mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
ppm: port PPM driver onto new CC driver layers
This is a port of a work-in-progress by Sambas onto the new driver infrastructure needed for boot-time configuration. PPM and PWM still don't coexist in a build but this is closer.
This commit is contained in:
Stacey Sheldon
parent
226f095a2e
commit
1f004ee896
@ -632,18 +632,64 @@ const struct pios_servo_cfg pios_servo_cfg = {
|
||||
.num_channels = NELEMENTS(pios_servo_channels),
|
||||
};
|
||||
|
||||
#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM)
|
||||
#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet)
|
||||
#endif
|
||||
|
||||
/*
|
||||
* PPM Inputs
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
#include <pios_ppm_priv.h>
|
||||
#endif
|
||||
|
||||
void TIM4_IRQHandler();
|
||||
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
|
||||
const struct pios_ppm_cfg pios_ppm_cfg = {
|
||||
.tim_base_init = {
|
||||
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
|
||||
.TIM_ClockDivision = TIM_CKD_DIV1,
|
||||
.TIM_CounterMode = TIM_CounterMode_Up,
|
||||
.TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */
|
||||
.TIM_RepetitionCounter = 0x0000,
|
||||
},
|
||||
.tim_ic_init = {
|
||||
.TIM_Channel = TIM_Channel_1,
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
.gpio_init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Mode = GPIO_Mode_IPD,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
},
|
||||
.remap = 0,
|
||||
.irq = {
|
||||
.handler = TIM4_IRQHandler,
|
||||
.init = {
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.timer = TIM4,
|
||||
.port = GPIOB,
|
||||
.ccr = TIM_IT_CC1,
|
||||
};
|
||||
|
||||
void PIOS_TIM4_irq_handler()
|
||||
{
|
||||
PIOS_PPM_irq_handler();
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_PPM */
|
||||
|
||||
/*
|
||||
* PWM Inputs
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
#include <pios_pwm_priv.h>
|
||||
|
||||
static const struct pios_pwm_channel pios_pwm_channels[] = {
|
||||
{
|
||||
.timer = TIM4,
|
||||
|
||||
@ -48,14 +48,15 @@ static uint32_t PreviousValue;
|
||||
static uint32_t CurrentValue;
|
||||
static uint32_t CapturedValue;
|
||||
static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS];
|
||||
|
||||
static uint8_t SupervisorState = 0;
|
||||
static uint32_t CapCounter[PIOS_PPM_NUM_INPUTS];
|
||||
static uint16_t TimerCounter;
|
||||
|
||||
static uint8_t supv_timer = 0;
|
||||
static uint8_t SupervisorState = 0;
|
||||
static uint32_t CapCounterPrev[PIOS_PPM_NUM_INPUTS];
|
||||
|
||||
/**
|
||||
* Initialises all the LED's
|
||||
*/
|
||||
static void PIOS_PPM_Supervisor(uint32_t ppm_id);
|
||||
|
||||
void PIOS_PPM_Init(void)
|
||||
{
|
||||
/* Flush counter variables */
|
||||
@ -65,6 +66,7 @@ void PIOS_PPM_Init(void)
|
||||
PreviousValue = 0;
|
||||
CurrentValue = 0;
|
||||
CapturedValue = 0;
|
||||
TimerCounter = 0;
|
||||
|
||||
for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
|
||||
CaptureValue[i] = 0;
|
||||
@ -127,13 +129,12 @@ void PIOS_PPM_Init(void)
|
||||
TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure);
|
||||
|
||||
/* Enable the Capture Compare Interrupt Request */
|
||||
TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr, ENABLE);
|
||||
TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE);
|
||||
|
||||
/* Enable timers */
|
||||
TIM_Cmd(pios_ppm_cfg.timer, ENABLE);
|
||||
|
||||
/* Supervisor Setup */
|
||||
#if (PIOS_PPM_SUPV_ENABLED)
|
||||
/* Flush counter variables */
|
||||
for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
|
||||
CapCounter[i] = 0;
|
||||
@ -142,70 +143,15 @@ void PIOS_PPM_Init(void)
|
||||
CapCounterPrev[i] = 0;
|
||||
}
|
||||
|
||||
NVIC_InitStructure = pios_ppmsv_cfg.irq.init;
|
||||
|
||||
/* Enable appropriate clock to timer module */
|
||||
switch((int32_t) pios_ppmsv_cfg.timer) {
|
||||
case (int32_t)TIM1:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM2:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM3:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM4:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
|
||||
break;
|
||||
#ifdef STM32F10X_HD
|
||||
|
||||
case (int32_t)TIM5:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM6:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM7:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
|
||||
break;
|
||||
case (int32_t)TIM8:
|
||||
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Configure interrupts */
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Time base configuration */
|
||||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||||
TIM_TimeBaseStructure = pios_ppmsv_cfg.tim_base_init;
|
||||
TIM_TimeBaseInit(pios_ppmsv_cfg.timer, &TIM_TimeBaseStructure);
|
||||
|
||||
/* Enable the CCx Interrupt Request */
|
||||
TIM_ITConfig(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr, ENABLE);
|
||||
|
||||
/* Clear update pending flag */
|
||||
TIM_ClearFlag(pios_ppmsv_cfg.timer, TIM_FLAG_Update);
|
||||
|
||||
/* Enable counter */
|
||||
TIM_Cmd(pios_ppmsv_cfg.timer, ENABLE);
|
||||
#endif
|
||||
|
||||
/* Setup local variable which stays in this scope */
|
||||
/* Doing this here and using a local variable saves doing it in the ISR */
|
||||
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
|
||||
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
||||
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
||||
|
||||
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -230,6 +176,15 @@ static int32_t PIOS_PPM_Get(uint32_t chan_id)
|
||||
*/
|
||||
void PIOS_PPM_irq_handler(void)
|
||||
{
|
||||
if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) {
|
||||
TimerCounter+=pios_ppm_cfg.timer->ARR;
|
||||
TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update);
|
||||
if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) != SET) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* Do this as it's more efficient */
|
||||
if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) {
|
||||
PreviousValue = CurrentValue;
|
||||
@ -247,37 +202,44 @@ void PIOS_PPM_irq_handler(void)
|
||||
CurrentValue = TIM_GetCapture4(pios_ppm_cfg.timer);
|
||||
break;
|
||||
}
|
||||
}
|
||||
CurrentValue+=TimerCounter;
|
||||
if(CurrentValue > 0xFFFF) {
|
||||
CurrentValue-=0xFFFF;
|
||||
}
|
||||
|
||||
/* Clear TIMx Capture compare interrupt pending bit */
|
||||
TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
|
||||
/* Clear TIMx Capture compare interrupt pending bit */
|
||||
TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
|
||||
|
||||
/* Capture computation */
|
||||
if (CurrentValue > PreviousValue) {
|
||||
CapturedValue = (CurrentValue - PreviousValue);
|
||||
} else {
|
||||
CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
|
||||
}
|
||||
/* Capture computation */
|
||||
if (CurrentValue > PreviousValue) {
|
||||
CapturedValue = (CurrentValue - PreviousValue);
|
||||
} else {
|
||||
CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
|
||||
}
|
||||
|
||||
/* sync pulse */
|
||||
if (CapturedValue > 8000) {
|
||||
PulseIndex = 0;
|
||||
/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
|
||||
} else if (CapturedValue > 750 && CapturedValue < 2500) {
|
||||
if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
|
||||
CaptureValue[PulseIndex] = CapturedValue;
|
||||
CapCounter[PulseIndex]++;
|
||||
PulseIndex++;
|
||||
/* sync pulse */
|
||||
if (CapturedValue > 8000) {
|
||||
PulseIndex = 0;
|
||||
/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
|
||||
} else if (CapturedValue > 750 && CapturedValue < 2500) {
|
||||
if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
|
||||
CaptureValue[PulseIndex] = CapturedValue;
|
||||
CapCounter[PulseIndex]++;
|
||||
PulseIndex++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* This function handles TIM3 global interrupt request.
|
||||
*/
|
||||
void PIOS_PPMSV_irq_handler(void) {
|
||||
/* Clear timer interrupt pending bit */
|
||||
TIM_ClearITPendingBit(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr);
|
||||
static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
|
||||
/*
|
||||
* RTC runs at 625Hz so divide down the base rate so
|
||||
* that this loop runs at 25Hz.
|
||||
*/
|
||||
if(++supv_timer < 25) {
|
||||
return;
|
||||
}
|
||||
supv_timer = 0;
|
||||
|
||||
/* Simple state machine */
|
||||
if (SupervisorState == 0) {
|
||||
|
||||
@ -34,13 +34,6 @@
|
||||
#include <pios.h>
|
||||
#include <pios_stm32.h>
|
||||
|
||||
struct pios_ppmsv_cfg {
|
||||
TIM_TimeBaseInitTypeDef tim_base_init;
|
||||
struct stm32_irq irq;
|
||||
TIM_TypeDef * timer;
|
||||
uint16_t ccr;
|
||||
};
|
||||
|
||||
struct pios_ppm_cfg {
|
||||
TIM_TimeBaseInitTypeDef tim_base_init;
|
||||
TIM_ICInitTypeDef tim_ic_init;
|
||||
@ -53,11 +46,9 @@ struct pios_ppm_cfg {
|
||||
};
|
||||
|
||||
extern void PIOS_PPM_irq_handler();
|
||||
extern void PIOS_PPMSV_irq_handler();
|
||||
|
||||
extern uint8_t pios_ppm_num_channels;
|
||||
extern const struct pios_ppm_cfg pios_ppm_cfg;
|
||||
extern const struct pios_ppmsv_cfg pios_ppmsv_cfg;
|
||||
|
||||
extern const struct pios_rcvr_driver pios_ppm_rcvr_driver;
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user