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https://bitbucket.org/librepilot/librepilot.git
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b240915d05
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3010 ebee16cc-31ac-478f-84a7-5cbb03baadba
304 lines
8.6 KiB
C
304 lines
8.6 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_PPM PPM Input Functions
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* @brief Code to measure PPM input and seperate into channels
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* @{
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*
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* @file pios_ppm.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PPM Input functions (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#include "pios_ppm_priv.h"
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#if defined(PIOS_INCLUDE_PPM)
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/* Local Variables */
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static TIM_ICInitTypeDef TIM_ICInitStructure;
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static uint8_t PulseIndex;
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static uint32_t PreviousValue;
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static uint32_t CurrentValue;
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static uint32_t CapturedValue;
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static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS];
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static uint8_t SupervisorState = 0;
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static uint32_t CapCounter[PIOS_PPM_NUM_INPUTS];
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static uint32_t CapCounterPrev[PIOS_PPM_NUM_INPUTS];
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/**
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* Initialises all the LED's
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*/
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void PIOS_PPM_Init(void)
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{
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/* Flush counter variables */
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int32_t i;
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PulseIndex = 0;
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PreviousValue = 0;
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CurrentValue = 0;
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CapturedValue = 0;
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for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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CaptureValue[i] = 0;
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}
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NVIC_InitTypeDef NVIC_InitStructure = pios_ppm_cfg.irq.init;
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/* Enable appropriate clock to timer module */
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switch((int32_t) pios_ppm_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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/* Enable timer interrupts */
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NVIC_Init(&NVIC_InitStructure);
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/* Configure input pins */
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GPIO_InitTypeDef GPIO_InitStructure = pios_ppm_cfg.gpio_init;
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GPIO_Init(pios_ppm_cfg.port, &GPIO_InitStructure);
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/* Configure timer for input capture */
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TIM_ICInitStructure = pios_ppm_cfg.tim_ic_init;
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TIM_ICInit(pios_ppm_cfg.timer, &TIM_ICInitStructure);
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/* Configure timer clocks */
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_ppm_cfg.tim_base_init;
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TIM_InternalClockConfig(pios_ppm_cfg.timer);
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TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure);
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/* Enable the Capture Compare Interrupt Request */
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TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr, ENABLE);
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/* Enable timers */
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TIM_Cmd(pios_ppm_cfg.timer, ENABLE);
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/* Supervisor Setup */
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#if (PIOS_PPM_SUPV_ENABLED)
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/* Flush counter variables */
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for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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CapCounter[i] = 0;
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}
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for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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CapCounterPrev[i] = 0;
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}
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NVIC_InitStructure = pios_ppmsv_cfg.irq.init;
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/* Enable appropriate clock to timer module */
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switch((int32_t) pios_ppmsv_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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/* Configure interrupts */
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NVIC_Init(&NVIC_InitStructure);
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/* Time base configuration */
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure = pios_ppmsv_cfg.tim_base_init;
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TIM_TimeBaseInit(pios_ppmsv_cfg.timer, &TIM_TimeBaseStructure);
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/* Enable the CCx Interrupt Request */
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TIM_ITConfig(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr, ENABLE);
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/* Clear update pending flag */
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TIM_ClearFlag(pios_ppmsv_cfg.timer, TIM_FLAG_Update);
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/* Enable counter */
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TIM_Cmd(pios_ppmsv_cfg.timer, ENABLE);
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#endif
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/* Setup local variable which stays in this scope */
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/* Doing this here and using a local variable saves doing it in the ISR */
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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}
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/**
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* Get the value of an input channel
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* \param[in] Channel Number of the channel desired
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* \output -1 Channel not available
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* \output >0 Channel value
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*/
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int32_t PIOS_PPM_Get(int8_t Channel)
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{
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/* Return error if channel not available */
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if (Channel >= PIOS_PPM_NUM_INPUTS) {
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return -1;
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}
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return CaptureValue[Channel];
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}
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/**
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* Handle TIMx global interrupt request
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* Some work and testing still needed, need to detect start of frame and decode pulses
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*
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*/
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void PIOS_PPM_irq_handler(void)
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{
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/* Do this as it's more efficient */
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if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) {
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PreviousValue = CurrentValue;
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switch((int32_t) pios_ppm_cfg.ccr) {
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case (int32_t)TIM_IT_CC1:
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CurrentValue = TIM_GetCapture1(pios_ppm_cfg.timer);
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break;
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case (int32_t)TIM_IT_CC2:
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CurrentValue = TIM_GetCapture2(pios_ppm_cfg.timer);
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break;
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case (int32_t)TIM_IT_CC3:
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CurrentValue = TIM_GetCapture3(pios_ppm_cfg.timer);
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break;
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case (int32_t)TIM_IT_CC4:
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CurrentValue = TIM_GetCapture4(pios_ppm_cfg.timer);
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break;
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}
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}
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/* Clear TIMx Capture compare interrupt pending bit */
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TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
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/* Capture computation */
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if (CurrentValue > PreviousValue) {
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CapturedValue = (CurrentValue - PreviousValue);
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} else {
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CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
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}
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/* sync pulse */
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if (CapturedValue > 8000) {
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PulseIndex = 0;
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/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
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} else if (CapturedValue > 750 && CapturedValue < 2500) {
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if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
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CaptureValue[PulseIndex] = CapturedValue;
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CapCounter[PulseIndex]++;
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PulseIndex++;
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}
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}
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}
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/**
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* This function handles TIM3 global interrupt request.
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*/
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void PIOS_PPMSV_irq_handler(void) {
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/* Clear timer interrupt pending bit */
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TIM_ClearITPendingBit(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr);
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/* Simple state machine */
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if (SupervisorState == 0) {
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/* Save this states values */
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for (int32_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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CapCounterPrev[i] = CapCounter[i];
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}
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/* Move to next state */
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SupervisorState = 1;
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} else {
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/* See what channels have been updated */
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for (int32_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
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if (CapCounter[i] == CapCounterPrev[i]) {
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CaptureValue[i] = 0;
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}
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}
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/* Move to next state */
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SupervisorState = 0;
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}
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}
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#endif
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/**
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* @}
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* @}
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*/
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