4 files changed, 49 insertions, 1 deletions
diff --git a/board.h b/board.h
index c0b01d0..9034d20 100644
--- a/board.h
+++ b/board.h
@@ -47,7 +47,7 @@
  * PB14 - Normal input      (MMC SPI2 MISO).
  * PB15 - Alternate output  (MMC SPI2 MOSI).
  */
-#define VAL_GPIOBCRL            0x88888888      /*  PB7...PB0 */
+#define VAL_GPIOBCRL            0x84888888      /*  PB7...PB0 */
 #define VAL_GPIOBCRH            0xB4B84488      /* PB15...PB8 */
 #define VAL_GPIOBODR            0xFFFFFFFF
 
diff --git a/halconf.h b/halconf.h
index d10e1fe..1b0e3dd 100644
--- a/halconf.h
+++ b/halconf.h
@@ -69,6 +69,8 @@
 #define HAL_USE_I2C                 TRUE
 #endif
 
+#define HAL_USE_ICU                 TRUE
+
 /**
  * @brief   Enables the MAC subsystem.
  */
diff --git a/main.cpp b/main.cpp
index 27fab50..57d3d17 100644
--- a/main.cpp
+++ b/main.cpp
@@ -170,12 +170,44 @@ static PWMConfig pwmcfg = {
 	0
 };
 
+icucnt_t last_width, last_period;
+
+int16_t ppm_input[4];
+
+int ppm_n = 0;
+
+static void icuwidthcb(ICUDriver *icup) {
+
+  last_width = icuGetWidthI(icup);
+	ppm_input[ppm_n] = last_width;
+}
+
+static void icuperiodcb(ICUDriver *icup) {
+
+  last_period = icuGetPeriodI(icup);
+	if(last_period > 5000) {
+		ppm_n = 0;
+	} else {
+		ppm_n = (ppm_n + 1) % 4;
+	}
+}
+
+static ICUConfig icucfg = {
+  ICU_INPUT_ACTIVE_HIGH,
+  1000000,
+  icuwidthcb,
+  icuperiodcb
+};
+
 int main(void) {
 	halInit();
 	chSysInit();
 	
 	led_thread.start();
 	
+	icuStart(&ICUD4, &icucfg);
+  icuEnable(&ICUD4);
+	
 	usbs.init();
 	
 	i2c_thread.start();
diff --git a/mcuconf.h b/mcuconf.h
index 74b6346..40be2cc 100644
--- a/mcuconf.h
+++ b/mcuconf.h
@@ -75,6 +75,20 @@
 #define STM32_GPT_TIM5_IRQ_PRIORITY         7
 
 /*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1                  FALSE
+#define STM32_ICU_USE_TIM2                  FALSE
+#define STM32_ICU_USE_TIM3                  FALSE
+#define STM32_ICU_USE_TIM4                  TRUE
+#define STM32_ICU_USE_TIM5                  FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM5_IRQ_PRIORITY         7
+
+/*
  * PWM driver system settings.
  */
 #define STM32_PWM_USE_ADVANCED              FALSE