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Drv_pwm_in.c
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/******************** (C) COPYRIGHT 2017 ANO Tech ********************************
* 作者 ：匿名科创
* 官网 ：www.anotc.com
* 淘宝 ：anotc.taobao.com
* 技术Q群 ：190169595
* 描述 ：PWM输入捕获
**********************************************************************************/
#include "Drv_pwm_in.h"
#include "Ano_RC.h"
#include "Drv_sbus.h"
#include "include.h"
#define PPM_CHNUM 8
u16 Rc_Pwm_In[8];
u16 Rc_Ppm_In[PPM_CHNUM ];
static u8 pwminmode_irq;
void PWM_IN_Init ( u8 pwminmode )
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
pwminmode_irq = pwminmode;
if(pwminmode == SBUS) // SBUS = 2
{
}
else if(pwminmode == PPM) //判断接收机模式
{
GPIO_StructInit(&GPIO_InitStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
RCC_APB1PeriphClockCmd ( RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE );
RCC_AHB1PeriphClockCmd ( RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD, ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PWMIN_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PWMIN_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init ( &NVIC_InitStructure );
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PWMIN_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PWMIN_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init ( &NVIC_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init ( GPIOC, &GPIO_InitStructure );
GPIO_PinAFConfig ( GPIOC, GPIO_PinSource6, GPIO_AF_TIM3 );
TIM3->PSC = ( 168 / 2 ) - 1;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM3, &TIM_ICInitStructure );
TIM_Cmd ( TIM3, ENABLE );
TIM_ITConfig ( TIM3, TIM_IT_CC1, ENABLE ); // 使能TIM3通道中断
}
else if(pwminmode == PWM) //判断接收机模式 PWM = 0
{
GPIO_StructInit(&GPIO_InitStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
RCC_APB1PeriphClockCmd ( RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE );
RCC_AHB1PeriphClockCmd ( RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD, ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PWMIN_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PWMIN_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init ( &NVIC_InitStructure );
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PWMIN_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PWMIN_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init ( &NVIC_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init ( GPIOC, &GPIO_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init ( GPIOB, &GPIO_InitStructure );
GPIO_PinAFConfig ( GPIOC, GPIO_PinSource6, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOC, GPIO_PinSource7, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOB, GPIO_PinSource0, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOB, GPIO_PinSource1, GPIO_AF_TIM3 );
TIM3->PSC = ( 168 / 2 ) - 1;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM3, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM3, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM3, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM3, &TIM_ICInitStructure );
TIM_Cmd ( TIM3, ENABLE );
TIM_ITConfig ( TIM3, TIM_IT_CC1, ENABLE );
TIM_ITConfig ( TIM3, TIM_IT_CC2, ENABLE );
TIM_ITConfig ( TIM3, TIM_IT_CC3, ENABLE );
TIM_ITConfig ( TIM3, TIM_IT_CC4, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init ( GPIOD, &GPIO_InitStructure );
GPIO_PinAFConfig ( GPIOD, GPIO_PinSource12, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOD, GPIO_PinSource13, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOD, GPIO_PinSource14, GPIO_AF_TIM3 );
GPIO_PinAFConfig ( GPIOD, GPIO_PinSource15, GPIO_AF_TIM3 );
TIM4->PSC = ( 168 / 2 ) - 1;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM4, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM4, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM4, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInit ( TIM4, &TIM_ICInitStructure );
/* TIM enable counter */
TIM_Cmd ( TIM4, ENABLE );
/* Enable the CC2 Interrupt Request */
TIM_ITConfig ( TIM4, TIM_IT_CC1, ENABLE );
TIM_ITConfig ( TIM4, TIM_IT_CC2, ENABLE );
TIM_ITConfig ( TIM4, TIM_IT_CC3, ENABLE );
TIM_ITConfig ( TIM4, TIM_IT_CC4, ENABLE );
}
}
// 定时器 TIMx 额中断服务函数中实现主要的业务代码
void _TIM3_IRQHandler ( void ) // TIM3 中断服务程序，
{
static u16 temp_cnt1, temp_cnt1_2, temp_cnt2, temp_cnt2_2, temp_cnt3, temp_cnt3_2, temp_cnt4, temp_cnt4_2;
if ( TIM3->SR & TIM_IT_CC1 ) // 查询 TIM3 的中断状态
{
ch_watch_dog_feed(CH1);//通道检测喂狗
TIM3->SR = ~TIM_IT_CC1;//TIM_ClearITPendingBit(TIM3, TIM_IT_CC1);
TIM3->SR = ~TIM_FLAG_CC1OF;
if(pwminmode_irq == PWM) //判断接收机模式，如果为PWM模式，则通道1正常接收pwm信号
{
if ( GPIOC->IDR & GPIO_Pin_6 )
{
temp_cnt1 = TIM_GetCapture1 ( TIM3 ); // 获取TIM3_>CRR1寄存器的值，TIM_GetCapture1():return TIMx->CCR1;
}
else
{
temp_cnt1_2 = TIM_GetCapture1 ( TIM3 );
if ( temp_cnt1_2 >= temp_cnt1 )
Rc_Pwm_In[0] = temp_cnt1_2 - temp_cnt1;
else
Rc_Pwm_In[0] = 0xffff - temp_cnt1 + temp_cnt1_2 + 1;
}
}
else if(pwminmode_irq == PPM) //判断接收机模式，如果为PPM模式，则使用通道1进行PPM信号解析
{
static u8 ch_sta = 0;
if ( GPIOC->IDR & GPIO_Pin_6 )
{
temp_cnt1 = TIM_GetCapture1 ( TIM3 );
}
else
{
temp_cnt1_2 = TIM_GetCapture1 ( TIM3 );
u16 _tmp;
if ( temp_cnt1_2 >= temp_cnt1 )
_tmp = temp_cnt1_2 - temp_cnt1;
else
_tmp = 0xffff - temp_cnt1 + temp_cnt1_2 + 1;
if(_tmp > 2100 || ch_sta == PPM_CHNUM )
{
ch_sta = 0;
}
else
{
ch_watch_dog_feed(ch_sta);
Rc_Ppm_In[ch_sta] = _tmp;
ch_sta++;
}
}
}
}
//如果接收机模式不是pwm模式，则退出后续判断，因为只有pwm模式才需要后续通道采样
if(pwminmode_irq != PWM) return;
if ( TIM3->SR & TIM_IT_CC2 )
{
ch_watch_dog_feed(CH2);//通道检测喂狗
TIM3->SR = ~TIM_IT_CC2;
TIM3->SR = ~TIM_FLAG_CC2OF;
if ( GPIOC->IDR & GPIO_Pin_7 )
{
temp_cnt2 = TIM_GetCapture2 ( TIM3 );
}
else
{
temp_cnt2_2 = TIM_GetCapture2 ( TIM3 );
if ( temp_cnt2_2 >= temp_cnt2 )
Rc_Pwm_In[1] = temp_cnt2_2 - temp_cnt2;
else
Rc_Pwm_In[1] = 0xffff - temp_cnt2 + temp_cnt2_2 + 1;
}
}
if ( TIM3->SR & TIM_IT_CC3 )
{
ch_watch_dog_feed(CH3);//通道检测喂狗
TIM3->SR = ~TIM_IT_CC3;
TIM3->SR = ~TIM_FLAG_CC3OF;
if ( GPIOB->IDR & GPIO_Pin_0 )
{
temp_cnt3 = TIM_GetCapture3 ( TIM3 );
}
else
{
temp_cnt3_2 = TIM_GetCapture3 ( TIM3 );
if ( temp_cnt3_2 >= temp_cnt3 )
Rc_Pwm_In[2] = temp_cnt3_2 - temp_cnt3;
else
Rc_Pwm_In[2] = 0xffff - temp_cnt3 + temp_cnt3_2 + 1;
}
}
if ( TIM3->SR & TIM_IT_CC4 )
{
ch_watch_dog_feed(CH4);//通道检测喂狗
TIM3->SR = ~TIM_IT_CC4;
TIM3->SR = ~TIM_FLAG_CC4OF;
if ( GPIOB->IDR & GPIO_Pin_1 )
{
temp_cnt4 = TIM_GetCapture4 ( TIM3 );
}
else
{
temp_cnt4_2 = TIM_GetCapture4 ( TIM3 );
if ( temp_cnt4_2 >= temp_cnt4 )
Rc_Pwm_In[3] = temp_cnt4_2 - temp_cnt4;
else
Rc_Pwm_In[3] = 0xffff - temp_cnt4 + temp_cnt4_2 + 1;
}
}
}
void _TIM4_IRQHandler ( void )
{
static u16 temp_cnt1, temp_cnt1_2, temp_cnt2, temp_cnt2_2, temp_cnt3, temp_cnt3_2, temp_cnt4, temp_cnt4_2;
if(pwminmode_irq != PWM) return;
if ( TIM4->SR & TIM_IT_CC1 )
{
ch_watch_dog_feed(CH5);//通道检测喂狗
TIM4->SR = ~TIM_IT_CC1;//TIM_ClearITPendingBit(TIM3, TIM_IT_CC1);
TIM4->SR = ~TIM_FLAG_CC1OF;
if ( GPIOD->IDR & GPIO_Pin_12 )
{
temp_cnt1 = TIM_GetCapture1 ( TIM4 );
}
else
{
temp_cnt1_2 = TIM_GetCapture1 ( TIM4 );
if ( temp_cnt1_2 >= temp_cnt1 )
Rc_Pwm_In[4] = temp_cnt1_2 - temp_cnt1;
else
Rc_Pwm_In[4] = 0xffff - temp_cnt1 + temp_cnt1_2 + 1;
}
}
if ( TIM4->SR & TIM_IT_CC2 )
{
ch_watch_dog_feed(CH6);//通道检测喂狗
TIM4->SR = ~TIM_IT_CC2;
TIM4->SR = ~TIM_FLAG_CC2OF;
if ( GPIOD->IDR & GPIO_Pin_13 )
{
temp_cnt2 = TIM_GetCapture2 ( TIM4 );
}
else
{
temp_cnt2_2 = TIM_GetCapture2 ( TIM4 );
if ( temp_cnt2_2 >= temp_cnt2 )
Rc_Pwm_In[5] = temp_cnt2_2 - temp_cnt2;
else
Rc_Pwm_In[5] = 0xffff - temp_cnt2 + temp_cnt2_2 + 1;
}
}
if ( TIM4->SR & TIM_IT_CC3 )
{
ch_watch_dog_feed(CH7);//通道检测喂狗
TIM4->SR = ~TIM_IT_CC3;
TIM4->SR = ~TIM_FLAG_CC3OF;
if ( GPIOD->IDR & GPIO_Pin_14 )
{
temp_cnt3 = TIM_GetCapture3 ( TIM4 );
}
else
{
temp_cnt3_2 = TIM_GetCapture3 ( TIM4 );
if ( temp_cnt3_2 >= temp_cnt3 )
Rc_Pwm_In[6] = temp_cnt3_2 - temp_cnt3;
else
Rc_Pwm_In[6] = 0xffff - temp_cnt3 + temp_cnt3_2 + 1;
}
}
if ( TIM4->SR & TIM_IT_CC4 )
{
ch_watch_dog_feed(CH8);//通道检测喂狗
TIM4->SR = ~TIM_IT_CC4;
TIM4->SR = ~TIM_FLAG_CC4OF;
if ( GPIOD->IDR & GPIO_Pin_15 ) // IDR : GPIO port input data register
{
temp_cnt4 = TIM_GetCapture4 ( TIM4 );
}
else
{
temp_cnt4_2 = TIM_GetCapture4 ( TIM4 );
if ( temp_cnt4_2 >= temp_cnt4 )
Rc_Pwm_In[7] = temp_cnt4_2 - temp_cnt4;
else
Rc_Pwm_In[7] = 0xffff - temp_cnt4 + temp_cnt4_2 + 1;
}
}
}
/******************* (C) COPYRIGHT 2014 ANO TECH *****END OF FILE************/