mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
307 lines
9.8 KiB
C
307 lines
9.8 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_PPM PPM Output Functions
|
|
* @brief Code to output a PPM receiver signal
|
|
* @{
|
|
*
|
|
* @file pios_ppm_out.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief PPM Input functions (STM32 dependent)
|
|
* @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"
|
|
|
|
#ifdef PIOS_INCLUDE_PPM_OUT
|
|
|
|
#include "pios_ppm_out_priv.h"
|
|
|
|
#define PIOS_PPM_OUT_MAX_DEVS 1
|
|
#define PIOS_PPM_OUT_MAX_CHANNELS 8
|
|
#define PIOS_PPM_OUT_FRAME_PERIOD_US 22500 // microseconds
|
|
#define PIOS_PPM_OUT_HIGH_PULSE_US 400 // microseconds
|
|
#define PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US 1000 // microseconds
|
|
#define PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US 2000 // microseconds
|
|
|
|
enum pios_ppm_out_dev_magic {
|
|
PIOS_PPM_OUT_DEV_MAGIC = 0x0e0210e2
|
|
};
|
|
|
|
struct pios_ppm_out_dev {
|
|
enum pios_ppm_out_dev_magic magic;
|
|
const struct pios_ppm_out_cfg *cfg;
|
|
|
|
uint32_t TriggeringPeriod;
|
|
uint32_t ChannelSum;
|
|
uint8_t NumChannelCounter;
|
|
uint16_t ChannelValue[PIOS_PPM_OUT_MAX_CHANNELS];
|
|
|
|
uint8_t SupvTimer;
|
|
bool Fresh;
|
|
bool Tracking;
|
|
bool Enabled;
|
|
};
|
|
|
|
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_id);
|
|
static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable);
|
|
|
|
static bool PIOS_PPM_Out_validate(struct pios_ppm_out_dev *ppm_dev)
|
|
{
|
|
return ppm_dev->magic == PIOS_PPM_OUT_DEV_MAGIC;
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
static struct pios_ppm_out_dev *PIOS_PPM_OUT_alloc(void)
|
|
{
|
|
struct pios_ppm_out_dev *ppm_dev;
|
|
|
|
ppm_dev = (struct pios_ppm_out_dev *)pios_malloc(sizeof(*ppm_dev));
|
|
if (!ppm_dev) {
|
|
return NULL;
|
|
}
|
|
|
|
ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
|
|
return ppm_dev;
|
|
}
|
|
#else
|
|
static struct pios_ppm_out_dev pios_ppm_out_devs[PIOS_PPM_OUT_MAX_DEVS];
|
|
static uint8_t pios_ppm_out_num_devs;
|
|
static struct pios_ppm_out_dev *PIOS_PPM_alloc(void)
|
|
{
|
|
struct pios_ppm_out_dev *ppm_dev;
|
|
|
|
if (pios_ppm_out_num_devs >= PIOS_PPM_OUT_MAX_DEVS) {
|
|
return NULL;
|
|
}
|
|
|
|
ppm_dev = &pios_ppm_out_devs[pios_ppm_out_num_devs++];
|
|
ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
|
|
|
|
return ppm_dev;
|
|
}
|
|
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
|
|
|
|
static void PIOS_PPM_OUT_tim_edge_cb(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count);
|
|
static const struct pios_tim_callbacks tim_out_callbacks = {
|
|
.overflow = NULL,
|
|
.edge = PIOS_PPM_OUT_tim_edge_cb,
|
|
};
|
|
|
|
int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *cfg)
|
|
{
|
|
PIOS_DEBUG_Assert(ppm_out_id);
|
|
PIOS_DEBUG_Assert(cfg);
|
|
|
|
// Allocate the device structure
|
|
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)PIOS_PPM_OUT_alloc();
|
|
if (!ppm_dev) {
|
|
return -1;
|
|
}
|
|
ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
|
|
*ppm_out_id = (uint32_t)ppm_dev;
|
|
|
|
// Bind the configuration to the device instance
|
|
ppm_dev->cfg = cfg;
|
|
|
|
// Set up the state variables
|
|
ppm_dev->TriggeringPeriod = PIOS_PPM_OUT_HIGH_PULSE_US;
|
|
ppm_dev->ChannelSum = 0;
|
|
ppm_dev->NumChannelCounter = 0;
|
|
|
|
// Flush counter variables
|
|
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i) {
|
|
ppm_dev->ChannelValue[i] = 1000;
|
|
}
|
|
|
|
uint32_t tim_id;
|
|
if (PIOS_TIM_InitChannels(&tim_id, cfg->channel, 1, &tim_out_callbacks, (uint32_t)ppm_dev)) {
|
|
return -1;
|
|
}
|
|
|
|
// Configure the channels to be in output compare mode
|
|
const struct pios_tim_channel *chan = cfg->channel;
|
|
|
|
/* Set up for output compare function */
|
|
switch (chan->timer_chan) {
|
|
case TIM_Channel_1:
|
|
TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
|
|
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_2:
|
|
TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
|
|
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_3:
|
|
TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
|
|
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_4:
|
|
TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
|
|
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
|
|
break;
|
|
}
|
|
|
|
TIM_ARRPreloadConfig(chan->timer, ENABLE);
|
|
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
|
|
TIM_Cmd(chan->timer, ENABLE);
|
|
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / 100) - 1);
|
|
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
|
|
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
|
|
|
|
// Configure the supervisor
|
|
ppm_dev->SupvTimer = 0;
|
|
ppm_dev->Fresh = FALSE;
|
|
ppm_dev->Tracking = FALSE;
|
|
ppm_dev->Enabled = FALSE;
|
|
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Out_Supervisor, (uint32_t)ppm_dev)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void PIOS_PPM_OUT_Set(uint32_t ppm_out_id, uint8_t servo, uint16_t position)
|
|
{
|
|
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
|
|
|
|
if (!PIOS_PPM_Out_validate(ppm_dev) || (servo >= PIOS_PPM_OUT_MAX_CHANNELS)) {
|
|
return;
|
|
}
|
|
|
|
// Don't allow positions that are out of range.
|
|
if (position < PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US) {
|
|
position = PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US;
|
|
}
|
|
if (position > PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US) {
|
|
position = PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US;
|
|
}
|
|
|
|
// Update the supervisor tracking variables.
|
|
ppm_dev->Fresh = TRUE;
|
|
|
|
// Reenable the TIM if it's been turned off.
|
|
if (!ppm_dev->Tracking) {
|
|
ppm_dev->Tracking = TRUE;
|
|
PIOS_PPM_Out_Enable_Disable(ppm_dev, true);
|
|
}
|
|
|
|
// Update the position
|
|
ppm_dev->ChannelValue[servo] = position;
|
|
}
|
|
|
|
static void PIOS_PPM_OUT_tim_edge_cb(__attribute__((unused)) uint32_t tim_id,
|
|
uint32_t context,
|
|
__attribute__((unused)) uint8_t chan_idx,
|
|
__attribute__((unused)) uint16_t count)
|
|
{
|
|
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)context;
|
|
|
|
if (!PIOS_PPM_Out_validate(ppm_dev)) {
|
|
return;
|
|
}
|
|
|
|
// Just return if the device is disabled.
|
|
if (!ppm_dev->Enabled) {
|
|
return;
|
|
}
|
|
|
|
// Turn off the PPM stream if we are no longer receiving update
|
|
// Note: This must happen between frames.
|
|
if ((ppm_dev->NumChannelCounter == 0) && !ppm_dev->Tracking) {
|
|
// Flush counter variables
|
|
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i) {
|
|
ppm_dev->ChannelValue[i] = 1000;
|
|
}
|
|
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
|
|
return;
|
|
}
|
|
|
|
// Finish out the frame if we reached the last channel.
|
|
uint32_t pulse_width;
|
|
if ((ppm_dev->NumChannelCounter >= PIOS_PPM_OUT_MAX_CHANNELS)) {
|
|
pulse_width = PIOS_PPM_OUT_FRAME_PERIOD_US - ppm_dev->ChannelSum;
|
|
ppm_dev->NumChannelCounter = 0;
|
|
ppm_dev->ChannelSum = 0;
|
|
} else {
|
|
ppm_dev->ChannelSum += (pulse_width = ppm_dev->ChannelValue[ppm_dev->NumChannelCounter++]);
|
|
}
|
|
|
|
// Initiate the pulse
|
|
TIM_SetAutoreload(ppm_dev->cfg->channel->timer, pulse_width - 1);
|
|
}
|
|
|
|
static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable)
|
|
{
|
|
const struct pios_tim_channel *chan = ppm_dev->cfg->channel;
|
|
uint32_t trig = enable ? ppm_dev->TriggeringPeriod : 0;
|
|
FunctionalState state = enable ? ENABLE : DISABLE;
|
|
|
|
ppm_dev->Enabled = enable;
|
|
switch (chan->timer_chan) {
|
|
case TIM_Channel_1:
|
|
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, state);
|
|
TIM_SetCompare1(chan->timer, trig);
|
|
break;
|
|
case TIM_Channel_2:
|
|
TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, state);
|
|
TIM_SetCompare2(chan->timer, trig);
|
|
break;
|
|
case TIM_Channel_3:
|
|
TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, state);
|
|
TIM_SetCompare3(chan->timer, trig);
|
|
break;
|
|
case TIM_Channel_4:
|
|
TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, state);
|
|
TIM_SetCompare4(chan->timer, trig);
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_out_id)
|
|
{
|
|
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
|
|
|
|
if (!PIOS_PPM_Out_validate(ppm_dev)) {
|
|
return;
|
|
}
|
|
|
|
// RTC runs at 625Hz so divide down the base rate so that this loop runs at 12.5Hz.
|
|
if (++(ppm_dev->SupvTimer) < 50) {
|
|
return;
|
|
}
|
|
ppm_dev->SupvTimer = 0;
|
|
|
|
// Go into failsafe the channel values haven't been refreshed since the last time through.
|
|
if (!ppm_dev->Fresh) {
|
|
ppm_dev->Tracking = FALSE;
|
|
}
|
|
|
|
// Set Fresh to false to test if channel values are being refreshed.
|
|
ppm_dev->Fresh = FALSE;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_PPM_OUT */
|