You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
121 lines
3.1 KiB
C
121 lines
3.1 KiB
C
|
|
#include "stm32f1xx_hal.h"
|
|
#include "defines.h"
|
|
#include "setup.h"
|
|
#include "config.h"
|
|
#include <stdbool.h>
|
|
#include <string.h>
|
|
|
|
TIM_HandleTypeDef TimHandle;
|
|
uint8_t ppm_count = 0;
|
|
//uint32_t timeout = 100;
|
|
uint32_t timeout = 0; //start with 0, because if once timeout>TIMEOUT board will stay disabled
|
|
uint8_t nunchuck_data[6] = {0};
|
|
|
|
uint8_t i2cBuffer[2];
|
|
|
|
extern I2C_HandleTypeDef hi2c2;
|
|
DMA_HandleTypeDef hdma_i2c2_rx;
|
|
DMA_HandleTypeDef hdma_i2c2_tx;
|
|
|
|
#ifdef CONTROL_PPM
|
|
uint16_t ppm_captured_value[PPM_NUM_CHANNELS + 1] = {500, 500};
|
|
uint16_t ppm_captured_value_buffer[PPM_NUM_CHANNELS+1] = {500, 500};
|
|
uint32_t ppm_timeout = 0;
|
|
|
|
bool ppm_valid = true;
|
|
|
|
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
|
|
|
|
void PPM_ISR_Callback() {
|
|
// Dummy loop with 16 bit count wrap around
|
|
uint16_t rc_delay = TIM2->CNT;
|
|
TIM2->CNT = 0;
|
|
|
|
if (rc_delay > 3000) {
|
|
if (ppm_valid && ppm_count == PPM_NUM_CHANNELS) {
|
|
ppm_timeout = 0;
|
|
memcpy(ppm_captured_value, ppm_captured_value_buffer, sizeof(ppm_captured_value));
|
|
}
|
|
ppm_valid = true;
|
|
ppm_count = 0;
|
|
}
|
|
else if (ppm_count < PPM_NUM_CHANNELS && IN_RANGE(rc_delay, 900, 2100)){
|
|
timeout = 0;
|
|
ppm_captured_value_buffer[ppm_count++] = CLAMP(rc_delay, 1000, 2000) - 1000;
|
|
} else {
|
|
ppm_valid = false;
|
|
}
|
|
}
|
|
|
|
// SysTick executes once each ms
|
|
void PPM_SysTick_Callback() {
|
|
ppm_timeout++;
|
|
// Stop after 500 ms without PPM signal
|
|
if(ppm_timeout > 500) {
|
|
int i;
|
|
for(i = 0; i < PPM_NUM_CHANNELS; i++) {
|
|
ppm_captured_value[i] = 500;
|
|
}
|
|
ppm_timeout = 0;
|
|
}
|
|
}
|
|
|
|
void PPM_Init() {
|
|
GPIO_InitTypeDef GPIO_InitStruct;
|
|
/*Configure GPIO pin : PA3 */
|
|
GPIO_InitStruct.Pin = GPIO_PIN_3;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
|
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
|
|
__HAL_RCC_TIM2_CLK_ENABLE();
|
|
TimHandle.Instance = TIM2;
|
|
TimHandle.Init.Period = UINT16_MAX;
|
|
TimHandle.Init.Prescaler = (SystemCoreClock/DELAY_TIM_FREQUENCY_US)-1;;
|
|
TimHandle.Init.ClockDivision = 0;
|
|
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
HAL_TIM_Base_Init(&TimHandle);
|
|
|
|
/* EXTI interrupt init*/
|
|
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
|
|
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
|
|
HAL_TIM_Base_Start(&TimHandle);
|
|
}
|
|
#endif
|
|
|
|
void Nunchuck_Init() {
|
|
//-- START -- init WiiNunchuck
|
|
i2cBuffer[0] = 0xF0;
|
|
i2cBuffer[1] = 0x55;
|
|
|
|
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
|
|
HAL_Delay(10);
|
|
|
|
i2cBuffer[0] = 0xFB;
|
|
i2cBuffer[1] = 0x00;
|
|
|
|
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 2, 100);
|
|
HAL_Delay(10);
|
|
}
|
|
|
|
void Nunchuck_Read() {
|
|
i2cBuffer[0] = 0x00;
|
|
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
|
|
HAL_Delay(5);
|
|
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
|
|
timeout = 0;
|
|
}
|
|
|
|
if (timeout > 3) {
|
|
HAL_Delay(50);
|
|
Nunchuck_Init();
|
|
}
|
|
|
|
//setScopeChannel(0, (int)nunchuck_data[0]);
|
|
//setScopeChannel(1, (int)nunchuck_data[1]);
|
|
//setScopeChannel(2, (int)nunchuck_data[5] & 1);
|
|
//setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1);
|
|
}
|