hoverboard-firmware-hack-se.../Src/control.c

50 lines
1.3 KiB
C

#include "stm32f1xx_hal.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
TIM_HandleTypeDef TimHandle;
uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0};
uint8_t ppm_count = 0;
uint32_t timeout = 100;
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) {
ppm_count = 0;
}
else if (ppm_count < PPM_NUM_CHANNELS){
timeout = 0;
ppm_captured_value[ppm_count] = CLAMP(rc_delay, 1000, 2000) - 1000;
ppm_count++;
}
}
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);
}