mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
da96ce15b9
Beginning of unifying the input types into PIOS_RECEIVER. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2568 ebee16cc-31ac-478f-84a7-5cbb03baadba
341 lines
10 KiB
C
341 lines
10 KiB
C
/**
|
|
******************************************************************************
|
|
* @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)
|
|
|
|
/* Local Variables */
|
|
static uint8_t CaptureState[PIOS_PWM_MAX_INPUTS];
|
|
static uint16_t RiseValue[PIOS_PWM_MAX_INPUTS];
|
|
static uint16_t FallValue[PIOS_PWM_MAX_INPUTS];
|
|
static uint32_t CaptureValue[PIOS_PWM_MAX_INPUTS];
|
|
|
|
//static uint8_t SupervisorState = 0;
|
|
static uint32_t CapCounter[PIOS_PWM_MAX_INPUTS];
|
|
//static uint32_t CapCounterPrev[MAX_CHANNELS];
|
|
|
|
/**
|
|
* Initialises all the pins
|
|
*/
|
|
void PIOS_PWM_Init(void)
|
|
{
|
|
for (uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
|
|
/* Flush counter variables */
|
|
CaptureState[i] = 0;
|
|
RiseValue[i] = 0;
|
|
FallValue[i] = 0;
|
|
CaptureValue[i] = 0;
|
|
|
|
NVIC_InitTypeDef NVIC_InitStructure = pios_pwm_cfg.irq.init;
|
|
GPIO_InitTypeDef GPIO_InitStructure = pios_pwm_cfg.gpio_init;
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_pwm_cfg.tim_base_init;
|
|
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
|
|
|
|
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
|
|
|
|
/* Enable appropriate clock to timer module */
|
|
switch((int32_t) channel.timer) {
|
|
case (int32_t)TIM1:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
|
|
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
|
|
break;
|
|
case (int32_t)TIM2:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
|
|
break;
|
|
case (int32_t)TIM3:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
|
|
break;
|
|
case (int32_t)TIM4:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
|
|
break;
|
|
#ifdef STM32F10X_HD
|
|
|
|
case (int32_t)TIM5:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
|
|
break;
|
|
case (int32_t)TIM6:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
|
|
break;
|
|
case (int32_t)TIM7:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
|
|
break;
|
|
case (int32_t)TIM8:
|
|
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
|
|
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
|
|
break;
|
|
#endif
|
|
}
|
|
NVIC_Init(&NVIC_InitStructure);
|
|
|
|
/* Enable GPIO */
|
|
GPIO_InitStructure.GPIO_Pin = channel.pin;
|
|
GPIO_Init(channel.port, &GPIO_InitStructure);
|
|
|
|
/* Configure timer for input capture */
|
|
TIM_ICInitStructure.TIM_Channel = channel.channel;
|
|
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
|
|
|
|
/* Configure timer clocks */
|
|
TIM_InternalClockConfig(channel.timer);
|
|
if(channel.timer->PSC != ((PIOS_MASTER_CLOCK / 1000000) - 1))
|
|
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
|
|
|
|
/* Enable the Capture Compare Interrupt Request */
|
|
TIM_ITConfig(channel.timer, channel.ccr, ENABLE);
|
|
|
|
/* Enable timers */
|
|
TIM_Cmd(channel.timer, ENABLE);
|
|
}
|
|
|
|
if(pios_pwm_cfg.remap) {
|
|
/* Warning, I don't think this will work for multiple remaps at once */
|
|
GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE);
|
|
}
|
|
|
|
#if 0
|
|
/* Supervisor Setup */
|
|
#if (PIOS_PWM_SUPV_ENABLED)
|
|
/* Flush counter variables */
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
CapCounter[i] = 0;
|
|
}
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
CapCounterPrev[i] = 0;
|
|
}
|
|
|
|
/* Enable timer clock */
|
|
PIOS_PWM_SUPV_TIMER_RCC_FUNC;
|
|
|
|
/* Configure interrupts */
|
|
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL;
|
|
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
|
|
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
|
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
|
NVIC_Init(&NVIC_InitStructure);
|
|
|
|
/* Time base configuration */
|
|
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_PWM_SUPV_HZ) - 1);
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; /* For 1 uS accuracy */
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
TIM_TimeBaseInit(PIOS_PWM_SUPV_TIMER, &TIM_TimeBaseStructure);
|
|
|
|
/* Enable the CC2 Interrupt Request */
|
|
TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, ENABLE);
|
|
|
|
/* Clear update pending flag */
|
|
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
|
|
|
|
/* Enable counter */
|
|
TIM_Cmd(PIOS_PWM_SUPV_TIMER, ENABLE);
|
|
#endif
|
|
|
|
/* Setup local variable which stays in this scope */
|
|
/* Doing this here and using a local variable saves doing it in the ISR */
|
|
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
|
|
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
|
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Get the value of an input channel
|
|
* \param[in] Channel Number of the channel desired
|
|
* \output -1 Channel not available
|
|
* \output >0 Channel value
|
|
*/
|
|
int32_t PIOS_PWM_Get(int8_t Channel)
|
|
{
|
|
/* Return error if channel not available */
|
|
if (Channel >= pios_pwm_cfg.num_channels) {
|
|
return -1;
|
|
}
|
|
return CaptureValue[Channel];
|
|
}
|
|
|
|
void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
|
|
{
|
|
uint16_t val = 0;
|
|
for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
|
|
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
|
|
if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
|
|
|
|
TIM_ClearITPendingBit(channel.timer, channel.ccr);
|
|
|
|
switch(channel.channel) {
|
|
case TIM_Channel_1:
|
|
val = TIM_GetCapture1(channel.timer);
|
|
break;
|
|
case TIM_Channel_2:
|
|
val = TIM_GetCapture2(channel.timer);
|
|
break;
|
|
case TIM_Channel_3:
|
|
val = TIM_GetCapture3(channel.timer);
|
|
break;
|
|
case TIM_Channel_4:
|
|
val = TIM_GetCapture4(channel.timer);
|
|
break;
|
|
}
|
|
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = val;
|
|
} else {
|
|
FallValue[i] = val;
|
|
}
|
|
|
|
// flip state machine and capture value here
|
|
/* Simple rise or fall state machine */
|
|
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
|
|
if (CaptureState[i] == 0) {
|
|
/* Switch states */
|
|
CaptureState[i] = 1;
|
|
|
|
/* Switch polarity of input capture */
|
|
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
|
|
TIM_ICInitStructure.TIM_Channel = channel.channel;
|
|
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
|
|
} else {
|
|
/* Capture computation */
|
|
if (FallValue[i] > RiseValue[i]) {
|
|
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
|
|
} else {
|
|
CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
|
|
}
|
|
|
|
/* Switch states */
|
|
CaptureState[i] = 0;
|
|
|
|
/* Increase supervisor counter */
|
|
CapCounter[i]++;
|
|
|
|
/* Switch polarity of input capture */
|
|
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
|
|
TIM_ICInitStructure.TIM_Channel = channel.channel;
|
|
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#if 0
|
|
/**
|
|
* Handle TIM5 global interrupt request
|
|
*/
|
|
void TIM5_IRQHandler(void)
|
|
{
|
|
/* Do this as it's more efficient */
|
|
if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]) == SET) {
|
|
if (CaptureState[2] == 0) {
|
|
RiseValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
|
|
} else {
|
|
FallValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
|
|
}
|
|
|
|
/* Clear TIM3 Capture compare interrupt pending bit */
|
|
TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]);
|
|
|
|
/* Simple rise or fall state machine */
|
|
if (CaptureState[2] == 0) {
|
|
/* Switch states */
|
|
CaptureState[2] = 1;
|
|
|
|
/* Switch polarity of input capture */
|
|
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
|
|
TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
|
|
|
|
} else {
|
|
/* Capture computation */
|
|
if (FallValue[2] > RiseValue[2]) {
|
|
CaptureValue[2] = (FallValue[2] - RiseValue[2]);
|
|
} else {
|
|
CaptureValue[2] = ((0xFFFF - RiseValue[2]) + FallValue[2]);
|
|
}
|
|
|
|
/* Switch states */
|
|
CaptureState[2] = 0;
|
|
|
|
/* Increase supervisor counter */
|
|
CapCounter[2]++;
|
|
|
|
/* Switch polarity of input capture */
|
|
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
|
|
TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* This function handles TIM3 global interrupt request.
|
|
*/
|
|
PIOS_PWM_SUPV_IRQ_FUNC {
|
|
/* Clear timer interrupt pending bit */
|
|
TIM_ClearITPendingBit(PIOS_PWM_SUPV_TIMER, TIM_IT_Update);
|
|
|
|
/* Simple state machine */
|
|
if (SupervisorState == 0) {
|
|
/* Save this states values */
|
|
for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
CapCounterPrev[i] = CapCounter[i];
|
|
}
|
|
|
|
/* Move to next state */
|
|
SupervisorState = 1;
|
|
} else {
|
|
/* See what channels have been updated */
|
|
for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
if (CapCounter[i] == CapCounterPrev[i]) {
|
|
CaptureValue[i] = 0;
|
|
}
|
|
}
|
|
|
|
/* Move to next state */
|
|
SupervisorState = 0;
|
|
}
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|