mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
ed49f7fc40
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2132 ebee16cc-31ac-478f-84a7-5cbb03baadba
414 lines
13 KiB
C
414 lines
13 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"
|
|
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
|
|
/* Local Variables */
|
|
static GPIO_TypeDef *PIOS_PWM_GPIO_PORT[PIOS_PWM_NUM_INPUTS] = PIOS_PWM_GPIO_PORTS;
|
|
static const uint32_t PIOS_PWM_GPIO_PIN[PIOS_PWM_NUM_INPUTS] = PIOS_PWM_GPIO_PINS;
|
|
static TIM_TypeDef *PIOS_PWM_TIM_PORT[PIOS_PWM_NUM_INPUTS] = PIOS_PWM_TIM_PORTS;
|
|
static const uint32_t PIOS_PWM_TIM_CHANNEL[PIOS_PWM_NUM_INPUTS] = PIOS_PWM_TIM_CHANNELS;
|
|
static const uint32_t PIOS_PWM_TIM_CCR[PIOS_PWM_NUM_INPUTS] = PIOS_PWM_TIM_CCRS;
|
|
static TIM_TypeDef *PIOS_PWM_TIM[PIOS_PWM_NUM_TIMS] = PIOS_PWM_TIMS;
|
|
static const uint32_t PIOS_PWM_TIM_IRQ[PIOS_PWM_NUM_TIMS] = PIOS_PWM_TIM_IRQS;
|
|
|
|
static TIM_ICInitTypeDef TIM_ICInitStructure;
|
|
static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
|
|
static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
|
|
static uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
|
|
static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
|
|
|
|
static uint8_t SupervisorState = 0;
|
|
static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
|
|
static uint32_t CapCounterPrev[PIOS_PWM_NUM_INPUTS];
|
|
|
|
/**
|
|
* Initialises all the pins
|
|
*/
|
|
void PIOS_PWM_Init(void)
|
|
{
|
|
/* Flush counter variables */
|
|
int32_t i;
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
CaptureState[i] = 0;
|
|
}
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
RiseValue[i] = 0;
|
|
}
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
FallValue[i] = 0;
|
|
}
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
CaptureValue[i] = 0;
|
|
}
|
|
|
|
/* Setup RCC */
|
|
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
|
|
|
|
/* Enable timer interrupts */
|
|
NVIC_InitTypeDef NVIC_InitStructure;
|
|
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
|
|
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
|
|
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
|
for (i = 0; i < PIOS_PWM_NUM_TIMS; i++) {
|
|
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_TIM_IRQ[i];
|
|
NVIC_Init(&NVIC_InitStructure);
|
|
}
|
|
|
|
/* Partial pin remap for TIM3 (PB5) */
|
|
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
|
|
|
|
/* Configure input pins */
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
|
|
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
GPIO_InitStructure.GPIO_Pin = PIOS_PWM_GPIO_PIN[i];
|
|
GPIO_Init(PIOS_PWM_GPIO_PORT[i], &GPIO_InitStructure);
|
|
}
|
|
|
|
/* Configure timer for input capture */
|
|
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
|
|
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
|
|
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
|
|
TIM_ICInitStructure.TIM_ICFilter = 0x0;
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[i];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[i], &TIM_ICInitStructure);
|
|
}
|
|
|
|
/* Configure timer clocks */
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
|
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
|
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
|
|
TIM_InternalClockConfig(PIOS_PWM_TIM_PORT[i]);
|
|
TIM_TimeBaseInit(PIOS_PWM_TIM_PORT[i], &TIM_TimeBaseStructure);
|
|
|
|
/* Enable the Capture Compare Interrupt Request */
|
|
TIM_ITConfig(PIOS_PWM_TIM_PORT[i], PIOS_PWM_TIM_CCR[i], ENABLE);
|
|
}
|
|
|
|
/* Enable timers */
|
|
for (i = 0; i < PIOS_PWM_NUM_TIMS; i++) {
|
|
TIM_Cmd(PIOS_PWM_TIM[i], ENABLE);
|
|
}
|
|
|
|
/* 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 = 0;
|
|
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
|
|
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;
|
|
}
|
|
|
|
/**
|
|
* 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_NUM_INPUTS) {
|
|
return -1;
|
|
}
|
|
return CaptureValue[Channel];
|
|
}
|
|
|
|
/**
|
|
* Handle TIM3 global interrupt request
|
|
*/
|
|
void TIM3_IRQHandler(void)
|
|
{
|
|
/* Zero value always will be changed but this prevents compiler warning */
|
|
int32_t i = 0;
|
|
|
|
/* Do this as it's more efficient */
|
|
if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[4], PIOS_PWM_TIM_CCR[4]) == SET) {
|
|
i = 4;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture4(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture4(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
} else if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[5], PIOS_PWM_TIM_CCR[5]) == SET) {
|
|
i = 5;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture3(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture3(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
} else if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[6], PIOS_PWM_TIM_CCR[6]) == SET) {
|
|
i = 6;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
} else if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[7], PIOS_PWM_TIM_CCR[7]) == SET) {
|
|
i = 7;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture2(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture2(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
}
|
|
|
|
/* Clear TIM3 Capture compare interrupt pending bit */
|
|
TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[i], PIOS_PWM_TIM_CCR[i]);
|
|
|
|
/* Simple rise or fall state machine */
|
|
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 = PIOS_PWM_TIM_CHANNEL[i];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[i], &TIM_ICInitStructure);
|
|
|
|
} else {
|
|
/* Capture computation */
|
|
if (FallValue[i] > RiseValue[i]) {
|
|
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
|
|
} else {
|
|
CaptureValue[i] = ((0xFFFF - 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 = PIOS_PWM_TIM_CHANNEL[i];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[i], &TIM_ICInitStructure);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Handle TIM1 global interrupt request
|
|
*/
|
|
void TIM1_CC_IRQHandler(void)
|
|
{
|
|
/* Zero value always will be changed but this prevents compiler warning */
|
|
int32_t i = 0;
|
|
|
|
/* Do this as it's more efficient */
|
|
if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[0], PIOS_PWM_TIM_CCR[0]) == SET) {
|
|
i = 0;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture2(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture2(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
} else if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[1], PIOS_PWM_TIM_CCR[1]) == SET) {
|
|
i = 1;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture3(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture3(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
} else if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[3], PIOS_PWM_TIM_CCR[3]) == SET) {
|
|
i = 3;
|
|
if (CaptureState[i] == 0) {
|
|
RiseValue[i] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[i]);
|
|
} else {
|
|
FallValue[i] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[i]);
|
|
}
|
|
}
|
|
|
|
/* Clear TIM3 Capture compare interrupt pending bit */
|
|
TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[i], PIOS_PWM_TIM_CCR[i]);
|
|
|
|
/* Simple rise or fall state machine */
|
|
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 = PIOS_PWM_TIM_CHANNEL[i];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[i], &TIM_ICInitStructure);
|
|
|
|
} else {
|
|
/* Capture computation */
|
|
if (FallValue[i] > RiseValue[i]) {
|
|
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
|
|
} else {
|
|
CaptureValue[i] = ((0xFFFF - 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 = PIOS_PWM_TIM_CHANNEL[i];
|
|
TIM_ICInit(PIOS_PWM_TIM_PORT[i], &TIM_ICInitStructure);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|