o Adding support for reading IR codes.

12 files changed, 405 insertions, 134 deletions

diff --git a/bsp/radio-controller-1/Inc/main.h b/bsp/radio-controller-1/Inc/main.h
index 89bca50..49efff9 100644
--- a/bsp/radio-controller-1/Inc/main.h
+++ b/bsp/radio-controller-1/Inc/main.h
@@ -51,8 +51,12 @@
 /* Private define ------------------------------------------------------------*/
 #define RADIO_RX_TIMER_PRESCALER (72000000/200000 - 1)
 
+#define IR_RX_Pin GPIO_PIN_0
+#define IR_RX_GPIO_Port GPIOA
 #define RADIO_RX_Pin GPIO_PIN_8
 #define RADIO_RX_GPIO_Port GPIOA
+#define DEBUG_PIN_Pin GPIO_PIN_10
+#define DEBUG_PIN_GPIO_Port GPIOA
 
 /* USER CODE BEGIN Private defines */
 #ifdef __cplusplus
diff --git a/bsp/radio-controller-1/Inc/stm32f1xx_hal_conf.h b/bsp/radio-controller-1/Inc/stm32f1xx_hal_conf.h
index eb2b5ca..917c203 100644
--- a/bsp/radio-controller-1/Inc/stm32f1xx_hal_conf.h
+++ b/bsp/radio-controller-1/Inc/stm32f1xx_hal_conf.h
@@ -133,7 +133,7 @@
   * @brief This is the HAL system configuration section
   */
 #define  VDD_VALUE                    ((uint32_t)3300) /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            ((uint32_t)0)    /*!< tick interrupt priority (lowest by default)  */
+#define  TICK_INT_PRIORITY            ((uint32_t)1)    /*!< tick interrupt priority (lowest by default)  */
 #define  USE_RTOS                     0
 #define  PREFETCH_ENABLE              1
 
diff --git a/bsp/radio-controller-1/Inc/stm32f1xx_it.h b/bsp/radio-controller-1/Inc/stm32f1xx_it.h
index f56b635..1d63a91 100644
--- a/bsp/radio-controller-1/Inc/stm32f1xx_it.h
+++ b/bsp/radio-controller-1/Inc/stm32f1xx_it.h
@@ -58,6 +58,7 @@ void USB_HP_CAN1_TX_IRQHandler(void);
 void USB_LP_CAN1_RX0_IRQHandler(void);
 void TIM1_TRG_COM_IRQHandler(void);
 void TIM1_CC_IRQHandler(void);
+void TIM2_IRQHandler(void);
 
 #ifdef __cplusplus
 }
diff --git a/bsp/radio-controller-1/Src/main.c b/bsp/radio-controller-1/Src/main.c
index d7e4c04..dbcf975 100644
--- a/bsp/radio-controller-1/Src/main.c
+++ b/bsp/radio-controller-1/Src/main.c
@@ -54,6 +54,7 @@
 IWDG_HandleTypeDef hiwdg;
 
 TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
 
 UART_HandleTypeDef huart2;
 
@@ -68,6 +69,7 @@ void Error_Handler(void);
 static void MX_GPIO_Init(void);
 static void MX_IWDG_Init(void);
 static void MX_TIM1_Init(void);
+static void MX_TIM2_Init(void);
 static void MX_USART2_UART_Init(void);
 
 /* USER CODE BEGIN PFP */
@@ -98,6 +100,7 @@ int main(void)
   MX_GPIO_Init();
   MX_IWDG_Init();
   MX_TIM1_Init();
+  MX_TIM2_Init();
   MX_USART2_UART_Init();
   MX_USB_DEVICE_Init();
 
@@ -172,7 +175,7 @@ void SystemClock_Config(void)
   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
   /* SysTick_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 1, 0);
 }
 
 /* IWDG init function */
@@ -240,6 +243,63 @@ static void MX_TIM1_Init(void)
 
 }
 
+/* TIM2 init function */
+static void MX_TIM2_Init(void)
+{
+
+  TIM_SlaveConfigTypeDef sSlaveConfig;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_IC_InitTypeDef sConfigIC;
+
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = RADIO_RX_TIMER_PRESCALER;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 0xffff;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
+  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
+  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+  sSlaveConfig.TriggerFilter = 0;
+  if (HAL_TIM_SlaveConfigSynchronization(&htim2, &sSlaveConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+  sConfigIC.ICFilter = 0;
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+}
+
 /* USART2 init function */
 static void MX_USART2_UART_Init(void)
 {
@@ -269,11 +329,22 @@ static void MX_USART2_UART_Init(void)
 static void MX_GPIO_Init(void)
 {
 
+  GPIO_InitTypeDef GPIO_InitStruct;
+
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(DEBUG_PIN_GPIO_Port, DEBUG_PIN_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : DEBUG_PIN_Pin */
+  GPIO_InitStruct.Pin = DEBUG_PIN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(DEBUG_PIN_GPIO_Port, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 4 */
diff --git a/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c b/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
index 5ee7f9a..49e9623 100644
--- a/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
+++ b/bsp/radio-controller-1/Src/stm32f1xx_hal_msp.c
@@ -75,7 +75,7 @@ void HAL_MspInit(void)
   /* PendSV_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
   /* SysTick_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SysTick_IRQn, 1, 0);
 
     /**NOJTAG: JTAG-DP Disabled and SW-DP Enabled
     */
@@ -107,14 +107,37 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     HAL_GPIO_Init(RADIO_RX_GPIO_Port, &GPIO_InitStruct);
 
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(TIM1_TRG_COM_IRQn, 1, 0);
+    HAL_NVIC_SetPriority(TIM1_TRG_COM_IRQn, 10, 0);
     HAL_NVIC_EnableIRQ(TIM1_TRG_COM_IRQn);
-    HAL_NVIC_SetPriority(TIM1_CC_IRQn, 1, 0);
+    HAL_NVIC_SetPriority(TIM1_CC_IRQn, 10, 0);
     HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
   /* USER CODE BEGIN TIM1_MspInit 1 */
 
   /* USER CODE END TIM1_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+
+    /**TIM2 GPIO Configuration
+    PA0-WKUP     ------> TIM2_CH1
+    */
+    GPIO_InitStruct.Pin = IR_RX_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(IR_RX_GPIO_Port, &GPIO_InitStruct);
+
+    /* Peripheral interrupt init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 10, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
 
 }
 
@@ -139,10 +162,30 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
     HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
 
-  }
   /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
   /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+
+    /**TIM2 GPIO Configuration
+    PA0-WKUP     ------> TIM2_CH1
+    */
+    HAL_GPIO_DeInit(IR_RX_GPIO_Port, IR_RX_Pin);
+
+    /* Peripheral interrupt DeInit*/
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
+
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
 
 }
 
diff --git a/bsp/radio-controller-1/Src/stm32f1xx_it.c b/bsp/radio-controller-1/Src/stm32f1xx_it.c
index 67cbc69..2edc0a7 100644
--- a/bsp/radio-controller-1/Src/stm32f1xx_it.c
+++ b/bsp/radio-controller-1/Src/stm32f1xx_it.c
@@ -42,6 +42,7 @@
 /* External variables --------------------------------------------------------*/
 extern PCD_HandleTypeDef hpcd_USB_FS;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 
 /******************************************************************************/
 /*            Cortex-M3 Processor Interruption and Exception Handlers         */
@@ -241,6 +242,20 @@ void TIM1_CC_IRQHandler(void)
   /* USER CODE END TIM1_CC_IRQn 1 */
 }
 
+/**
+* @brief This function handles TIM2 global interrupt.
+*/
+void TIM2_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM2_IRQn 0 */
+
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
+
+  /* USER CODE END TIM2_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/bsp/radio-controller-1/Src/usbd_conf.c b/bsp/radio-controller-1/Src/usbd_conf.c
index 858fb0c..ea64758 100644
--- a/bsp/radio-controller-1/Src/usbd_conf.c
+++ b/bsp/radio-controller-1/Src/usbd_conf.c
@@ -79,9 +79,9 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
     __HAL_RCC_USB_CLK_ENABLE();
 
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 2, 0);
     HAL_NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);
-    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 2, 0);
     HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
   /* USER CODE BEGIN USB_MspInit 1 */
 
diff --git a/bsp/radio-controller-1/radio-controller-1.gpdsc b/bsp/radio-controller-1/radio-controller-1.gpdsc
index 8d085bb..5ebbb9d 100644
--- a/bsp/radio-controller-1/radio-controller-1.gpdsc
+++ b/bsp/radio-controller-1/radio-controller-1.gpdsc
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- ******************************************************************************
  * File Name   : radio-controller-1.gpdsc
- * Date        : 30/05/2017 22:50:29
+ * Date        : 03/06/2017 13:16:33
  * Description : Generator PDSC File generated by STM32CubeMX (DO NOT EDIT!)
  ****************************************************************************** -->
 
@@ -11,7 +11,7 @@
   <description>STM32CubeMX generated pack description</description>
   <releases>
     <release version="1.0.0">
-     - Generated: 30/05/2017 22:50:29
+     - Generated: 03/06/2017 13:16:33
     </release>
   </releases>
   <requirements>
diff --git a/bsp/radio-controller-1/radio-controller-1.ioc b/bsp/radio-controller-1/radio-controller-1.ioc
index 11a988f..33865c7 100644
--- a/bsp/radio-controller-1/radio-controller-1.ioc
+++ b/bsp/radio-controller-1/radio-controller-1.ioc
@@ -7,28 +7,32 @@ Mcu.IP1=NVIC
 Mcu.IP2=RCC
 Mcu.IP3=SYS
 Mcu.IP4=TIM1
-Mcu.IP5=USART2
-Mcu.IP6=USB
-Mcu.IP7=USB_DEVICE
-Mcu.IPNb=8
+Mcu.IP5=TIM2
+Mcu.IP6=USART2
+Mcu.IP7=USB
+Mcu.IP8=USB_DEVICE
+Mcu.IPNb=9
 Mcu.Name=STM32F103C(4-6)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC14-OSC32_IN
 Mcu.Pin1=PC15-OSC32_OUT
-Mcu.Pin10=PA14
-Mcu.Pin11=VP_IWDG_VS_IWDG
-Mcu.Pin12=VP_SYS_VS_Systick
-Mcu.Pin13=VP_TIM1_VS_ControllerModeReset
-Mcu.Pin14=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin10=PA12
+Mcu.Pin11=PA13
+Mcu.Pin12=PA14
+Mcu.Pin13=VP_IWDG_VS_IWDG
+Mcu.Pin14=VP_SYS_VS_Systick
+Mcu.Pin15=VP_TIM1_VS_ControllerModeReset
+Mcu.Pin16=VP_TIM2_VS_ControllerModeReset
+Mcu.Pin17=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
 Mcu.Pin2=PD0-OSC_IN
 Mcu.Pin3=PD1-OSC_OUT
-Mcu.Pin4=PA2
-Mcu.Pin5=PA3
-Mcu.Pin6=PA8
-Mcu.Pin7=PA11
-Mcu.Pin8=PA12
-Mcu.Pin9=PA13
-Mcu.PinsNb=15
+Mcu.Pin4=PA0-WKUP
+Mcu.Pin5=PA2
+Mcu.Pin6=PA3
+Mcu.Pin7=PA8
+Mcu.Pin8=PA10
+Mcu.Pin9=PA11
+Mcu.PinsNb=18
 Mcu.UserConstants=RADIO_RX_TIMER_PRESCALER,(72000000/200000 - 1)
 Mcu.UserName=STM32F103C6Tx
 MxCube.Version=4.20.1
@@ -41,12 +45,19 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true
-NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true
-NVIC.TIM1_CC_IRQn=true\:1\:0\:true\:false\:true
-NVIC.TIM1_TRG_COM_IRQn=true\:1\:0\:true\:false\:true
-NVIC.USB_HP_CAN1_TX_IRQn=true\:0\:0\:false\:false\:true
-NVIC.USB_LP_CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true
+NVIC.SysTick_IRQn=true\:1\:0\:true\:false\:true
+NVIC.TIM1_CC_IRQn=true\:10\:0\:true\:false\:true
+NVIC.TIM1_TRG_COM_IRQn=true\:10\:0\:true\:false\:true
+NVIC.TIM2_IRQn=true\:10\:0\:true\:false\:true
+NVIC.USB_HP_CAN1_TX_IRQn=true\:2\:0\:true\:false\:true
+NVIC.USB_LP_CAN1_RX0_IRQn=true\:2\:0\:true\:false\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true
+PA0-WKUP.GPIOParameters=GPIO_Label
+PA0-WKUP.GPIO_Label=IR_RX
+PA0-WKUP.Signal=S_TIM2_CH1_ETR
+PA10.GPIOParameters=GPIO_Label
+PA10.GPIO_Label=DEBUG_PIN
+PA10.Signal=GPIO_Output
 PA11.Mode=Device
 PA11.Signal=USB_DM
 PA12.Mode=Device
@@ -102,7 +113,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-SystemClock_Config-RCC-false-HAL,3-MX_IWDG_Init-IWDG-false-HAL,4-MX_TIM1_Init-TIM1-false-HAL,5-MX_USART2_UART_Init-USART2-false-HAL,6-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-SystemClock_Config-RCC-false-HAL,3-MX_IWDG_Init-IWDG-false-HAL,4-MX_TIM1_Init-TIM1-false-HAL,5-MX_TIM2_Init-TIM2-false-HAL,6-MX_USART2_UART_Init-USART2-false-HAL,7-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -128,12 +139,22 @@ RCC.VCOOutput2Freq_Value=8000000
 SH.S_TIM1_CH1.0=TIM1_CH1,Input_Capture1_from_TI1
 SH.S_TIM1_CH1.1=TIM1_CH1,TriggerSource_TI1FP1
 SH.S_TIM1_CH1.ConfNb=2
+SH.S_TIM2_CH1_ETR.0=TIM2_CH1,TriggerSource_TI1FP1
+SH.S_TIM2_CH1_ETR.1=TIM2_CH1,Input_Capture1_from_TI1
+SH.S_TIM2_CH1_ETR.2=TIM2_CH1,Input_Capture2_from_TI1
+SH.S_TIM2_CH1_ETR.ConfNb=3
 TIM1.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM1.ICFilter_CH1=0
 TIM1.ICPolarity_CH1=TIM_INPUTCHANNELPOLARITY_RISING
 TIM1.IPParameters=Prescaler,Period,Channel-Input_Capture1_from_TI1,ICFilter_CH1,ICPolarity_CH1
 TIM1.Period=0xffff
 TIM1.Prescaler=RADIO_RX_TIMER_PRESCALER
+TIM2.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
+TIM2.Channel-Input_Capture2_from_TI1=TIM_CHANNEL_2
+TIM2.ICPolarity_CH1=TIM_INPUTCHANNELPOLARITY_FALLING
+TIM2.IPParameters=Channel-Input_Capture1_from_TI1,ICPolarity_CH1,Channel-Input_Capture2_from_TI1,Prescaler,Period
+TIM2.Period=0xffff
+TIM2.Prescaler=RADIO_RX_TIMER_PRESCALER
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 USB_DEVICE.CLASS_NAME_FS=CDC
@@ -146,6 +167,8 @@ VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ControllerModeReset.Mode=Reset Mode
 VP_TIM1_VS_ControllerModeReset.Signal=TIM1_VS_ControllerModeReset
+VP_TIM2_VS_ControllerModeReset.Mode=Reset Mode
+VP_TIM2_VS_ControllerModeReset.Signal=TIM2_VS_ControllerModeReset
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
 board=radio-controller-1
diff --git a/doc/tsop48.pdf b/doc/tsop48.pdf
new file mode 100644
index 0000000..4355bf8
--- /dev/null
+++ b/doc/tsop48.pdf
diff --git a/include/misc.h b/include/misc.h
new file mode 100644
index 0000000..aacba74
--- /dev/null
+++ b/include/misc.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <chrono>
+#include <stm32f1xx_hal_tim.h>
+#include <stm32f103x6.h>
+
+template<unsigned Fcpu, typename SecondsPerTimerTick>
+struct from_f_cpu_and_time_per_timer_tick {
+    template<std::intmax_t Num, std::intmax_t Den>
+    using r = std::ratio<Num, Den>;
+
+    using f_cpu = r<Fcpu, 1>;
+    using seconds_per_cpu_tick = r<1, f_cpu::num>;
+    using seconds_per_timer_tick = SecondsPerTimerTick;
+    using timer_frequency = r<SecondsPerTimerTick::den, SecondsPerTimerTick::num>;
+
+//    static constexpr std::intmax_t prescaler = std::ratio_divive<f_cpu, timer_frequency>::value;
+    using prescaler_t = std::ratio_divide<f_cpu, timer_frequency>;
+    static_assert(prescaler_t::den == 1, "Could not represent the prescaler as an integer");
+    static constexpr std::intmax_t prescaler = prescaler_t::num;
+
+    // us_per_timer_tick = seconds_per_timer_tick * 1'000'000
+    using us_per_timer_tick_t = typename std::ratio_multiply<seconds_per_timer_tick, r<1'000'000, 1>>::type;
+
+    static constexpr uint16_t us_per_timer_tick = static_cast<uint16_t>(us_per_timer_tick_t::num);
+
+    template<typename T>
+    __always_inline constexpr
+    static T to_us(unsigned int count)
+    {
+        return T(count * us_per_timer_tick);
+    }
+};
+
+using values = from_f_cpu_and_time_per_timer_tick<72'000'000, std::ratio_multiply<std::ratio<5, 1>, std::micro>>;
+
+//static_assert(values::timer_frequency::num == 200'000, "timer_frequency::num");
+static_assert(values::timer_frequency::den == 1, "timer_frequency::den");
+//static_assert(std::is_same<
+//    values::timer_frequency,
+//    std::ratio<200'000, 1>>::value, "Timer frequency is not 200kHz");
+static_assert(values::prescaler == 360, "Timer frequency is not 200kHz");
+static_assert(values::prescaler - 1 == RADIO_RX_TIMER_PRESCALER, "Bad prescaler from STM32CubeMX");
+static_assert(values::us_per_timer_tick == 5, "bad us_per_timer_tick");
+
+static inline
+void debug_pin(int count) {
+    for(int i = 0; i < count; i++) {
+        HAL_GPIO_WritePin(DEBUG_PIN_GPIO_Port, DEBUG_PIN_Pin, GPIO_PIN_SET);
+        __NOP();
+        __NOP();
+        __NOP();
+        HAL_GPIO_WritePin(DEBUG_PIN_GPIO_Port, DEBUG_PIN_Pin, GPIO_PIN_RESET);
+        __NOP();
+        __NOP();
+        __NOP();
+    }
+    __NOP();
+    __NOP();
+    __NOP();
+}
diff --git a/src/radio-controller.cpp b/src/radio-controller.cpp
index 0f60717..8b350d2 100644
--- a/src/radio-controller.cpp
+++ b/src/radio-controller.cpp
@@ -5,11 +5,13 @@
 #include "mcu/arm/semihosting.h"
 #include "mcu/stm32cube/uart.h"
 #include "mcu/stm32cube/debug.h"
+#include "misc.h"
 
 using mcu::arm::mutex;
 
 extern IWDG_HandleTypeDef hiwdg;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 extern UART_HandleTypeDef huart2;
 
 mcu::stm32cube::uart::uart_port uart2(&huart2);
@@ -20,25 +22,34 @@ struct sample {
     uint16_t pulse_us;
 };
 
-template<unsigned int BufferSize>
-class sample_buffer {
-    sample samples[BufferSize];
+template<unsigned int BufferSize, typename T>
+class buffer {
+    T samples[BufferSize];
 
-    volatile unsigned int _size;
+    volatile unsigned int size_;
 
-    bool _first;
+    bool first_;
+    int part_;
 
 public:
     void reset()
     {
-        _size = 0;
-        _first = true;
+        size_ = 0;
+        first_ = true;
+        part_ = 1;
+    }
+
+    bool check_first_part()
+    {
+        bool first = part_ == 1;
+        part_ = first ? 2 : 1;
+        return first;
     }
 
     bool check_first()
     {
-        if (_first) {
-            _first = false;
+        if (first_) {
+            first_ = false;
             return true;
         }
         return false;
@@ -47,35 +58,47 @@ public:
     __always_inline
     unsigned int size() const
     {
-        return _size;
+        return size_;
+    }
+
+    __always_inline
+    bool is_empty() const
+    {
+        return size_ == 0;
     }
 
     __always_inline
     bool is_full() const
     {
-        return _size == BufferSize;
+        return size_ == BufferSize;
     }
 
     __always_inline
-    void append(sample sample)
+    void append(T sample)
     {
-        if (_size == BufferSize) {
+        if (size_ == BufferSize) {
             return;
         }
 
-        samples[_size++] = sample;
+        samples[size_++] = sample;
     }
 
     __always_inline
-    sample at(int i) const
+    T at(int i) const
     {
         return samples[i];
     }
 };
 
-volatile int sample_index;
-sample_buffer<10> buffer;
-mutex buffer_lock;
+template<size_t BufferSize>
+using sample_buffer = buffer<BufferSize, sample>;
+
+sample_buffer<10> radio_buffer;
+mutex radio_buffer_lock;
+
+sample_buffer<30> ir_buffer;
+buffer<100, uint16_t> ir_level_buffer;
+mutex ir_buffer_lock;
 
 void main_pre_init()
 {
@@ -99,60 +122,23 @@ void main_post_init()
 
     printf("Radio Controller\n");
 
-    buffer.reset();
-    sample_index = 0;
+    radio_buffer.reset();
+    radio_buffer_lock.unlock();
+    ir_buffer.reset();
+    ir_level_buffer.reset();
+    ir_buffer_lock.unlock();
     uart2.enable();
 
     hal_ok(HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1));
+    hal_ok(HAL_TIM_Base_Start(&htim2));
+    hal_ok(HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1));
+    hal_ok(HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2));
 }
 
 static uint32_t tick_next = 0;
 
 //static bool seen_high = false;
 
-#include <chrono>
-#include <stm32f1xx_hal_tim.h>
-#include <stm32f103x6.h>
-
-template<unsigned Fcpu, typename SecondsPerTimerTick>
-struct from_f_cpu_and_time_per_timer_tick {
-    template<std::intmax_t Num, std::intmax_t Den>
-    using r = std::ratio<Num, Den>;
-
-    using f_cpu = r<Fcpu, 1>;
-    using seconds_per_cpu_tick = r<1, f_cpu::num>;
-    using seconds_per_timer_tick = SecondsPerTimerTick;
-    using timer_frequency = r<SecondsPerTimerTick::den, SecondsPerTimerTick::num>;
-
-//    static constexpr std::intmax_t prescaler = std::ratio_divive<f_cpu, timer_frequency>::value;
-    using prescaler_t = std::ratio_divide<f_cpu, timer_frequency>;
-    static_assert(prescaler_t::den == 1, "Could not represent the prescaler as an integer");
-    static constexpr std::intmax_t prescaler = prescaler_t::num;
-
-    // us_per_timer_tick = seconds_per_timer_tick * 1'000'000
-    using us_per_timer_tick_t = typename std::ratio_multiply<seconds_per_timer_tick, r<1'000'000, 1>>::type;
-
-    static constexpr uint16_t us_per_timer_tick = static_cast<uint16_t>(us_per_timer_tick_t::num);
-
-    template<typename T>
-    __always_inline constexpr
-    static T to_us(unsigned int count)
-    {
-        return T(count * us_per_timer_tick);
-    }
-};
-
-using values = from_f_cpu_and_time_per_timer_tick<72'000'000, std::ratio_multiply<std::ratio<5, 1>, std::micro>>;
-
-//static_assert(values::timer_frequency::num == 200'000, "timer_frequency::num");
-static_assert(values::timer_frequency::den == 1, "timer_frequency::den");
-//static_assert(std::is_same<
-//    values::timer_frequency,
-//    std::ratio<200'000, 1>>::value, "Timer frequency is not 200kHz");
-static_assert(values::prescaler == 360, "Timer frequency is not 200kHz");
-static_assert(values::prescaler - 1 == RADIO_RX_TIMER_PRESCALER, "Bad prescaler from STM32CubeMX");
-static_assert(values::us_per_timer_tick == 5, "bad us_per_timer_tick");
-
 void main_loop()
 {
     auto now = HAL_GetTick();
@@ -167,44 +153,64 @@ void main_loop()
 //        seen_high = false;
     }
 
-    if (buffer.is_full()) {
-        buffer_lock.lock();
+    if (radio_buffer.is_full()) {
+        radio_buffer_lock.lock();
 
         hal_ok(HAL_TIM_IC_Stop_IT(&htim1, TIM_CHANNEL_1));
 
-//            printf("Period:");
-//            for (unsigned int i = 0; i < buffer.size(); i++) {
-//                printf(" %u", buffer.at(i));
-//            }
-//            printf("\n");
-
-//            dbg.print("Pulse: ");
-//            for (unsigned int i = 0; i < buffer.size(); i++) {
-//                auto p = values::to_us(buffer_pulse.at(i));
-//                dbg.print(" %05u", p);
-//            }
-//            dbg.print("\n");
-//
-//            dbg.print("Period:");
-//            for (unsigned int i = 0; i < buffer.size(); i++) {
-//                auto p = values::to_us(buffer_period.at(i));
-//                dbg.print(" %05u", p);
-//            }
-//            dbg.print("\n");
-
-        dbg.println("Samples");
-        for (unsigned int i = 0; i < buffer.size(); i++) {
-            sample s = buffer.at(i);
+        /*
+        dbg.println("Radio");
+        for (unsigned int i = 0; i < radio_buffer.size(); i++) {
+            sample s = radio_buffer.at(i);
             auto pulse = s.pulse_us;
             auto period = s.period_us;
-            dbg.println("%d %d, %d%%", period, pulse, int(pulse / double(period) * 100));
+            dbg.println("%d us %d us, %d%%", period, pulse, int(pulse / double(period) * 100));
         }
         dbg.println();
+        */
 
-        buffer.reset();
-        sample_index = 0;
+        radio_buffer.reset();
         hal_ok(HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1));
-        buffer_lock.unlock();
+        radio_buffer_lock.unlock();
+    }
+
+    /*
+    if (ir_buffer.is_full()) {
+        ir_buffer_lock.lock();
+
+        hal_ok(HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_1));
+        hal_ok(HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_2));
+        dbg.println("IR");
+        for (unsigned int i = 0; i < ir_buffer.size(); i++) {
+            sample s = ir_buffer.at(i);
+            auto pulse = s.pulse_us;
+            auto period = s.period_us;
+            dbg.println("% 5d us % 5d us, %.02d%%", period, pulse, int(pulse / double(period) * 100));
+        }
+        dbg.println();
+
+        ir_buffer.reset();
+        hal_ok(HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1));
+        hal_ok(HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2));
+        ir_buffer_lock.unlock();
+    }
+    */
+
+    if (ir_level_buffer.is_full()) {
+        ir_buffer_lock.lock();
+
+        HAL_NVIC_DisableIRQ(TIM2_IRQn);
+
+        dbg.println("IR");
+        for (unsigned int i = 0; i < ir_level_buffer.size(); i++) {
+            uint16_t s = ir_level_buffer.at(i);
+            dbg.println("% 5d us", s);
+        }
+        dbg.println();
+
+        ir_level_buffer.reset();
+        ir_buffer_lock.unlock();
+        HAL_NVIC_EnableIRQ(TIM2_IRQn);
     }
 
 //    seen_high |= HAL_GPIO_ReadPin(RADIO_RX_GPIO_Port, RADIO_RX_Pin);
@@ -214,26 +220,63 @@ void main_loop()
 
 //static uint16_t start = 0;
 
-void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+uint16_t ir_value1, ir_value2;
+
+static
+void ir_rx(TIM_HandleTypeDef *htim)
 {
-    if (htim->Channel != HAL_TIM_ACTIVE_CHANNEL_1) {
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
+        debug_pin(2);
+    }
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+        debug_pin(3);
+    }
+
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
+        ir_value1 = static_cast<uint16_t>(htim->Instance->CCR1);
+    } else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+        ir_value2 = static_cast<uint16_t>(htim->Instance->CCR2);
+    }
+
+    if (ir_level_buffer.check_first()) {
         return;
     }
 
-//    if (buffer.check_first()) {
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
+        ir_level_buffer.append(values::to_us<uint16_t>(ir_value1 - ir_value2));
+    } else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+        ir_level_buffer.append(values::to_us<uint16_t>(ir_value2));
+    }
+
+    /*
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1 && !ir_buffer.check_first()) {
+        if (ir_buffer_lock.try_lock()) {
+            ir_buffer.append({values::to_us<uint16_t>(ir_value1), values::to_us<uint16_t>(ir_value2)});
+
+            ir_buffer_lock.unlock();
+        }
+    }
+    */
+}
+
+static
+void radio_rx(TIM_HandleTypeDef *htim)
+{
+    if (htim->Channel != HAL_TIM_ACTIVE_CHANNEL_1) {
+        return;
+    }
+//    if (radio_buffer.check_first()) {
 //        return;
 //    }
 
     static uint16_t value1, value2;
 
-    if (sample_index == 0) {
+    if (radio_buffer.check_first_part()) {
 //        value1 = static_cast<uint16_t>(HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1));
         value1 = static_cast<uint16_t>(htim->Instance->CCR1);
-        sample_index = 1;
     } else {
 //        value2 = static_cast<uint16_t>(HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1));
-        value2 = static_cast<uint16_t>(htim->Instance->CCR1);
-        sample_index = 0;
+        value2 = static_cast<uint16_t>(htim->Instance->CCR2);
 
         uint16_t diff;
         if (value2 > value1) {
@@ -244,10 +287,20 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
             return;
         }
 
-        if (buffer_lock.try_lock()) {
-            buffer.append({values::to_us<uint16_t>(0), values::to_us<uint16_t>(diff)});
+        if (radio_buffer_lock.try_lock()) {
+            radio_buffer.append({values::to_us<uint16_t>(0), values::to_us<uint16_t>(diff)});
 
-            buffer_lock.unlock();
+            radio_buffer_lock.unlock();
         }
     }
 }
+
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+    if (htim == &htim1) {
+        radio_rx(htim);
+    }
+    if (htim == &htim2) {
+        ir_rx(htim);
+    }
+}