PWM原理说明

DS600遥控器说明
DS600遥控器的默认高电平是1.5ms
1通道 左右
2通道 前后
3通道 接管 上电后是1ms ，按一下是2ms，1ms和2ms切换

DS600接收机说明

*/
#include "ps2.h"
#include "common.h"

#define LEFT_RIGHT_CHANNEL 0          //DS600 Channel1   
#define FORWARD_BACKWARD_CHANNEL 1    //DS600 Channel2   
#define TAKE_OVER_CHANNEL  2          //DS600 Channel3  

uint32_t DS600_PWM_Start_Channel[5] = {0};
uint32_t DS600_PWM_End_Channel[5] = {0};
uint32_t DS600_H_level_Value_Channel[5] = {0};

uint16_t  DS600_PWM_Value_Mid_High = 1600;
uint16_t  DS600_PWM_Value_Mid_Low =  1400;

int16_t DS600_PWM_Value_Channel[5] = {0};

uint16_t DS600_Loss_Messege_Countnum_Channel[5] = {0};
uint8_t  DS600_Offline_Alarmflag_Channel[5] = {0};
		
void Initial_flysky( uint32_t period, uint32_t scale )
{
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure; 
	
    TIM_ICInitTypeDef TIM12_ICInitStructure_w;


	RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM12, ENABLE );
	RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOB, ENABLE );

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
	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( GPIOB, GPIO_PinSource14, GPIO_AF_TIM12 );

	TIM_TimeBaseStructure.TIM_Prescaler = scale;  
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseStructure.TIM_Period = period;
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

	TIM_TimeBaseInit( TIM12, &TIM_TimeBaseStructure );

	TIM12_ICInitStructure_w.TIM_Channel = TIM_Channel_1;
	TIM12_ICInitStructure_w.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
	TIM12_ICInitStructure_w.TIM_ICSelection = TIM_ICSelection_DirectTI;
	TIM12_ICInitStructure_w.TIM_ICPrescaler = TIM_ICPSC_DIV1;
	TIM12_ICInitStructure_w.TIM_ICFilter = 0x00;
	TIM_ICInit( TIM12, &TIM12_ICInitStructure_w );

	TIM_ITConfig( TIM12, TIM_IT_CC1, ENABLE );

	TIM_Cmd( TIM12, ENABLE );
	//Sonar12_NVIC_Configuration();
		
	/* Enable the DMA1_Stream4_TX(UART4_TX) Interrupt */
	NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;//1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init( &NVIC_InitStructure );
}

void Flysky_DeInit( void )
{
    NVIC_InitTypeDef NVIC_InitStructure; 

	RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM12, DISABLE ); //½ûÖ¹TIM12ʱÖÓ
	TIM_ITConfig( TIM12, TIM_IT_CC1 | TIM_IT_Update, DISABLE ); //½ûÖ¹¶¨Ê±Æ÷12¸üÐÂÖжÏ
	TIM_Cmd( TIM12, DISABLE ); //½ûÖ¹¶¨Ê±Æ÷12

	NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn; //¶¨Ê±Æ÷12ÖжÏ
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //ÇÀÕ¼ÓÅÏȼ¶1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //×ÓÓÅÏȼ¶0
	NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
	NVIC_Init( &NVIC_InitStructure );	
}
  
uint16_t PPM_Sample_Cnt=0;
uint32_t PPM_Time=0;
uint16_t PPM_Okay=0;
uint16_t PPM_Databuf[8]={0};
uint8_t TIM12_CH1_CAPTURE_STA=0;
void TIM8_BRK_TIM12_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM12,TIM_IT_CC1)==!RESET)//
	{
		if(TIM12_CH1_CAPTURE_STA&0x01)//
		{
			PPM_Time=TIM_GetCapture1(TIM12);
			if(PPM_Time>0)
				PPM_Time++;			
			if(PPM_Okay==1)
			{
				PPM_Databuf[PPM_Sample_Cnt]=PPM_Time;

				if( PPM_Databuf[4] < 800 )
				{
					PPM_Databuf[0] = 0;PPM_Databuf[1] = 0;
				}

				PPM_Sample_Cnt++;
				if(PPM_Sample_Cnt>8)
					PPM_Okay=0;
			}
			if(PPM_Time>3000)//
			{
				PPM_Okay=1;
				PPM_Sample_Cnt=0;
			}    

			TIM_OC1PolarityConfig(TIM12,TIM_ICPolarity_Rising);
			TIM12_CH1_CAPTURE_STA=0;//
		}
		else
		{
			TIM_SetCounter(TIM12,0);//           
			TIM12_CH1_CAPTURE_STA|=0x01;//
			TIM_OC1PolarityConfig(TIM12,TIM_ICPolarity_Falling); 
		}        
	}
	
	TIM_ClearITPendingBit(TIM12, TIM_IT_CC1|TIM_IT_Update);   
}  

void Init_DS600(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	EXTI_InitTypeDef EXTI_InitStructure;
 	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOB, ENABLE ); //ʹÄÜGPIOBʱÖÓ
	RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOC, ENABLE ); //ʹÄÜGPIOCʱÖÓ
	RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOE, ENABLE ); //ʹÄÜGPIOEʱÖÓ
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);//ʹÄÜSYSCFGʱÖÓ
	
	GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_14;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//ÆÕͨÊä³öģʽ
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ­
  GPIO_Init(GPIOB, &GPIO_InitStructure);//³õʼ»¯
	
	GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//ÆÕͨÊä³öģʽ
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ­
  GPIO_Init(GPIOC, &GPIO_InitStructure);//³õʼ»¯

	GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;//ÆÕͨÊä³öģʽ
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//ÉÏÀ­
  GPIO_Init(GPIOE, &GPIO_InitStructure);//³õʼ»¯

    SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOB, EXTI_PinSource14);//PF6 Á¬½Óµ½ÖжÏÏß6
		SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource9);//PF6 Á¬½Óµ½ÖжÏÏß6
		SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource11);//PF6 Á¬½Óµ½ÖжÏÏß6
		
    EXTI_InitStructure.EXTI_Line = EXTI_Line14 | EXTI_Line9 | EXTI_Line11;//LINE14
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;//ÖжÏʼþ
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling; //shangϽµÑØ´¥·¢ 
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;//ʹÄÜLINE6
    EXTI_Init(&EXTI_InitStructure);//ÅäÖÃ
		
	
	  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;//ÍⲿÖжÏ5
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;//ÇÀÕ¼ÓÅÏȼ¶3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;//×ÓÓÅÏȼ¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//ʹÄÜÍⲿÖжÏͨµÀ
    NVIC_Init(&NVIC_InitStructure);
		
		NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;//ÍⲿÖжÏ5
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;//ÇÀÕ¼ÓÅÏȼ¶3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;//×ÓÓÅÏȼ¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//ʹÄÜÍⲿÖжÏͨµÀ
    NVIC_Init(&NVIC_InitStructure);

}

//ÍⲿÖжϷþÎñº¯Êý
void EXTI9_5_IRQHandler(void)
{
  if(EXTI_GetITStatus(EXTI_Line9) != RESET)
  {
         if(GPIOC->IDR & GPIO_Pin_9)
         {
           DS600_PWM_Start_Channel[TAKE_OVER_CHANNEL] = micros();
         }
         else
         {
						  DS600_PWM_End_Channel[TAKE_OVER_CHANNEL]= micros();
					    DS600_H_level_Value_Channel[TAKE_OVER_CHANNEL] = DS600_PWM_End_Channel[TAKE_OVER_CHANNEL] - DS600_PWM_Start_Channel[TAKE_OVER_CHANNEL];
					 
						 if(DS600_H_level_Value_Channel[TAKE_OVER_CHANNEL]>900 && DS600_H_level_Value_Channel[TAKE_OVER_CHANNEL]<2100)
							 {
								  //stop
									 DS600_PWM_Value_Channel[TAKE_OVER_CHANNEL] = DS600_H_level_Value_Channel[TAKE_OVER_CHANNEL];
								  
								  DS600_Loss_Messege_Countnum_Channel[TAKE_OVER_CHANNEL] = 0;
								  DS600_Offline_Alarmflag_Channel[TAKE_OVER_CHANNEL] = 0;
								 
							 }
							 else
							 {
							    DS600_PWM_Value_Channel[TAKE_OVER_CHANNEL] = 1500;
							 }
         }
				 
     EXTI_ClearITPendingBit(EXTI_Line9);
  }
}

//ÍⲿÖжϷþÎñº¯Êý
void EXTI15_10_IRQHandler(void)
{
	 if(EXTI_GetITStatus(EXTI_Line11) != RESET)
  {
         if(GPIOE->IDR & GPIO_Pin_11)
         {
           DS600_PWM_Start_Channel[FORWARD_BACKWARD_CHANNEL] = micros();
         }
         else
         {
						  DS600_PWM_End_Channel[FORWARD_BACKWARD_CHANNEL]= micros();
					    DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] = DS600_PWM_End_Channel[FORWARD_BACKWARD_CHANNEL] - DS600_PWM_Start_Channel[FORWARD_BACKWARD_CHANNEL];
					 
						 if(DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL]>900 && DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL]<2100)
							 {
								 //PPMINF[5]=PPM_end[5]-INF_DAT[PPM_mid5];
								 if( (DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] > DS600_PWM_Value_Mid_Low) && (DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] < DS600_PWM_Value_Mid_High) )
								 {
								  //stop
									 DS600_PWM_Value_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
								 }
								 else
								 {
								  //move
									 if(DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] >= DS600_PWM_Value_Mid_High)
									 {
									   DS600_PWM_Value_Channel[FORWARD_BACKWARD_CHANNEL] = DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] - DS600_PWM_Value_Mid_High;									 
									 }
									 else
									 {
									    DS600_PWM_Value_Channel[FORWARD_BACKWARD_CHANNEL] = DS600_H_level_Value_Channel[FORWARD_BACKWARD_CHANNEL] - DS600_PWM_Value_Mid_Low;
									 }

								 }
								 	DS600_Loss_Messege_Countnum_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
								  DS600_Offline_Alarmflag_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
							 }
							else
							 {
							   DS600_PWM_Value_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
							 }
         }
     EXTI_ClearITPendingBit(EXTI_Line11);
  }
	
 if(EXTI_GetITStatus(EXTI_Line14) != RESET)
  {
         if(GPIOB->IDR & GPIO_Pin_14)
         {
           DS600_PWM_Start_Channel[LEFT_RIGHT_CHANNEL] = micros();
         }
         else
         {
						  DS600_PWM_End_Channel[LEFT_RIGHT_CHANNEL]= micros();
					    DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] = DS600_PWM_End_Channel[LEFT_RIGHT_CHANNEL] - DS600_PWM_Start_Channel[LEFT_RIGHT_CHANNEL];
					 
						 if(DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL]>900 && DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL]<2100)
							 {
								 //PPMINF[5]=PPM_end[5]-INF_DAT[PPM_mid5];
								 if( (DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] > DS600_PWM_Value_Mid_Low) && (DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] < DS600_PWM_Value_Mid_High) )
								 {
								  //stop
									 DS600_PWM_Value_Channel[LEFT_RIGHT_CHANNEL] = 0;
								 }
								 else
								 {
								  //move
									 if(DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] >= DS600_PWM_Value_Mid_High)
									 {
									   DS600_PWM_Value_Channel[LEFT_RIGHT_CHANNEL] = DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] - DS600_PWM_Value_Mid_High;									 
									 }
									 else
									 {
									    DS600_PWM_Value_Channel[LEFT_RIGHT_CHANNEL] = DS600_H_level_Value_Channel[LEFT_RIGHT_CHANNEL] - DS600_PWM_Value_Mid_Low;
									 }

								 }
								 
								  DS600_Loss_Messege_Countnum_Channel[LEFT_RIGHT_CHANNEL] = 0;
								  DS600_Offline_Alarmflag_Channel[LEFT_RIGHT_CHANNEL] = 0;
							 }
							else
							 {
							   DS600_PWM_Value_Channel[LEFT_RIGHT_CHANNEL] = 0;
							 }
         }
     EXTI_ClearITPendingBit(EXTI_Line14);
  }
}

void DS600_online_check(void)
{
   DS600_Loss_Messege_Countnum_Channel[LEFT_RIGHT_CHANNEL]++;
   DS600_Loss_Messege_Countnum_Channel[FORWARD_BACKWARD_CHANNEL]++;	 
   DS600_Loss_Messege_Countnum_Channel[2]++;
	
	 if(DS600_Loss_Messege_Countnum_Channel[LEFT_RIGHT_CHANNEL] > 10)
	 {
	    DS600_Loss_Messege_Countnum_Channel[LEFT_RIGHT_CHANNEL] = 0;
		  DS600_Offline_Alarmflag_Channel[LEFT_RIGHT_CHANNEL] = 1;
		  DS600_PWM_Value_Channel[LEFT_RIGHT_CHANNEL] = 0;
	 }
	 
	 if(DS600_Loss_Messege_Countnum_Channel[FORWARD_BACKWARD_CHANNEL] > 10)
	 {
	    DS600_Loss_Messege_Countnum_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
		  DS600_Offline_Alarmflag_Channel[FORWARD_BACKWARD_CHANNEL] = 1;
		  DS600_PWM_Value_Channel[FORWARD_BACKWARD_CHANNEL] = 0;
	 }
	 
	 if(DS600_Loss_Messege_Countnum_Channel[TAKE_OVER_CHANNEL] > 10)
	 {
	    DS600_Loss_Messege_Countnum_Channel[TAKE_OVER_CHANNEL] = 0;
		  DS600_Offline_Alarmflag_Channel[TAKE_OVER_CHANNEL] = 1;
		  DS600_PWM_Value_Channel[TAKE_OVER_CHANNEL] = 1500;
	 }
	 
}