NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7); NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn) ; NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 7); }
void extmodulePxxStart() { EXTERNAL_MODULE_ON(); // Timer8 setupPulsesPXX(EXTERNAL_MODULE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_PinAFConfig(EXTMODULE_GPIO, EXTMODULE_GPIO_PinSource, EXTMODULE_GPIO_AF); GPIO_InitStructure.GPIO_Pin = EXTMODULE_GPIO_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(EXTMODULE_GPIO, &GPIO_InitStructure); EXTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN ; EXTMODULE_TIMER->ARR = 18000 ; // 9mS EXTMODULE_TIMER->CCR2 = 15000 ; // Update time EXTMODULE_TIMER->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz EXTMODULE_TIMER->CCER = TIM_CCER_CC1NE ; EXTMODULE_TIMER->CR2 = TIM_CR2_OIS1 ; // O/P idle high EXTMODULE_TIMER->BDTR = TIM_BDTR_MOE ; // Enable outputs EXTMODULE_TIMER->CCR1 = modulePulsesData[EXTERNAL_MODULE].pxx.pulses[0]; EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0 ; // Force O/P high EXTMODULE_TIMER->EGR = 1 ; // Restart EXTMODULE_TIMER->DIER |= TIM_DIER_CC1DE ; // Enable DMA on CC1 match EXTMODULE_TIMER->DCR = 13 ; // DMA to CC1 // Enable the DMA channel here, DMA2 stream 2, channel 7 DMA2_Stream2->CR &= ~DMA_SxCR_EN ; // Disable DMA DMA2->LIFCR = DMA_LIFCR_CTCIF2 | DMA_LIFCR_CHTIF2 | DMA_LIFCR_CTEIF2 | DMA_LIFCR_CDMEIF2 | DMA_LIFCR_CFEIF2 ; // Write ones to clear bits DMA2_Stream2->CR = DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_2 | DMA_SxCR_PL_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PSIZE_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_PFCTRL ; DMA2_Stream2->PAR = CONVERT_PTR_UINT(&EXTMODULE_TIMER->DMAR); DMA2_Stream2->M0AR = CONVERT_PTR_UINT(&modulePulsesData[EXTERNAL_MODULE].pxx.pulses[1]); // DMA2_Stream2->FCR = 0x05 ; //DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0 ; // DMA2_Stream2->NDTR = 100 ; DMA2_Stream2->CR |= DMA_SxCR_EN ; // Enable DMA EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0 ; // Toggle CC1 o/p EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag EXTMODULE_TIMER->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN ; NVIC_EnableIRQ(EXTMODULE_TIMER_IRQn) ; NVIC_SetPriority(EXTMODULE_TIMER_IRQn, 7); }
void init_cppm_on_heartbeat_capture(void) { EXTERNAL_MODULE_ON(); configure_pins(HEARTBEAT_GPIO_PIN, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_2); TRAINER_TIMER->ARR = 0xFFFF ; TRAINER_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS TRAINER_TIMER->CR2 = 0 ; TRAINER_TIMER->CCMR1 = TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_CC2S_0 ; TRAINER_TIMER->CCER = TIM_CCER_CC2E ; TRAINER_TIMER->SR &= ~TIM_SR_CC2IF ; // Clear flag TRAINER_TIMER->DIER |= TIM_DIER_CC2IE ; TRAINER_TIMER->CR1 = TIM_CR1_CEN ; NVIC_SetPriority(TRAINER_TIMER_IRQn, 7); NVIC_EnableIRQ(TRAINER_TIMER_IRQn) ; }