diff options
| -rw-r--r-- | main.cpp | 72 |
1 files changed, 71 insertions, 1 deletions
@@ -109,6 +109,73 @@ void xbee_send(int len, const uint8_t* buf) { usart_send(chsum); } +class PPMSum { + friend void interrupt<Interrupt::TIM4>(); + + private: + static PPMSum* self; + + uint8_t index; + uint16_t channels[16]; + + void irq() { + int16_t sr = TIM4.SR; + TIM4.SR = 0; + + if(sr & 0x06) { + GPIOA.ODR = 1 << 5; + } else { + GPIOA.ODR = 0; + } + + + if(sr & 0x01) { + // Timeout. + + // TODO: Indicate failsafe. + + } else if(sr & 0x02) { + // Period. + + if(TIM4.CCR1 > 5000) { + index = 0; + } else { + index++; + } + + } else if(sr & 0x04) { + // Pulsewidth. + + channels[index] = TIM4.CCR2; + } + } + + public: + PPMSum() { + self = this; + } + + void start() { + RCC.enable(RCC.TIM4); + TIM4.PSC = 36; + TIM4.CCMR1 = 0x0201; + TIM4.SMCR = 0x54; + TIM4.CCER = 0x31; + TIM4.DIER = 0x07; + + Interrupt::enable(Interrupt::TIM4); + + TIM4.CR1 = 0x05; + } +}; + +PPMSum* PPMSum::self = 0; + +template<> +void interrupt<Interrupt::TIM4>() { + PPMSum::self->irq(); +} + int main() { RCC.enable(RCC.AFIO); RCC.enable(RCC.IOPA); @@ -146,6 +213,9 @@ int main() { Interrupt::enable(Interrupt::USART1); + PPMSum ppmsum; + ppmsum.start(); + while(1) { cnt++; if(cnt & (1 << 20)) { @@ -156,7 +226,7 @@ int main() { if(!(cnt & ((1 << 20) - 1))) { i2c_read_reg(0x68, 0x1d, 6, buf); - xbee_send(6, buf); + //xbee_send(6, buf); } } } |