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LibrePilot/flight/PiOS/STM32F10x/pios_pwm.c
Stacey Sheldon 43b31efb76 pios: allocate driver instance data from heap 
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.

This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.

A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap.  That's our new baseline.

Approximate RAM (heap) costs of enabling various features:
 + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
 + 108 PWM Rcvr
 + 152 PPM Rcvr
 + 112 Spektrum Rcvr
 + 24  S.Bus (Should be closer to 68 since driver is still using
              static memory)

There are still some drivers that pre-allocate all of their memory
as static data.  It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_PWM PWM Input Functions
* @brief Code to measure with PWM input
* @{
*
* @file pios_pwm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PWM 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
*/
/* Project Includes */
#include "pios.h"
#include "pios_pwm_priv.h"
#if defined(PIOS_INCLUDE_PWM)
/* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
.read = PIOS_PWM_Get,
};
/* Local Variables */
enum pios_pwm_dev_magic {
PIOS_PWM_DEV_MAGIC = 0xab30293c,
};
struct pios_pwm_dev {
enum pios_pwm_dev_magic magic;
const struct pios_pwm_cfg * cfg;
uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
};
static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev)
{
return (pwm_dev->magic == PIOS_PWM_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_pwm_dev * PIOS_PWM_alloc(void)
{
struct pios_pwm_dev * pwm_dev;
pwm_dev = (struct pios_pwm_dev *)pvPortMalloc(sizeof(*pwm_dev));
if (!pwm_dev) return(NULL);
pwm_dev->magic = PIOS_PWM_DEV_MAGIC;
return(pwm_dev);
}
#else
static struct pios_pwm_dev pios_pwm_devs[PIOS_PWM_MAX_DEVS];
static uint8_t pios_pwm_num_devs;
static struct pios_pwm_dev * PIOS_PWM_alloc(void)
{
struct pios_pwm_dev * pwm_dev;
if (pios_pwm_num_devs >= PIOS_PWM_MAX_DEVS) {
return (NULL);
}
pwm_dev = &pios_pwm_devs[pios_pwm_num_devs++];
pwm_dev->magic = PIOS_PWM_DEV_MAGIC;
return (pwm_dev);
}
#endif
static void PIOS_PWM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
static void PIOS_PWM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
const static struct pios_tim_callbacks tim_callbacks = {
.overflow = PIOS_PWM_tim_overflow_cb,
.edge = PIOS_PWM_tim_edge_cb,
};
/**
* Initialises all the pins
*/
int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
{
PIOS_DEBUG_Assert(pwm_id);
PIOS_DEBUG_Assert(cfg);
struct pios_pwm_dev * pwm_dev;
pwm_dev = (struct pios_pwm_dev *) PIOS_PWM_alloc();
if (!pwm_dev) goto out_fail;
/* Bind the configuration to the device instance */
pwm_dev->cfg = cfg;
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
/* Flush counter variables */
pwm_dev->CaptureState[i] = 0;
pwm_dev->RiseValue[i] = 0;
pwm_dev->FallValue[i] = 0;
pwm_dev->CaptureValue[i] = 0;
}
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)pwm_dev)) {
return -1;
}
/* Configure the channels to be in capture/compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
/* Configure timer for input capture */
TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
/* Enable the Capture Compare Interrupt Request */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_ITConfig(chan->timer, TIM_IT_CC1, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(chan->timer, TIM_IT_CC2, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(chan->timer, TIM_IT_CC3, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE);
break;
}
}
*pwm_id = (uint32_t) pwm_dev;
return (0);
out_fail:
return (-1);
}
/**
* Get the value of an input channel
* \param[in] Channel Number of the channel desired
* \output -1 Channel not available
* \output >0 Channel value
*/
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return -1;
}
if (channel >= PIOS_PWM_NUM_INPUTS) {
/* Channel out of range */
return -1;
}
return pwm_dev->CaptureValue[channel];
}
static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count)
{
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return;
}
return;
}
static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count)
{
/* Recover our device context */
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return;
}
if (chan_idx >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
const struct pios_tim_channel * chan = &pwm_dev->cfg->channels[chan_idx];
if (pwm_dev->CaptureState[chan_idx] == 0) {
pwm_dev->RiseValue[chan_idx] = count;
} else {
pwm_dev->FallValue[chan_idx] = count;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pwm_dev->cfg->tim_ic_init;
if (pwm_dev->CaptureState[chan_idx] == 0) {
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) {
pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]);
} else {
pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]);
}
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 0;
/* Increase supervisor counter */
pwm_dev->CapCounter[chan_idx]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
}
}
#endif
/**
* @}
* @}
*/
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