Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 03:20:00 +03:00
Code Issues Wiki Activity

AT32F435 camera control (#12913)

Browse source 
* [AT32] camera control

* remove comments

* change to mcu specific implementation

* fix includes
This commit is contained in:
Eike Ahmels 2023-07-10 07:54:20 +02:00 • committed by GitHub
parent be9652923a
commit 214946bc3f
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
16 changed files with 287 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

1
mk/mcu/STM32F4.mk
View file

@ -181,6 +181,7 @@ MCU_COMMON_SRC = \
drivers/stm32/timer_stm32f4xx.c \
drivers/stm32/transponder_ir_io_stdperiph.c \
drivers/stm32/usbd_msc_desc.c \
drivers/stm32/camera_control.c \
startup/system_stm32f4xx.c
ifeq ($(PERIPH_DRIVER), HAL)

1
mk/mcu/STM32F7.mk
View file

@ -185,6 +185,7 @@ MCU_COMMON_SRC = \
drivers/stm32/timer_hal.c \
drivers/stm32/timer_stm32f7xx.c \
drivers/stm32/transponder_ir_io_hal.c \
drivers/stm32/camera_control.c \
startup/system_stm32f7xx.c
MCU_EXCLUDES = \

1
mk/mcu/STM32G4.mk
View file

@ -171,6 +171,7 @@ MCU_COMMON_SRC = \
drivers/stm32/timer_hal.c \
drivers/stm32/timer_stm32g4xx.c \
drivers/stm32/transponder_ir_io_hal.c \
drivers/stm32/camera_control.c \
startup/system_stm32g4xx.c
MCU_EXCLUDES = \

1
mk/mcu/STM32H7.mk
View file

@ -328,6 +328,7 @@ MCU_COMMON_SRC = \
drivers/stm32/timer_hal.c \
drivers/stm32/timer_stm32h7xx.c \
drivers/stm32/transponder_ir_io_hal.c \
drivers/stm32/camera_control.c \
startup/system_stm32h7xx.c
MCU_EXCLUDES = \

1
mk/source.mk
View file

@ -73,7 +73,6 @@ COMMON_SRC = \
target/config_helper.c \
fc/init.c \
fc/controlrate_profile.c \
drivers/camera_control.c \
drivers/accgyro/gyro_sync.c \
drivers/rx/rx_spi.c \
drivers/rx/rx_xn297.c \

2
src/main/cli/cli.c
View file

@ -70,7 +70,7 @@ bool cliMode = false;
#include "drivers/dshot_command.h"
#include "drivers/dshot_dpwm.h"
#include "drivers/pwm_output_dshot_shared.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "drivers/compass/compass.h"
#include "drivers/display.h"
#include "drivers/dma.h"

2
src/main/cli/settings.c
View file

@ -39,7 +39,7 @@
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/dshot_command.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "drivers/light_led.h"
#include "drivers/mco.h"
#include "drivers/pinio.h"

269
src/main/drivers/at32/camera_control.c Normal file
View file

@ -0,0 +1,269 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#ifdef USE_CAMERA_CONTROL
#ifndef CAMERA_CONTROL_PIN
#define CAMERA_CONTROL_PIN NONE
#endif
#include <math.h>
#include "drivers/camera_control_impl.h"
#include "drivers/rcc.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/pwm_output.h"
#include "drivers/time.h"
#include "pg/pg_ids.h"
#define CAMERA_CONTROL_PWM_RESOLUTION 128
#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
#ifdef CURRENT_TARGET_CPU_VOLTAGE
#define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
#else
#define ADC_VOLTAGE 3.3f
#endif
#if !defined(STM32F411xE) && !defined(STM32F7) && !defined(STM32H7) && !defined(STM32G4)
#define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
#include "build/atomic.h"
#endif
#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
#include "drivers/timer.h"
#ifdef USE_OSD
#include "osd/osd.h"
#endif
PG_REGISTER_WITH_RESET_FN(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
void pgResetFn_cameraControlConfig(cameraControlConfig_t *cameraControlConfig)
{
cameraControlConfig->mode = CAMERA_CONTROL_MODE_HARDWARE_PWM;
cameraControlConfig->refVoltage = 330;
cameraControlConfig->keyDelayMs = 180;
cameraControlConfig->internalResistance = 470;
cameraControlConfig->ioTag = IO_TAG(CAMERA_CONTROL_PIN);
cameraControlConfig->inverted = 0; // Output is inverted externally
cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_ENTER] = 450;
cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_LEFT] = 270;
cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_UP] = 150;
cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_RIGHT] = 68;
cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_DOWN] = 0;
}
static struct {
bool enabled;
IO_t io;
timerChannel_t channel;
uint32_t period;
uint8_t inverted;
} cameraControlRuntime;
static uint32_t endTimeMillis;
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
static void cameraControlHi(void)
{
if (cameraControlRuntime.inverted) {
IOLo(cameraControlRuntime.io);
} else {
IOHi(cameraControlRuntime.io);
}
}
static void cameraControlLo(void)
{
if (cameraControlRuntime.inverted) {
IOHi(cameraControlRuntime.io);
} else {
IOLo(cameraControlRuntime.io);
}
}
void TIM6_DAC_IRQHandler(void)
{
cameraControlHi();
tmr_flag_clear(TMR6, TMR_OVF_FLAG);
}
void TIM7_IRQHandler(void)
{
cameraControlLo();
tmr_flag_clear(TMR7, TMR_OVF_FLAG);
}
#endif
void cameraControlInit(void)
{
if (cameraControlConfig()->ioTag == IO_TAG_NONE)
return;
cameraControlRuntime.inverted = cameraControlConfig()->inverted;
cameraControlRuntime.io = IOGetByTag(cameraControlConfig()->ioTag);
IOInit(cameraControlRuntime.io, OWNER_CAMERA_CONTROL, 0);
if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
const timerHardware_t *timerHardware = timerAllocate(cameraControlConfig()->ioTag, OWNER_CAMERA_CONTROL, 0);
if (!timerHardware) {
return;
}
IOConfigGPIOAF(cameraControlRuntime.io, IOCFG_AF_PP, timerHardware->alternateFunction);
pwmOutConfig(&cameraControlRuntime.channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, cameraControlRuntime.inverted);
cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
*cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
cameraControlRuntime.enabled = true;
#endif
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
IOConfigGPIO(cameraControlRuntime.io, IOCFG_OUT_PP);
cameraControlHi();
cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
cameraControlRuntime.enabled = true;
nvic_irq_enable(TMR6_DAC_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
RCC_ClockCmd(RCC_APB1(TMR6), ENABLE);
tmr_div_value_set(TMR6, 0);
nvic_irq_enable(TMR7_GLOBAL_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
RCC_ClockCmd(RCC_APB1(TMR7), ENABLE);
tmr_div_value_set(TMR7, 0);
#endif
} else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
// @todo not yet implemented
}
}
void cameraControlProcess(uint32_t currentTimeUs)
{
if (endTimeMillis && currentTimeUs >= 1000 * endTimeMillis) {
if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
*cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
}
endTimeMillis = 0;
}
}
static float calculateKeyPressVoltage(const cameraControlKey_e key)
{
const int buttonResistance = cameraControlConfig()->buttonResistanceValues[key] * 100;
return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
}
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
static float calculatePWMDutyCycle(const cameraControlKey_e key)
{
const float voltage = calculateKeyPressVoltage(key);
return voltage / ADC_VOLTAGE;
}
#endif
void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
{
if (!cameraControlRuntime.enabled)
return;
if (key >= CAMERA_CONTROL_KEYS_COUNT)
return;
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
const float dutyCycle = calculatePWMDutyCycle(key);
#else
(void) holdDurationMs;
#endif
#ifdef USE_OSD
// Force OSD timeout so we are alone on the display.
resumeRefreshAt = 0;
#endif
if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
*cameraControlRuntime.channel.ccr = lrintf(dutyCycle * cameraControlRuntime.period);
endTimeMillis = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
#endif
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
const uint32_t hiTime = lrintf(dutyCycle * cameraControlRuntime.period);
if (0 == hiTime) {
cameraControlLo();
delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
cameraControlHi();
} else {
tmr_counter_value_set(TMR6, hiTime);
tmr_period_value_set(TMR6, cameraControlRuntime.period);
tmr_counter_value_set(TMR7, 0);
tmr_period_value_set(TMR7, cameraControlRuntime.period);
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
tmr_counter_enable(TMR6, TRUE);
tmr_counter_enable(TMR7, TRUE);
}
tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
tmr_interrupt_enable(TMR7, TMR_OVF_INT, TRUE);
const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
// Wait to give the camera a chance at registering the key press
while (millis() < endTime);
// Disable timers and interrupt generation
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
tmr_counter_enable(TMR6, FALSE);
tmr_counter_enable(TMR7, FALSE);
}
tmr_interrupt_enable(TMR6, TMR_OVF_INT, FALSE);
tmr_interrupt_enable(TMR7, TMR_OVF_INT, FALSE);
// Reset to idle state
IOHi(cameraControlRuntime.io);
}
#endif
} else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
// @todo not yet implemented
}
}
#endif

0
src/main/drivers/camera_control.h → src/main/drivers/camera_control_impl.h
View file

15
src/main/drivers/camera_control.c → src/main/drivers/stm32/camera_control.c
View file

@ -28,11 +28,12 @@
#include <math.h>
#include "camera_control.h"
#include "io.h"
#include "nvic.h"
#include "pwm_output.h"
#include "time.h"
#include "drivers/camera_control_impl.h"
#include "drivers/rcc.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/pwm_output.h"
#include "drivers/time.h"
#include "pg/pg_ids.h"
#define CAMERA_CONTROL_PWM_RESOLUTION 128
@ -50,7 +51,7 @@
#endif
#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
#include "timer.h"
#include "drivers/timer.h"
#ifdef USE_OSD
#include "osd/osd.h"
@ -105,7 +106,6 @@ static void cameraControlLo(void)
void TIM6_DAC_IRQHandler(void)
{
cameraControlHi();
TIM6->SR = 0;
}
@ -151,6 +151,7 @@ void cameraControlInit(void)
cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
cameraControlRuntime.enabled = true;
NVIC_InitTypeDef nvicTIM6 = {
TIM6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
};

2
src/main/fc/init.c
View file

@ -51,7 +51,7 @@
#include "drivers/bus_quadspi.h"
#include "drivers/bus_spi.h"
#include "drivers/buttons.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "drivers/compass/compass.h"
#include "drivers/dma.h"
#include "drivers/exti.h"

2
src/main/fc/rc_controls.c
View file

@ -35,7 +35,7 @@
#include "config/feature.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "config/config.h"
#include "fc/core.h"

2
src/main/fc/tasks.c
View file

@ -36,7 +36,7 @@
#include "config/feature.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "drivers/compass/compass.h"
#include "drivers/sensor.h"
#include "drivers/serial.h"

2
src/main/msp/msp.c
View file

@ -53,7 +53,7 @@
#include "drivers/accgyro/accgyro.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/camera_control.h"
#include "drivers/camera_control_impl.h"
#include "drivers/compass/compass.h"
#include "drivers/display.h"
#include "drivers/dshot.h"

1
src/main/target/AT32F435G/target.h
View file

@ -90,7 +90,6 @@
#undef USE_DSHOT_DMAR
#define USE_BEEPER
#undef USE_CAMERA_CONTROL
#undef USE_RX_PPM
#undef USE_RX_PWM
#undef USE_RX_SPI

1
src/main/target/AT32F435M/target.h
View file

@ -90,7 +90,6 @@
#undef USE_DSHOT_DMAR
#define USE_BEEPER
#undef USE_CAMERA_CONTROL
#undef USE_RX_PPM
#undef USE_RX_PWM
#undef USE_RX_SPI