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PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to
monitor when call Spektrum watchdog
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@ -41,12 +41,25 @@
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#error "AUX com cannot be used with SPEKTRUM"
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#endif
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/**
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* @Note Framesyncing:
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* The code resets the watchdog timer whenever a single byte is received, so what watchdog code
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* is never called if regularly getting bytes
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/**
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* Constants
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*/
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/* Global Variables */
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/* Local Variables, use pios_usart */
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static uint16_t CaptureValue[12],CaptureValueTemp[12];
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static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
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#define MAX_UPDATE_DELAY_MS 100
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static uint32_t last_updated_time = 0;
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static uint32_t max_update_period = 0;
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uint8_t sync_of = 0;
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/**
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@ -59,62 +72,8 @@ void PIOS_SPEKTRUM_Init(void)
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PIOS_SPEKTRUM_Bind();
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}
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NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
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/* Enable appropriate clock to timer module */
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switch((int32_t) pios_spektrum_cfg.timer) {
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case (int32_t)TIM1:
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NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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break;
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case (int32_t)TIM2:
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NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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break;
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case (int32_t)TIM3:
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NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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break;
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case (int32_t)TIM4:
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NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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break;
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#ifdef STM32F10X_HD
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case (int32_t)TIM5:
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NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
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break;
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case (int32_t)TIM6:
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NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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break;
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case (int32_t)TIM7:
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NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
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break;
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case (int32_t)TIM8:
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NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
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break;
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#endif
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}
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NVIC_Init(&NVIC_InitStructure);
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/* Configure timer clocks */
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TIM_InternalClockConfig(pios_spektrum_cfg.timer);
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TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
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/* Enable the Capture Compare Interrupt Request */
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TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
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/* Clear update pending flag */
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TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
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/* Enable timers */
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TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
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last_updated_time = 0;
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max_update_period = MAX_UPDATE_DELAY_MS * 1000 * PIOS_RTC_Rate();
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}
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/**
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@ -125,6 +84,7 @@ void PIOS_SPEKTRUM_Init(void)
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*/
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int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
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{
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if(PIOS_RTC_Counter() - last_updated_time
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/* Return error if channel not available */
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if (Channel >= 12) {
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return -1;
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@ -285,10 +245,15 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id)
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}
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/**
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* This function handles TIM6 global interrupt request.
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*/
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void PIOS_SPEKTRUM_irq_handler() {
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//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
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*@brief This function is called when a spektrum word hasnt been decoded for too long
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*/
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void PIOS_SPEKTRUM_timeout() {
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for (int i = 0; i < 12; i++)
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{
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CaptureValue[i] = 0;
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CaptureValueTemp[i] = 0;
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}
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}
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/* Clear timer interrupt pending bit */
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TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
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