void APM2RCInput::init(void* _isrregistry) {
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
isrregistry->register_signal(ISR_REGISTRY_TIMER5_CAPT, _timer5_capt_cb);
/* initialize overrides */
clear_overrides();
/* Arduino pin 48 is ICP5 / PL1, timer 5 input capture */
hal.gpio->pinMode(48, GPIO_INPUT);
/**
* WGM: 1 1 1 1. Fast WPM, TOP is in OCR5A
* COM all disabled
* CS51: prescale by 8 => 0.5us tick
* ICES5: input capture on rising edge
* OCR5A: 40000, 0.5us tick => 2ms period / 50hz freq for outbound
* fast PWM.
*/
TCCR5A = _BV(WGM50) | _BV(WGM51);
TCCR5B = _BV(WGM53) | _BV(WGM52) | _BV(CS51) | _BV(ICES5);
OCR5A = 40000 - 1; // -1 to correct for wrap
/* OCR5B and OCR5C will be used by RCOutput_APM2. init to nil output */
OCR5B = 0xFFFF;
OCR5C = 0xFFFF;
/* Enable input capture interrupt */
TIMSK5 |= _BV(ICIE5);
/* Enable overflow interrupt */
TIMSK5 |= _BV(TOIE5);
}
void APM1RCInput::init(void* _isrregistry) {
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
isrregistry->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb);
/* initialize overrides */
clear_overrides();
/* Arduino pin 49 is ICP4 / PL0, timer 4 input capture */
hal.gpio->pinMode(49, GPIO_INPUT);
/**
* WGM: 1 1 1 1. Fast WPM, TOP is in OCR4A
* COM all disabled
* CS41: prescale by 8 => 0.5us tick
* ICES4: input capture on rising edge
* OCR4A: 40000, 0.5us tick => 2ms period / 50hz freq for outbound
* fast PWM.
*/
TCCR4A = _BV(WGM40) | _BV(WGM41);
TCCR4B = _BV(WGM43) | _BV(WGM42) | _BV(CS41) | _BV(ICES4);
OCR4A = 40000;
/* OCR4B and OCR4C will be used by RCOutput_APM1. init to nil output */
OCR4B = 0xFFFF;
OCR4C = 0xFFFF;
/* Enable input capture interrupt */
TIMSK4 |= _BV(ICIE4);
}
void MPNGRCInput::init(void* _isrregistry) {
/* initialize overrides */
clear_overrides();
DDRK = 0; // Set PORTK as a digital port ([A8-A15] are consired as digital PINs and not analogical)
// hal.gpio->pinMode(46, GPIO_OUTPUT); // ICP5 pin (PL1) (PPM input) CRIUS v2
// hal.gpio->write(46,0);
//Timer5 already configured in Scheduler
//TCCR5A = 0; //standard mode with overflow at A and OC B and C interrupts
//TCCR5B = (1<<CS11); //Prescaler set to 8, resolution of 0.5us
#if SERIAL_PPM == SERIAL_PPM_DISABLED
FireISRRoutine = _pwm_A8_A15_isr;
PORTK = (1<<0) | (1<<1) | (1<<2) | (1<<3) | (1<<4) | (1<<5) | (1<<6) | (1<<7); //enable internal pull ups on the PINs of PORTK
PCMSK2 = (1<<0) | (1<<1) | (1<<2) | (1<<3) | (1<<4) | (1<<5) | (1<<6) | (1<<7); // enable interrupts on A8-A15 pins;
PCICR |= (1 << PCIE2); // PCINT2 Interrupt enable
#elif SERIAL_PPM == SERIAL_PPM_ENABLED
FireISRRoutine = _ppmsum_A8_isr;
PORTK = (1<<PCINT16); //enable internal pull up on the SERIAL SUM pin A8
PCMSK2 |= (1 << PCINT16); // Enable int for pin A8(PCINT16)
PCICR |= (1 << PCIE2); // PCINT2 Interrupt enable
#elif SERIAL_PPM == SERIAL_PPM_ENABLED_PL1
FireISRRoutine = 0;
hal.gpio->pinMode(48, GPIO_INPUT); // ICP5 pin (PL1) (PPM input) CRIUS v2
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
isrregistry->register_signal(ISR_REGISTRY_TIMER5_CAPT, _ppmsum_PL1_isr);
TCCR5B |= (1<<ICES5); // Enable input capture on rising edge
TIMSK5 |= (1<<ICIE5); // Enable input capture interrupt. Timer interrupt mask
PCMSK2 = 0; // Disable INT for pin A8-A15
#else
#error You must check SERIAL_PPM mode, something wrong
#endif
}
void AVRScheduler::init(void* _isrregistry) {
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
/* _timer: sets up timer hardware to Arduino defaults, and
* uses TIMER0 to implement millis & micros */
_timer.init();
/* TIMER2: Setup the overflow interrupt to occur at 1khz. */
TIMSK2 = 0; /* Disable timer interrupt */
TCCR2A = 0; /* Normal counting mode */
TCCR2B = _BV(CS21) | _BV(CS22); /* Prescaler to clk/256 */
TCNT2 = 0; /* Set count to 0 */
TIFR2 = _BV(TOV2); /* Clear pending interrupts */
TIMSK2 = _BV(TOIE2); /* Enable overflow interrupt*/
/* Register _timer_isr_event to trigger on overflow */
isrregistry->register_signal(ISR_REGISTRY_TIMER2_OVF, _timer_isr_event);
}
void AVRScheduler::init(void* _isrregistry) {
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
/* _timer: sets up timer hardware to implement millis & micros. */
_timer.init();
/* TIMER2: Setup the overflow interrupt to occur at 1khz. */
TIMSK2 = 0; /* Disable timer interrupt */
TCCR2A = 0; /* Normal counting mode */
TCCR2B = _BV(CS21) | _BV(CS22); /* Prescaler to clk/256 */
TCNT2 = 0; /* Set count to 0 */
TIFR2 = _BV(TOV2); /* Clear pending interrupts */
TIMSK2 = _BV(TOIE2); /* Enable overflow interrupt*/
/* Register _timer_isr_event to trigger on overflow */
isrregistry->register_signal(ISR_REGISTRY_TIMER2_OVF, _timer_isr_event);
/* Turn on global interrupt flag, AVR interupt system will start from this point */
sei();
memcheck_init();
}
void APM1RCInput::init(void* _isrregistry) {
ISRRegistry* isrregistry = (ISRRegistry*) _isrregistry;
isrregistry->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb);
/* initialize overrides */
clear_overrides();
/* Arduino pin 49 is ICP4 / PL0, timer 4 input capture */
hal.gpio->pinMode(49, HAL_GPIO_INPUT);
/**
* WGM: 1 1 1 1. Fast WPM, TOP is in OCR4A
* COM all disabled
* CS41: prescale by 8 => 0.5us tick
* ICES4: input capture on rising edge
* OCR4A: 40000, 0.5us tick => 2ms period / 50hz freq for outbound
* fast PWM.
*/
uint8_t oldSREG = SREG;
cli();
/* Timer cleanup before configuring */
TCNT4 = 0;
TIFR4 = 0;
/* Set timer 8x prescaler fast PWM mode toggle compare at OCRA with rising edge input capture */
TCCR4A = _BV(WGM40) | _BV(WGM41);
TCCR4B |= _BV(WGM43) | _BV(WGM42) | _BV(CS41) | _BV(ICES4);
OCR4A = 40000 - 1; // -1 to correct for wrap
/* OCR4B and OCR4C will be used by RCOutput_APM1. Init to 0xFFFF to prevent premature PWM output */
OCR4B = 0xFFFF;
OCR4C = 0xFFFF;
/* Enable input capture interrupt */
TIMSK4 |= _BV(ICIE4);
SREG = oldSREG;
}
