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OP-1312 Initial version running on DiscoveryF4

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This commit is contained in:
Alessio Morale 2014-04-26 16:57:16 +02:00
parent 0aa9ef4b57
commit 46f70a74c8
4 changed files with 449 additions and 1 deletions
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87
flight/pios/inc/pios_ws2811.h Normal file
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@ -0,0 +1,87 @@
/**
******************************************************************************
*
* @file pios_ws2811.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief A driver for ws2811 rgb led controller.
* this is a plain PiOS port of the very clever solution
* implemented by Omri Iluz in the chibios driver here:
* https://github.com/omriiluz/WS2812B-LED-Driver-ChibiOS
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_WS2811_H_
#define PIOS_WS2811_H_
#include <stdint.h>
#include <pios_gpio.h>
#include <pios_stm32.h>
#include <pios_gpio_priv.h>
#include <stm32f4xx.h>
#include <stm32f4xx_tim.h>
#include <stm32f4xx_dma.h>
#define sign(x) ((x > 0) - (x < 0))
#define PIOS_WS2811_NUMLEDS 2
#define PIOS_WS2811_BUFFER_SIZE (((PIOS_WS2811_NUMLEDS) * 24))
#define PIOS_WS2811_MEMORYDATASIZE DMA_MemoryDataSize_HalfWord
#define PIOS_WS2811_PERIPHERALDATASIZE DMA_PeripheralDataSize_HalfWord
#define PIOS_WS2811_TIM_PERIOD 20
typedef uint16_t ledbuf_t;
typedef struct Color Color;
struct Color {
uint8_t R;
uint8_t G;
uint8_t B;
};
struct pios_ws2811_pin_cfg{
GPIO_TypeDef *gpio;
GPIO_InitTypeDef gpioInit;
};
struct pios_ws2811_cfg {
TIM_TimeBaseInitTypeDef timerInit;
TIM_TypeDef *timer;
uint8_t timerCh1;
uint8_t timerCh2;
DMA_InitTypeDef dmaInitCh1;
DMA_Stream_TypeDef *streamCh1;
uint32_t dmaItCh1;
DMA_InitTypeDef dmaInitCh2;
DMA_Stream_TypeDef *streamCh2;
uint32_t dmaItCh2;
DMA_InitTypeDef dmaInitUpdate;
DMA_Stream_TypeDef *streamUpdate;
uint32_t dmaItUpdate;
uint16_t dmaSource;
struct stm32_irq irq;
};
void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg);
void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update);
void PIOS_WS2811_Update();
void PIOS_WS2811_DMA_irq_handler();
#endif /* PIOS_WS2811_H_ */

248
flight/pios/stm32f4xx/pios_ws2811.c Normal file
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@ -0,0 +1,248 @@
/**
******************************************************************************
*
* @file pios_ws2811.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief A driver for ws2811 rgb led controller.
* this is a plain PiOS port of the very clever solution
* implemented by Omri Iluz in the chibios driver here:
* https://github.com/omriiluz/WS2812B-LED-Driver-ChibiOS
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#include "pios_ws2811.h"
#include <stm32f4xx_rcc.h>
#include <pios_stm32.h>
#include "FreeRTOS.h"
#include "task.h"
// framebuffer
static ledbuf_t *fb = 0;
// bitmask with pin to be set/reset using dma
static ledbuf_t dmaSource;
static const struct pios_ws2811_cfg *pios_ws2811_cfg;
static const struct pios_ws2811_pin_cfg *pios_ws2811_pin_cfg;
static void setupTimer();
static void setupDMA();
// generic wrapper around corresponding SPL functions
static void genericTIM_OCxInit(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct, uint8_t ch);
static void genericTIM_OCxPreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload, uint8_t ch);
// timer creates a 1.25 uS signal, with duty cycle controlled by frame buffer values
/* Example configuration for REVOLUTION
*/
/*
* How it works:
* a timer and two channels will produce the timings events:
* timer period will be 1.25us
* Ch1 CC event will be raised at 0.40uS from the beginning of the cycle
* Ch2 CC event will be raised at 0.80uS from the beginning of the cycle
* At cycle init an Update event will be raised.
*
* Three dma streams will handle the output pin as following:
* - streamUpdate dma stream, triggered by update event will produce a logic 1 on the output pin
* - streamCh1 will bring the pin to 0 if framebuffer location is set to dmaSource value to send a "0" bit to WS281x
* - streamCh2 will bring pin to 0 once .8us are passed to send a "1" bit to ws281x
* Once StreamCh1 has finished to send the buffer the IRQ handler will stop the timer.
*
*/
/**
* @brief Initialize WS2811 Led Driver
* @details Initialize the Led Driver based on passed configuration
*
* @param[in] ws2811_cfg ws2811 driver configuration
* @param[in] ws2811_pin_cfg pin to be used as output
*
*/
void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg)
{
assert_param(ws2811_cfg);
assert_param(ws2811_pin_cfg);
pios_ws2811_pin_cfg = ws2811_pin_cfg;
pios_ws2811_cfg = ws2811_cfg;
GPIO_Init(pios_ws2811_pin_cfg->gpio, &pios_ws2811_pin_cfg->gpioInit);
dmaSource = (ledbuf_t)pios_ws2811_pin_cfg->gpioInit.GPIO_Pin;
fb =(ledbuf_t *) pvPortMalloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
//Setup timers
setupTimer();
setupDMA();
}
void setupTimer(){
// Stop timer
TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
// Configure timebase and internal clock
TIM_TimeBaseInit(pios_ws2811_cfg->timer, &pios_ws2811_cfg->timerInit);
TIM_InternalClockConfig(pios_ws2811_cfg->timer);
genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh1);
genericTIM_OCxPreloadConfig(pios_ws2811_cfg->timer, TIM_OCPreload_Enable, pios_ws2811_cfg->timerCh2);
TIM_ARRPreloadConfig(pios_ws2811_cfg->timer, ENABLE);
// enable outputs
//TIM_CtrlPWMOutputs(pios_ws2811_cfg->timer, ENABLE);
TIM_DMACmd(pios_ws2811_cfg->timer, pios_ws2811_cfg->dmaSource, ENABLE);
TIM_OCInitTypeDef oc = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = 0,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCNPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
};
// (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.40 uS
oc.TIM_Pulse = 40 * PIOS_WS2811_TIM_PERIOD / 125;
genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh1);
// (duty in ticks) / (period in ticks) * 1.25uS (period in S) = 0.80 uS
oc.TIM_Pulse = 80 * PIOS_WS2811_TIM_PERIOD / 125;
genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh2);
}
void genericTIM_OCxInit(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct, uint8_t ch){
switch (ch){
case 1:
TIM_OC1Init(TIMx, TIM_OCInitStruct);
break;
case 2:
TIM_OC2Init(TIMx, TIM_OCInitStruct);
break;
case 3:
TIM_OC3Init(TIMx, TIM_OCInitStruct);
break;
case 4:
TIM_OC4Init(TIMx, TIM_OCInitStruct);
break;
}
}
void genericTIM_OCxPreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload, uint8_t ch){
switch (ch){
case 1:
TIM_OC1PreloadConfig(TIMx, TIM_OCPreload);
break;
case 2:
TIM_OC2PreloadConfig(TIMx, TIM_OCPreload);
break;
case 3:
TIM_OC3PreloadConfig(TIMx, TIM_OCPreload);
break;
case 4:
TIM_OC4PreloadConfig(TIMx, TIM_OCPreload);
break;
}
}
void setupDMA(){
// Configure Ch1
DMA_Init(pios_ws2811_cfg->streamCh1, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh1);
pios_ws2811_cfg->streamCh1->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
pios_ws2811_cfg->streamCh1->M0AR= (uint32_t)fb;
NVIC_Init((NVIC_InitTypeDef *)&(pios_ws2811_cfg->irq.init));
DMA_ITConfig(pios_ws2811_cfg->streamCh1, DMA_IT_TC, ENABLE);
DMA_Init(pios_ws2811_cfg->streamCh2, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh2);
pios_ws2811_cfg->streamCh2->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
pios_ws2811_cfg->streamCh2->M0AR= (uint32_t)&dmaSource;
DMA_Init(pios_ws2811_cfg->streamUpdate, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitUpdate);
pios_ws2811_cfg->streamUpdate->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRL;
pios_ws2811_cfg->streamUpdate->M0AR= (uint32_t)&dmaSource;
DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->dmaItCh1);
DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh2, pios_ws2811_cfg->dmaItCh2);
DMA_ClearITPendingBit(pios_ws2811_cfg->streamUpdate, pios_ws2811_cfg->dmaItUpdate);
DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE);
DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE);
DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE);
}
void setColor(uint8_t color, ledbuf_t *buf) {
uint8_t i;
for (i = 0; i < 8; i++) {
buf[i] = ((color << i) & 0b10000000 ? 0x0 : dmaSource);
}
}
/**
* Set a led color
* @param c color
* @param led led number
* @param update Perform an update after changing led color
*/
void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update) {
if(led > PIOS_WS2811_NUMLEDS) {
return;
}
setColor(c.R, fb + (led * 24));
setColor(c.G, fb + 8 + (led * 24));
setColor(c.B, fb + 16 + (led * 24));
if(update){
PIOS_WS2811_Update();
}
}
/**
* trigger an update cycle if not already running
*/
void PIOS_WS2811_Update(){
// does not start if framebuffer is not allocated (init has not been called yet) or a transfer is still on going
if(!fb || (pios_ws2811_cfg->timer->CR1 & TIM_CR1_CEN)){
return;
}
// reset counters for synchronization
pios_ws2811_cfg->timer->CNT = PIOS_WS2811_TIM_PERIOD - 1;
// Start a new cycle
TIM_Cmd(pios_ws2811_cfg->timer, ENABLE);
}
/**
* Stop timer once the complete framebuffer has been sent
*/
void PIOS_WS2811_DMA_irq_handler(){
TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
DMA_ClearFlag(pios_ws2811_cfg->streamCh1,pios_ws2811_cfg->irq.flags);
}

112
flight/targets/boards/discoveryf4bare/board_hw_defs.c
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@ -1810,3 +1810,115 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */
#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
};
const struct pios_ws2811_cfg pios_ws2811_cfg = {
// master mode selection Note: configure TIM_CR2_MMS_2 master mode selection
.timer = TIM1,
.timerInit = {
.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
// period (1.25 uS per period
.TIM_Period = PIOS_WS2811_TIM_PERIOD,
.TIM_RepetitionCounter = 0x0000,
},
.timerCh1 = 1,
.streamCh1 = DMA2_Stream1,
.timerCh2 = 3,
.streamCh2 = DMA2_Stream6,
.streamUpdate = DMA2_Stream5,
// DMA ch1, triggered by channel3 pwm signal. if FB indicates, reset output value early to indicate "0" bit to ws2812
.dmaInitCh1 = {
.DMA_BufferSize = PIOS_WS2811_BUFFER_SIZE,
.DMA_Channel = DMA_Channel_6,
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_FIFOMode = DMA_FIFOMode_Enable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull,
.DMA_Memory0BaseAddr = 0,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_MemoryDataSize = PIOS_WS2811_MEMORYDATASIZE,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_Mode = DMA_Mode_Circular,
.DMA_PeripheralBaseAddr = 0,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
.DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_Priority = DMA_Priority_Medium,
},
.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
// DMA stream 6, triggered by channel1 update event. reset output value late to indicate "1" bit to ws2812.
.dmaInitCh2 = {
.DMA_BufferSize = 1,
.DMA_Channel = DMA_Channel_6,
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_FIFOMode = DMA_FIFOMode_Enable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull,
.DMA_Memory0BaseAddr = 0,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_MemoryDataSize = PIOS_WS2811_MEMORYDATASIZE,
.DMA_MemoryInc = DMA_MemoryInc_Disable,
.DMA_Mode = DMA_Mode_Circular,
.DMA_PeripheralBaseAddr = 0,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
.DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_Priority = DMA_Priority_Medium,
},
.dmaItCh2 = DMA_IT_TEIF2 | DMA_IT_TCIF2,
// triggered by pwm update event. output high at beginning of signal
.dmaInitUpdate = {
.DMA_BufferSize = 1,
.DMA_Channel = DMA_Channel_6,
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_FIFOMode = DMA_FIFOMode_Enable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull,
.DMA_Memory0BaseAddr = 0,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_MemoryDataSize = PIOS_WS2811_MEMORYDATASIZE,
.DMA_MemoryInc = DMA_MemoryInc_Disable,
.DMA_Mode = DMA_Mode_Circular,
.DMA_PeripheralBaseAddr = 0,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
.DMA_PeripheralDataSize = PIOS_WS2811_PERIPHERALDATASIZE,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_Priority = DMA_Priority_Low
},
.dmaItUpdate = DMA_IT_TEIF6 | DMA_IT_TCIF6,
.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
.irq = {
// Note this is the stream ID that triggers interrupts (in this case TX)
.flags = (DMA_IT_TCIF1),
.init = {
.NVIC_IRQChannel = DMA2_Stream1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_WS2811_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_WS2811_DMA_irq_handler();
}

3
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
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@ -36,7 +36,7 @@
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
#include <pios_callbackscheduler.h>
#include <pios_ws2811.h>
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
@ -932,6 +932,7 @@ void PIOS_Board_Init(void)
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure();
#endif
PIOS_WS2811_Init(&pios_ws2811_cfg,&pios_ws2811_pin_cfg);
}
/**