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Code Issues Releases Activity

OP-1312 Add support for Revolution (right now always active on pin3). Configurability not yet added

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This commit is contained in:
Alessio Morale 2014-04-26 18:40:59 +02:00
parent 28859d2305
commit a0b857337f
5 changed files with 197 additions and 64 deletions
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32
flight/pios/stm32f4xx/pios_ws2811.c
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@ -96,13 +96,17 @@ void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pio
fb = (ledbuf_t *)pvPortMalloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t)); fb = (ledbuf_t *)pvPortMalloc(PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t)); memset(fb, 0, PIOS_WS2811_BUFFER_SIZE * sizeof(ledbuf_t));
Color ledoff = { 0, 0, 0 };
for (uint8_t i = 0; i < PIOS_WS2811_NUMLEDS; i++) {
PIOS_WS2811_setColorRGB(ledoff, i, false);
}
// Setup timers // Setup timers
setupTimer(); setupTimer();
setupDMA(); setupDMA();
} }
void setupTimer(){ void setupTimer()
{
// Stop timer // Stop timer
TIM_Cmd(pios_ws2811_cfg->timer, DISABLE); TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
// Configure timebase and internal clock // Configure timebase and internal clock
@ -137,7 +141,8 @@ void setupTimer(){
genericTIM_OCxInit(pios_ws2811_cfg->timer, &oc, pios_ws2811_cfg->timerCh2); 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){ void genericTIM_OCxInit(TIM_TypeDef *TIMx, const TIM_OCInitTypeDef *TIM_OCInitStruct, uint8_t ch)
{
switch (ch) { switch (ch) {
case 1: case 1:
TIM_OC1Init(TIMx, TIM_OCInitStruct); TIM_OC1Init(TIMx, TIM_OCInitStruct);
@ -154,7 +159,8 @@ void genericTIM_OCxInit(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitSt
} }
} }
void genericTIM_OCxPreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload, uint8_t ch){ void genericTIM_OCxPreloadConfig(TIM_TypeDef *TIMx, uint16_t TIM_OCPreload, uint8_t ch)
{
switch (ch) { switch (ch) {
case 1: case 1:
TIM_OC1PreloadConfig(TIMx, TIM_OCPreload); TIM_OC1PreloadConfig(TIMx, TIM_OCPreload);
@ -172,8 +178,8 @@ void genericTIM_OCxPreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload, uint
} }
void setupDMA()
void setupDMA(){ {
// Configure Ch1 // Configure Ch1
DMA_Init(pios_ws2811_cfg->streamCh1, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh1); 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->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
@ -198,11 +204,12 @@ void setupDMA(){
DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE); DMA_Cmd(pios_ws2811_cfg->streamCh2, ENABLE);
DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE); DMA_Cmd(pios_ws2811_cfg->streamCh1, ENABLE);
DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE); DMA_Cmd(pios_ws2811_cfg->streamUpdate, ENABLE);
} }
void setColor(uint8_t color, ledbuf_t *buf) { void setColor(uint8_t color, ledbuf_t *buf)
{
uint8_t i; uint8_t i;
for (i = 0; i < 8; i++) { for (i = 0; i < 8; i++) {
buf[i] = ((color << i) & 0b10000000 ? 0x0 : dmaSource); buf[i] = ((color << i) & 0b10000000 ? 0x0 : dmaSource);
} }
@ -214,7 +221,8 @@ void setColor(uint8_t color, ledbuf_t *buf) {
* @param led led number * @param led led number
* @param update Perform an update after changing led color * @param update Perform an update after changing led color
*/ */
void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update) { void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update)
{
if (led > PIOS_WS2811_NUMLEDS) { if (led > PIOS_WS2811_NUMLEDS) {
return; return;
} }
@ -229,7 +237,8 @@ void PIOS_WS2811_setColorRGB(Color c, uint8_t led, bool update) {
/** /**
* trigger an update cycle if not already running * trigger an update cycle if not already running
*/ */
void PIOS_WS2811_Update(){ 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 // 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)) { if (!fb || (pios_ws2811_cfg->timer->CR1 & TIM_CR1_CEN)) {
return; return;
@ -245,7 +254,8 @@ void PIOS_WS2811_Update(){
* Stop timer once the complete framebuffer has been sent * Stop timer once the complete framebuffer has been sent
*/ */
void PIOS_WS2811_DMA_irq_handler(){ void PIOS_WS2811_DMA_irq_handler()
{
TIM_Cmd(pios_ws2811_cfg->timer, DISABLE); TIM_Cmd(pios_ws2811_cfg->timer, DISABLE);
DMA_ClearFlag(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->irq.flags); DMA_ClearFlag(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->irq.flags);
} }

115
flight/targets/boards/revolution/board_hw_defs.c
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@ -1962,3 +1962,118 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_tx_ep = 1, .data_tx_ep = 1,
}; };
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */ #endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
#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_VeryHigh,
},
.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_VeryHigh,
},
.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_High
},
.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();
}
#endif // PIOS_INCLUDE_WS2811

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
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@ -89,6 +89,8 @@
#define PIOS_INCLUDE_ETASV3 #define PIOS_INCLUDE_ETASV3
#define PIOS_INCLUDE_MS4525DO #define PIOS_INCLUDE_MS4525DO
#define PIOS_INCLUDE_WS2811
/* #define PIOS_INCLUDE_HCSR04 */ /* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */ /* PIOS receiver drivers */

6
flight/targets/boards/revolution/firmware/pios_board.c
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@ -35,6 +35,7 @@
#include <oplinkreceiver.h> #include <oplinkreceiver.h>
#include <pios_oplinkrcvr_priv.h> #include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h> #include <taskinfo.h>
#include <pios_ws2811.h>
/* /*
* Pull in the board-specific static HW definitions. * Pull in the board-specific static HW definitions.
@ -945,6 +946,11 @@ void PIOS_Board_Init(void)
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg); PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure(); PIOS_MPU6000_CONFIG_Configure();
#endif #endif
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg);
#endif // PIOS_INCLUDE_WS2811
} }
/** /**