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Code Issues Releases Activity

OP-1683 - Implement servo synchronous update mode for F4

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This commit is contained in:
Alessio Morale 2015-01-23 23:50:51 +01:00
parent 1d2b28202e
commit 1f95332ff4
2 changed files with 157 additions and 32 deletions
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8
flight/pios/inc/pios_servo.h
View File

@ -30,9 +30,17 @@
#ifndef PIOS_SERVO_H
#define PIOS_SERVO_H
/* Global types */
enum pios_servo_bank_mode {
PIOS_SERVO_BANK_MODE_PWM = 0,
PIOS_SERVO_BANK_MODE_SINGLE_PULSE = 1
};
/* Public Functions */
extern void PIOS_Servo_SetHz(const uint16_t *update_rates, uint8_t banks);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
extern void PIOS_Servo_Update();
extern void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode);
extern uint8_t PIOS_Servo_GetPinBank(uint8_t pin);
#endif /* PIOS_SERVO_H */

181
flight/pios/stm32f4xx/pios_servo.c
View File

@ -39,6 +39,16 @@
static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
// index of bank used for each pin
static uint8_t *pios_servo_pin_bank;
/**
* Initialise Servos
*/
@ -52,39 +62,132 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
/* Store away the requested configuration */
servo_cfg = cfg;
pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
/* Configure the channels to be in output compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel *chan = &cfg->channels[i];
uint8_t bank = 0;
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
bool new = true;
/* See if any previous channels use that same timer */
for (uint8_t j = 0; (j < i) && new; j++) {
new &= chan->timer != servo_cfg->channels[j].timer;
}
if (new) {
PIOS_Assert(bank < PIOS_SERVO_BANKS);
for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
if (servo_cfg->channels[j].timer == chan->timer) {
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[i] = chan->timer;
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, DISABLE);
bank++;
}
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
TIM_OC1Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_2:
TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
TIM_OC2Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_3:
TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
TIM_OC3Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_4:
TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
TIM_OC4Init(chan->timer, &servo_cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
}
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
}
return 0;
}
void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
{
PIOS_Assert(bank < PIOS_SERVO_BANKS);
pios_servo_bank_mode[bank] = mode;
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
switch (mode) {
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
}
break;
case PIOS_SERVO_BANK_MODE_PWM:
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
}
break;
default:
PIOS_Assert(false);
}
}
// Setup the timer accordingly
switch (mode) {
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Single);
TIM_CounterModeConfig(pios_servo_bank_timer[bank], TIM_CounterMode_Up);
break;
case PIOS_SERVO_BANK_MODE_PWM:
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
break;
default:
PIOS_Assert(false);
}
}
void PIOS_Servo_Update()
{
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer) {
TIM_Cmd((TIM_TypeDef *)timer, ENABLE);
}
}
}
/**
* Set the servo update rate (Max 500Hz)
* \param[in] array of rates in Hz
@ -92,6 +195,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
*/
void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
{
PIOS_Assert(banks <= PIOS_SERVO_BANKS);
if (!servo_cfg) {
return;
}
@ -99,30 +203,19 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
//
uint8_t set = 0;
for (uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
bool new = true;
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
/* See if any previous channels use that same timer */
for (uint8_t j = 0; (j < i) && new; j++) {
new &= chan->timer != servo_cfg->channels[j].timer;
}
if (new) {
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer) {
// Choose the correct prescaler value for the APB the timer is attached
if (chan->timer == TIM1 || chan->timer == TIM8 || chan->timer == TIM9 || chan->timer == TIM10 || chan->timer == TIM11) {
if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
} else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
}
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
set++;
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[i]) - 1);
TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
}
}
}
@ -141,20 +234,44 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint8_t bank = pios_servo_pin_bank[servo];
uint8_t mode = pios_servo_bank_mode[bank];
uint16_t val;
switch (mode) {
case PIOS_SERVO_BANK_MODE_PWM:
val = position;
break;
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
val = chan->timer->ARR - position;
break;
default:
PIOS_Assert(false);
}
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, position);
TIM_SetCompare1(chan->timer, val);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, position);
TIM_SetCompare2(chan->timer, val);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, position);
TIM_SetCompare3(chan->timer, val);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, position);
TIM_SetCompare4(chan->timer, val);
break;
}
}
uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
{
if (pin < servo_cfg->num_channels) {
return pios_servo_pin_bank[pin];
} else {
return 0;
}
}
#endif /* PIOS_INCLUDE_SERVO */