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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
293 lines
9.4 KiB
C
293 lines
9.4 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_PPM PPM Output Functions
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* @brief Code to output a PPM receiver signal
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* @{
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*
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* @file pios_ppm_out.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief PPM Input functions (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_PPM_OUT
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#include "pios_ppm_out_priv.h"
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#define PIOS_PPM_OUT_MAX_DEVS 1
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#define PIOS_PPM_OUT_MAX_CHANNELS 8
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#define PIOS_PPM_OUT_FRAME_PERIOD_US 22500 // microseconds
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#define PIOS_PPM_OUT_HIGH_PULSE_US 400 // microseconds
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#define PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US 1000 // microseconds
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#define PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US 2000 // microseconds
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enum pios_ppm_out_dev_magic {
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PIOS_PPM_OUT_DEV_MAGIC = 0x0e0210e2
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};
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struct pios_ppm_out_dev {
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enum pios_ppm_out_dev_magic magic;
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const struct pios_ppm_out_cfg * cfg;
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uint32_t TriggeringPeriod;
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uint32_t ChannelSum;
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uint8_t NumChannelCounter;
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uint16_t ChannelValue[PIOS_PPM_OUT_MAX_CHANNELS];
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uint8_t SupvTimer;
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bool Fresh;
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bool Tracking;
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bool Enabled;
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};
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static void PIOS_PPM_Out_Supervisor(uint32_t ppm_id);
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static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable);
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static bool PIOS_PPM_Out_validate(struct pios_ppm_out_dev *ppm_dev)
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{
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return (ppm_dev->magic == PIOS_PPM_OUT_DEV_MAGIC);
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_ppm_out_dev * PIOS_PPM_OUT_alloc(void)
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{
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struct pios_ppm_out_dev * ppm_dev;
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ppm_dev = (struct pios_ppm_out_dev *)pvPortMalloc(sizeof(*ppm_dev));
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if (!ppm_dev) return(NULL);
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ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
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return(ppm_dev);
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}
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#else
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static struct pios_ppm_out_dev pios_ppm_out_devs[PIOS_PPM_OUT_MAX_DEVS];
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static uint8_t pios_ppm_out_num_devs;
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static struct pios_ppm_out_dev * PIOS_PPM_alloc(void)
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{
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struct pios_ppm_out_dev * ppm_dev;
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if (pios_ppm_out_num_devs >= PIOS_PPM_OUT_MAX_DEVS) {
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return (NULL);
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}
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ppm_dev = &pios_ppm_out_devs[pios_ppm_out_num_devs++];
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ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
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return (ppm_dev);
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}
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#endif
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static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count);
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static const struct pios_tim_callbacks tim_out_callbacks = {
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.overflow = NULL,
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.edge = PIOS_PPM_OUT_tim_edge_cb,
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};
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int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg * cfg)
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{
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PIOS_DEBUG_Assert(ppm_id);
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PIOS_DEBUG_Assert(cfg);
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// Allocate the device structure
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struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)PIOS_PPM_OUT_alloc();
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if (!ppm_dev)
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return -1;
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ppm_dev->magic = PIOS_PPM_OUT_DEV_MAGIC;
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*ppm_out_id = (uint32_t)ppm_dev;
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// Bind the configuration to the device instance
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ppm_dev->cfg = cfg;
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// Set up the state variables
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ppm_dev->TriggeringPeriod = PIOS_PPM_OUT_HIGH_PULSE_US;
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ppm_dev->ChannelSum = 0;
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ppm_dev->NumChannelCounter = 0;
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// Flush counter variables
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for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i)
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ppm_dev->ChannelValue[i] = 1000;
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uint32_t tim_id;
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if (PIOS_TIM_InitChannels(&tim_id, cfg->channel, 1, &tim_out_callbacks, (uint32_t)ppm_dev))
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return -1;
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// Configure the channels to be in output compare mode
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const struct pios_tim_channel *chan = cfg->channel;
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/* Set up for output compare function */
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switch(chan->timer_chan) {
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case TIM_Channel_1:
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TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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}
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TIM_ARRPreloadConfig(chan->timer, ENABLE);
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TIM_CtrlPWMOutputs(chan->timer, ENABLE);
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TIM_Cmd(chan->timer, ENABLE);
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / 100) - 1);
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TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
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PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
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// Configure the supervisor
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ppm_dev->SupvTimer = 0;
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ppm_dev->Fresh = FALSE;
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ppm_dev->Tracking = FALSE;
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ppm_dev->Enabled = FALSE;
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if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Out_Supervisor, (uint32_t)ppm_dev)) {
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PIOS_DEBUG_Assert(0);
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}
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return 0;
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}
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void PIOS_PPM_OUT_Set(uint32_t ppm_out_id, uint8_t servo, uint16_t position)
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{
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struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
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if (!PIOS_PPM_Out_validate(ppm_dev) || (servo >= PIOS_PPM_OUT_MAX_CHANNELS))
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return;
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// Don't allow positions that are out of range.
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if (position < PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US)
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position = PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US;
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if (position > PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US)
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position = PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US;
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// Update the supervisor tracking variables.
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ppm_dev->Fresh = TRUE;
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// Reenable the TIM if it's been turned off.
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if (!ppm_dev->Tracking) {
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ppm_dev->Tracking = TRUE;
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PIOS_PPM_Out_Enable_Disable(ppm_dev, true);
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}
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// Update the position
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ppm_dev->ChannelValue[servo] = position;
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}
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static void PIOS_PPM_OUT_tim_edge_cb (__attribute__((unused)) uint32_t tim_id,
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uint32_t context,
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__attribute__((unused)) uint8_t chan_idx,
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__attribute__((unused)) uint16_t count)
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{
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struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)context;
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if (!PIOS_PPM_Out_validate(ppm_dev))
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return;
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// Just return if the device is disabled.
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if (!ppm_dev->Enabled) {
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return;
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}
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// Turn off the PPM stream if we are no longer receiving update
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// Note: This must happen between frames.
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if ((ppm_dev->NumChannelCounter == 0) && !ppm_dev->Tracking) {
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// Flush counter variables
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for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i) {
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ppm_dev->ChannelValue[i] = 1000;
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}
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PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
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return;
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}
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// Finish out the frame if we reached the last channel.
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uint32_t pulse_width;
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if ((ppm_dev->NumChannelCounter >= PIOS_PPM_OUT_MAX_CHANNELS)) {
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pulse_width = PIOS_PPM_OUT_FRAME_PERIOD_US - ppm_dev->ChannelSum;
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ppm_dev->NumChannelCounter = 0;
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ppm_dev->ChannelSum = 0;
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} else
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ppm_dev->ChannelSum += (pulse_width = ppm_dev->ChannelValue[ppm_dev->NumChannelCounter++]);
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// Initiate the pulse
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TIM_SetAutoreload(ppm_dev->cfg->channel->timer, pulse_width - 1);
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return;
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}
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static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable)
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{
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const struct pios_tim_channel *chan = ppm_dev->cfg->channel;
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uint32_t trig = enable ? ppm_dev->TriggeringPeriod : 0;
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FunctionalState state = enable ? ENABLE : DISABLE;
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ppm_dev->Enabled = enable;
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switch (chan->timer_chan) {
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case TIM_Channel_1:
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TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, state);
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TIM_SetCompare1(chan->timer, trig);
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break;
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case TIM_Channel_2:
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TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, state);
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TIM_SetCompare2(chan->timer, trig);
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break;
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case TIM_Channel_3:
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TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, state);
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TIM_SetCompare3(chan->timer, trig);
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break;
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case TIM_Channel_4:
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TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, state);
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TIM_SetCompare4(chan->timer, trig);
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break;
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}
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}
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static void PIOS_PPM_Out_Supervisor(uint32_t ppm_out_id) {
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struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
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if (!PIOS_PPM_Out_validate(ppm_dev))
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return;
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// RTC runs at 625Hz so divide down the base rate so that this loop runs at 12.5Hz.
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if(++(ppm_dev->SupvTimer) < 50) {
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return;
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}
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ppm_dev->SupvTimer = 0;
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// Go into failsafe the channel values haven't been refreshed since the last time through.
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if (!ppm_dev->Fresh) {
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ppm_dev->Tracking = FALSE;
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}
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// Set Fresh to false to test if channel values are being refreshed.
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ppm_dev->Fresh = FALSE;
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}
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#endif /* PIOS_INCLUDE_PPM_OUT */
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