Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-12 19:10:32 +03:00
Code Issues Wiki Activity

Adding simplified timer calls for enabling ESC Serial and Soft Serial for AT32 (#14228)

Browse source
This commit is contained in:
Jay Blackman 2025-03-28 21:31:30 +11:00 • committed by GitHub
parent 06844745f6
commit 268952eeb5
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
10 changed files with 195 additions and 76 deletions
Download patch file Download diff file Expand all files Collapse all files

55
src/main/drivers/rx/expresslrs_driver.c
View file

@ -101,13 +101,8 @@ void expressLrsUpdateTimerInterval(uint16_t intervalUs)
timerState.intervalUs = intervalUs;
expressLrsRecalculatePhaseShiftLimits();
#ifdef USE_HAL_DRIVER
timerReconfigureTimeBase(timer, expressLrsCalculateMaximumExpectedPeriod(timerState.intervalUs), MHZ_TO_HZ(1));
LL_TIM_SetAutoReload(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
#else
configTimeBase(timer, expressLrsCalculateMaximumExpectedPeriod(timerState.intervalUs), MHZ_TO_HZ(1));
TIM_SetAutoreload(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
#endif
timerSetPeriod(timer, (timerState.intervalUs / TICK_TOCK_COUNT) - 1);
}
void expressLrsUpdatePhaseShift(int32_t newPhaseShift)
@ -140,11 +135,7 @@ static void expressLrsOnTimerUpdate(timerOvrHandlerRec_t *cbRec, captureCompare_
uint32_t adjustedPeriod = (timerState.intervalUs / TICK_TOCK_COUNT) + timerState.frequencyOffsetTicks;
#ifdef USE_HAL_DRIVER
LL_TIM_SetAutoReload(timer, adjustedPeriod - 1);
#else
TIM_SetAutoreload(timer, adjustedPeriod - 1);
#endif
timerSetPeriod(timer, adjustedPeriod - 1);
expressLrsOnTimerTickISR();
@ -154,11 +145,7 @@ static void expressLrsOnTimerUpdate(timerOvrHandlerRec_t *cbRec, captureCompare_
uint32_t adjustedPeriod = (timerState.intervalUs / TICK_TOCK_COUNT) + timerState.phaseShiftUs + timerState.frequencyOffsetTicks;
#ifdef USE_HAL_DRIVER
LL_TIM_SetAutoReload(timer, adjustedPeriod - 1);
#else
TIM_SetAutoreload(timer, adjustedPeriod - 1);
#endif
timerSetPeriod(timer, adjustedPeriod - 1);
timerState.phaseShiftUs = 0;
@ -175,15 +162,8 @@ bool expressLrsTimerIsRunning(void)
void expressLrsTimerStop(void)
{
#ifdef USE_HAL_DRIVER
LL_TIM_DisableIT_UPDATE(timer);
LL_TIM_DisableCounter(timer);
LL_TIM_SetCounter(timer, 0);
#else
TIM_ITConfig(timer, TIM_IT_Update, DISABLE);
TIM_Cmd(timer, DISABLE);
TIM_SetCounter(timer, 0);
#endif
timerDisable(timer);
timerSetCounter(timer, 0);
timerState.running = false;
}
@ -191,29 +171,12 @@ void expressLrsTimerResume(void)
{
timerState.tickTock = TOCK;
#ifdef USE_HAL_DRIVER
LL_TIM_SetAutoReload(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
LL_TIM_SetCounter(timer, 0);
LL_TIM_ClearFlag_UPDATE(timer);
LL_TIM_EnableIT_UPDATE(timer);
#else
TIM_SetAutoreload(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
TIM_SetCounter(timer, 0);
TIM_ClearFlag(timer, TIM_FLAG_Update);
TIM_ITConfig(timer, TIM_IT_Update, ENABLE);
#endif
timerSetPeriod(timer, (timerState.intervalUs / TICK_TOCK_COUNT));
timerSetCounter(timer, 0);
timerEnableInterrupt(timer);
timerState.running = true;
#ifdef USE_HAL_DRIVER
LL_TIM_EnableCounter(timer);
LL_TIM_GenerateEvent_UPDATE(timer);
#else
TIM_Cmd(timer, ENABLE);
TIM_GenerateEvent(timer, TIM_EventSource_Update);
#endif
timerEnable(timer);
}
void expressLrsInitialiseTimer(TIM_TypeDef *t, timerOvrHandlerRec_t *timerUpdateCb)

33
src/main/drivers/serial_escserial.c
View file

@ -134,13 +134,6 @@ enum {
#define STOP_BIT_MASK (1 << 0)
#define START_BIT_MASK (1 << (RX_TOTAL_BITS - 1))
#ifdef USE_HAL_DRIVER
static void TIM_DeInit(TIM_TypeDef *tim)
{
LL_TIM_DeInit(tim);
}
#endif
static void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
{
if (escSerial->mode == PROTOCOL_KISSALL)
@ -343,7 +336,7 @@ static void serialTimerTxConfigBL(const timerHardware_t *timerHardwarePtr, uint8
{
uint32_t clock = SystemCoreClock/2;
uint32_t timerPeriod;
TIM_DeInit(timerHardwarePtr->tim);
timerReset(timerHardwarePtr->tim);
do {
timerPeriod = clock / baud;
if (isTimerPeriodTooLarge(timerPeriod)) {
@ -377,11 +370,8 @@ static void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t c
// Adjust the timing so it will interrupt on the middle.
// This is clobbers transmission, but it is okay because we are
// always half-duplex.
#ifdef USE_HAL_DRIVER
__HAL_TIM_SetCounter(escSerial->txTimerHandle, __HAL_TIM_GetAutoreload(escSerial->txTimerHandle) / 2);
#else
TIM_SetCounter(escSerial->txTimerHardware->tim, escSerial->txTimerHardware->tim->ARR / 2);
#endif
timerSetCounter(escSerial->txTimerHardware->tim, timerGetPeriod(escSerial->txTimerHardware->tim) / 2);
if (escSerial->isTransmittingData) {
escSerial->transmissionErrors++;
}
@ -414,7 +404,7 @@ static void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t c
static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8_t reference, portOptions_e options)
{
// start bit is usually a FALLING signal
TIM_DeInit(timerHardwarePtr->tim);
timerReset(timerHardwarePtr->tim);
timerReconfigureTimeBase(timerHardwarePtr->tim, 0xFFFF, SystemCoreClock / 2);
timerChConfigIC(timerHardwarePtr, (options & SERIAL_INVERTED) ? ICPOLARITY_RISING : ICPOLARITY_FALLING, 0);
timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeBL);
@ -538,7 +528,7 @@ static void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t captur
static void escSerialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
{
uint32_t timerPeriod = 34;
TIM_DeInit(timerHardwarePtr->tim);
timerReset(timerHardwarePtr->tim);
timerReconfigureTimeBase(timerHardwarePtr->tim, timerPeriod, MHZ_TO_HZ(1));
timerChCCHandlerInit(&escSerialPorts[reference].timerCb, onSerialTimerEsc);
timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
@ -570,12 +560,7 @@ static void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t
escSerial_t *escSerial = container_of(cbRec, escSerial_t, edgeCb);
//clear timer
#ifdef USE_HAL_DRIVER
__HAL_TIM_SetCounter(escSerial->rxTimerHandle, 0);
#else
TIM_SetCounter(escSerial->rxTimerHardware->tim,0);
#endif
timerSetCounter(escSerial->rxTimerHardware->tim, 0);
if (capture > 40 && capture < 90)
{
@ -628,7 +613,7 @@ static void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t
static void escSerialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
{
// start bit is usually a FALLING signal
TIM_DeInit(timerHardwarePtr->tim);
timerReset(timerHardwarePtr->tim);
timerReconfigureTimeBase(timerHardwarePtr->tim, 0xFFFF, MHZ_TO_HZ(1));
timerChConfigIC(timerHardwarePtr, ICPOLARITY_FALLING, 0);
timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeEsc);
@ -786,11 +771,11 @@ static void closeEscSerial(escSerialPortIndex_e portIndex, uint8_t mode)
if (mode != PROTOCOL_KISSALL) {
escSerialInputPortDeConfig(escSerial->rxTimerHardware);
timerChConfigCallbacks(escSerial->rxTimerHardware,NULL,NULL);
TIM_DeInit(escSerial->rxTimerHardware->tim);
timerReset(escSerial->rxTimerHardware->tim);
}
timerChConfigCallbacks(escSerial->txTimerHardware,NULL,NULL);
TIM_DeInit(escSerial->txTimerHardware->tim);
timerReset(escSerial->txTimerHardware->tim);
}
static uint32_t escSerialTotalBytesWaiting(const serialPort_t *instance)

6
src/main/drivers/serial_softserial.c
View file

@ -487,11 +487,7 @@ void onSerialRxPinChange(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
// Synchronize the bit timing so that it will interrupt at the center
// of the bit period.
#ifdef USE_HAL_DRIVER
__HAL_TIM_SetCounter(self->timerHandle, __HAL_TIM_GetAutoreload(self->timerHandle) / 2);
#else
TIM_SetCounter(self->timerHardware->tim, self->timerHardware->tim->ARR / 2);
#endif
timerSetCounter(self->timerHardware->tim, timerGetPeriod(self->timerHardware->tim) / 2);
// For a mono-timer full duplex configuration, this may clobber the
// transmission because the next callback to the onSerialTimerOverflow

9
src/main/drivers/timer.h
View file

@ -216,3 +216,12 @@ uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_
int8_t timerGetNumberByIndex(uint8_t index);
int8_t timerGetTIMNumber(const TIM_TypeDef *tim);
uint8_t timerLookupChannelIndex(const uint16_t channel);
// TODO: replace TIM_TypeDef with alternate
void timerReset(TIM_TypeDef *timer);
void timerSetPeriod(TIM_TypeDef *timer, uint32_t period);
uint32_t timerGetPeriod(TIM_TypeDef *timer);
void timerSetCounter(TIM_TypeDef *timer, uint32_t counter);
void timerDisable(TIM_TypeDef *timer);
void timerEnable(TIM_TypeDef *timer);
void timerEnableInterrupt(TIM_TypeDef *timer);

42
src/platform/APM32/timer_apm32.c
View file

@ -330,8 +330,9 @@ static void timerNVICConfigure(uint8_t irq)
TMR_HandleTypeDef* timerFindTimerHandle(TMR_TypeDef *tim)
{
uint8_t timerIndex = lookupTimerIndex(tim);
if (timerIndex >= USED_TIMER_COUNT)
if (timerIndex >= USED_TIMER_COUNT) {
return NULL;
}
return &timerHandle[timerIndex].Handle;
}
@ -1196,4 +1197,43 @@ DAL_StatusTypeDef DMA_SetCurrDataCounter(TMR_HandleTypeDef *htim, uint32_t Chann
/* Return function status */
return DAL_OK;
}
void timerReset(TIM_TypeDef *timer)
{
DDL_TMR_DeInit(timer);
}
void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
{
timer->AUTORLD = period;
}
uint32_t timerGetPeriod(TIM_TypeDef *timer)
{
return timer->AUTORLD;
}
void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
{
timer->CNT = counter;
}
void timerDisable(TIM_TypeDef *timer)
{
DDL_TMR_DisableIT_UPDATE(timer);
DDL_TMR_DisableCounter(timer);
}
void timerEnable(TIM_TypeDef *timer)
{
DDL_TMR_EnableCounter(timer);
DDL_TMR_GenerateEvent_UPDATE(timer);
}
void timerEnableInterrupt(TIM_TypeDef *timer)
{
DDL_TMR_ClearFlag_UPDATE(timer);
DDL_TMR_EnableIT_UPDATE(timer);
}
#endif

1
src/platform/AT32/target/AT32F435G/target.h
View file

@ -97,5 +97,6 @@
#undef USE_RX_EXPRESSLRS
// #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
#undef USE_SERIAL_4WAY_SK_BOOTLOADER
#define USE_ESCSERIAL
#define FLASH_PAGE_SIZE ((uint32_t)0x0800) // 2K sectors

1
src/platform/AT32/target/AT32F435M/target.h
View file

@ -97,5 +97,6 @@
#undef USE_RX_EXPRESSLRS
// #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
#undef USE_SERIAL_4WAY_SK_BOOTLOADER
#define USE_ESCSERIAL
#define FLASH_PAGE_SIZE ((uint32_t)0x1000) // 4K sectors

46
src/platform/AT32/timer_at32bsp.c
View file

@ -777,4 +777,50 @@ uint16_t timerGetPrescalerByDesiredHertz(tmr_type *tim, uint32_t hz)
}
return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1;
}
void timerReset(tmr_type *timer)
{
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
tmr_counter_enable(timer, FALSE);
}
}
void timerSetPeriod(tmr_type *timer, uint32_t period)
{
tmr_period_value_set(timer, period);
}
uint32_t timerGetPeriod(tmr_type *timer)
{
return tmr_period_value_get(timer);
}
void timerSetCounter(tmr_type *timer, uint32_t counter)
{
tmr_counter_value_set(timer, counter);
}
void timerReconfigureTimeBase(tmr_type *timer, uint16_t period, uint32_t hz)
{
configTimeBase(timer, period, hz);
}
void timerDisable(TIM_TypeDef *timer)
{
tmr_interrupt_enable(timer, TMR_OVF_INT, FALSE);
tmr_counter_enable(timer, FALSE);
}
void timerEnable(TIM_TypeDef *timer)
{
tmr_counter_enable(timer, TRUE);
tmr_overflow_event_disable(timer, TRUE);
}
void timerEnableInterrupt(TIM_TypeDef *timer)
{
tmr_flag_clear(timer, TMR_OVF_FLAG);
tmr_interrupt_enable(timer, TMR_OVF_INT, TRUE);
}
#endif

39
src/platform/STM32/timer_hal.c
View file

@ -1251,4 +1251,43 @@ HAL_StatusTypeDef DMA_SetCurrDataCounter(TIM_HandleTypeDef *htim, uint32_t Chann
/* Return function status */
return HAL_OK;
}
void timerReset(TIM_TypeDef *timer)
{
LL_TIM_DeInit(timer);
}
void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
{
timer->ARR = period;
}
uint32_t timerGetPeriod(TIM_TypeDef *timer)
{
return timer->ARR;
}
void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
{
timer->CNT = counter;
}
void timerDisable(TIM_TypeDef *timer)
{
LL_TIM_DisableIT_UPDATE(timer);
LL_TIM_DisableCounter(timer);
}
void timerEnable(TIM_TypeDef *timer)
{
LL_TIM_EnableCounter(timer);
LL_TIM_GenerateEvent_UPDATE(timer);
}
void timerEnableInterrupt(TIM_TypeDef *timer)
{
LL_TIM_ClearFlag_UPDATE(timer);
LL_TIM_EnableIT_UPDATE(timer);
}
#endif

39
src/platform/STM32/timer_stdperiph.c
View file

@ -954,4 +954,43 @@ uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz)
}
return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1;
}
void timerReset(TIM_TypeDef *timer)
{
TIM_DeInit(timer);
}
void timerSetPeriod(TIM_TypeDef *timer, uint32_t period)
{
timer->ARR = period;
}
uint32_t timerGetPeriod(TIM_TypeDef *timer)
{
return timer->ARR;
}
void timerSetCounter(TIM_TypeDef *timer, uint32_t counter)
{
timer->CNT = counter;
}
void timerDisable(TIM_TypeDef *timer)
{
TIM_ITConfig(timer, TIM_IT_Update, DISABLE);
TIM_Cmd(timer, DISABLE);
}
void timerEnable(TIM_TypeDef *timer)
{
TIM_Cmd(timer, ENABLE);
TIM_GenerateEvent(timer, TIM_EventSource_Update);
}
void timerEnableInterrupt(TIM_TypeDef *timer)
{
TIM_ClearFlag(timer, TIM_FLAG_Update);
TIM_ITConfig(timer, TIM_IT_Update, ENABLE);
}
#endif