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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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18
flight/pios/inc/pios_ws2811.h
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@ -38,11 +38,11 @@
#define sign(x) ((x > 0) - (x < 0)) #define sign(x) ((x > 0) - (x < 0))
#define PIOS_WS2811_NUMLEDS 2 #define PIOS_WS2811_NUMLEDS 2
#define PIOS_WS2811_BUFFER_SIZE (((PIOS_WS2811_NUMLEDS) * 24)) #define PIOS_WS2811_BUFFER_SIZE (((PIOS_WS2811_NUMLEDS) * 24))
#define PIOS_WS2811_MEMORYDATASIZE DMA_MemoryDataSize_HalfWord #define PIOS_WS2811_MEMORYDATASIZE DMA_MemoryDataSize_HalfWord
#define PIOS_WS2811_PERIPHERALDATASIZE DMA_PeripheralDataSize_HalfWord #define PIOS_WS2811_PERIPHERALDATASIZE DMA_PeripheralDataSize_HalfWord
#define PIOS_WS2811_TIM_PERIOD 20 #define PIOS_WS2811_TIM_PERIOD 20
typedef uint16_t ledbuf_t; typedef uint16_t ledbuf_t;
@ -52,7 +52,7 @@ struct Color {
uint8_t G; uint8_t G;
uint8_t B; uint8_t B;
}; };
struct pios_ws2811_pin_cfg{ struct pios_ws2811_pin_cfg {
GPIO_TypeDef *gpio; GPIO_TypeDef *gpio;
GPIO_InitTypeDef gpioInit; GPIO_InitTypeDef gpioInit;
}; };
@ -64,17 +64,17 @@ struct pios_ws2811_cfg {
DMA_InitTypeDef dmaInitCh1; DMA_InitTypeDef dmaInitCh1;
DMA_Stream_TypeDef *streamCh1; DMA_Stream_TypeDef *streamCh1;
uint32_t dmaItCh1; uint32_t dmaItCh1;
DMA_InitTypeDef dmaInitCh2; DMA_InitTypeDef dmaInitCh2;
DMA_Stream_TypeDef *streamCh2; DMA_Stream_TypeDef *streamCh2;
uint32_t dmaItCh2; uint32_t dmaItCh2;
DMA_InitTypeDef dmaInitUpdate; DMA_InitTypeDef dmaInitUpdate;
DMA_Stream_TypeDef *streamUpdate; DMA_Stream_TypeDef *streamUpdate;
uint32_t dmaItUpdate; uint32_t dmaItUpdate;
uint16_t dmaSource; uint16_t dmaSource;
struct stm32_irq irq; 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_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pios_ws2811_pin_cfg *ws2811_pin_cfg);

120
flight/pios/stm32f4xx/pios_ws2811.c
View File

@ -48,15 +48,15 @@ static void setupTimer();
static void setupDMA(); static void setupDMA();
// generic wrapper around corresponding SPL functions // generic wrapper around corresponding SPL functions
static void genericTIM_OCxInit(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct, uint8_t ch); 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); 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 // timer creates a 1.25 uS signal, with duty cycle controlled by frame buffer values
/* Example configuration for REVOLUTION /* Example configuration for REVOLUTION
*/ */
/* /*
* How it works: * How it works:
@ -89,20 +89,24 @@ void PIOS_WS2811_Init(const struct pios_ws2811_cfg *ws2811_cfg, const struct pio
assert_param(ws2811_pin_cfg); assert_param(ws2811_pin_cfg);
pios_ws2811_pin_cfg = ws2811_pin_cfg; pios_ws2811_pin_cfg = ws2811_pin_cfg;
pios_ws2811_cfg = ws2811_cfg; pios_ws2811_cfg = ws2811_cfg;
GPIO_Init(pios_ws2811_pin_cfg->gpio, &pios_ws2811_pin_cfg->gpioInit); GPIO_Init(pios_ws2811_pin_cfg->gpio, &pios_ws2811_pin_cfg->gpioInit);
dmaSource = (ledbuf_t)pios_ws2811_pin_cfg->gpioInit.GPIO_Pin; dmaSource = (ledbuf_t)pios_ws2811_pin_cfg->gpioInit.GPIO_Pin;
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 };
//Setup timers for (uint8_t i = 0; i < PIOS_WS2811_NUMLEDS; i++) {
PIOS_WS2811_setColorRGB(ledoff, i, false);
}
// 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
@ -114,7 +118,7 @@ void setupTimer(){
TIM_ARRPreloadConfig(pios_ws2811_cfg->timer, ENABLE); TIM_ARRPreloadConfig(pios_ws2811_cfg->timer, ENABLE);
// enable outputs // enable outputs
//TIM_CtrlPWMOutputs(pios_ws2811_cfg->timer, ENABLE); // TIM_CtrlPWMOutputs(pios_ws2811_cfg->timer, ENABLE);
TIM_DMACmd(pios_ws2811_cfg->timer, pios_ws2811_cfg->dmaSource, ENABLE); TIM_DMACmd(pios_ws2811_cfg->timer, pios_ws2811_cfg->dmaSource, ENABLE);
@ -137,59 +141,61 @@ 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){ {
case 1: switch (ch) {
TIM_OC1Init(TIMx, TIM_OCInitStruct); case 1:
break; TIM_OC1Init(TIMx, TIM_OCInitStruct);
case 2: break;
TIM_OC2Init(TIMx, TIM_OCInitStruct); case 2:
break; TIM_OC2Init(TIMx, TIM_OCInitStruct);
case 3: break;
TIM_OC3Init(TIMx, TIM_OCInitStruct); case 3:
break; TIM_OC3Init(TIMx, TIM_OCInitStruct);
case 4: break;
TIM_OC4Init(TIMx, TIM_OCInitStruct); case 4:
break; TIM_OC4Init(TIMx, TIM_OCInitStruct);
break;
} }
} }
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){ {
case 1: switch (ch) {
TIM_OC1PreloadConfig(TIMx, TIM_OCPreload); case 1:
break; TIM_OC1PreloadConfig(TIMx, TIM_OCPreload);
case 2: break;
TIM_OC2PreloadConfig(TIMx, TIM_OCPreload); case 2:
break; TIM_OC2PreloadConfig(TIMx, TIM_OCPreload);
case 3: break;
TIM_OC3PreloadConfig(TIMx, TIM_OCPreload); case 3:
break; TIM_OC3PreloadConfig(TIMx, TIM_OCPreload);
case 4: break;
TIM_OC4PreloadConfig(TIMx, TIM_OCPreload); case 4:
break; TIM_OC4PreloadConfig(TIMx, TIM_OCPreload);
break;
} }
} }
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;
pios_ws2811_cfg->streamCh1->M0AR= (uint32_t)fb; pios_ws2811_cfg->streamCh1->M0AR = (uint32_t)fb;
NVIC_Init((NVIC_InitTypeDef *)&(pios_ws2811_cfg->irq.init)); NVIC_Init((NVIC_InitTypeDef *)&(pios_ws2811_cfg->irq.init));
DMA_ITConfig(pios_ws2811_cfg->streamCh1, DMA_IT_TC, ENABLE); DMA_ITConfig(pios_ws2811_cfg->streamCh1, DMA_IT_TC, ENABLE);
DMA_Init(pios_ws2811_cfg->streamCh2, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitCh2); 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->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRH;
pios_ws2811_cfg->streamCh2->M0AR= (uint32_t)&dmaSource; pios_ws2811_cfg->streamCh2->M0AR = (uint32_t)&dmaSource;
DMA_Init(pios_ws2811_cfg->streamUpdate, (DMA_InitTypeDef *)&pios_ws2811_cfg->dmaInitUpdate); 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->PAR = (uint32_t)&pios_ws2811_pin_cfg->gpio->BSRRL;
pios_ws2811_cfg->streamUpdate->M0AR= (uint32_t)&dmaSource; pios_ws2811_cfg->streamUpdate->M0AR = (uint32_t)&dmaSource;
DMA_ClearITPendingBit(pios_ws2811_cfg->streamCh1, pios_ws2811_cfg->dmaItCh1); 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->streamCh2, pios_ws2811_cfg->dmaItCh2);
@ -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);
} }
@ -214,14 +221,15 @@ 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;
} }
setColor(c.R, fb + (led * 24)); setColor(c.R, fb + (led * 24));
setColor(c.G, fb + 8 + (led * 24)); setColor(c.G, fb + 8 + (led * 24));
setColor(c.B, fb + 16 + (led * 24)); setColor(c.B, fb + 16 + (led * 24));
if(update){ if (update) {
PIOS_WS2811_Update(); PIOS_WS2811_Update();
} }
} }
@ -229,9 +237,10 @@ 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;
} }
@ -245,9 +254,10 @@ 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);
} }
#endif //PIOS_INCLUDE_WS2811 #endif // PIOS_INCLUDE_WS2811

115
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -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
View File

@ -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
} }
/** /**