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Code Issues Wiki Activity

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

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Jay Blackman 2025-03-28 21:31:30 +11:00 • committed by GitHub
parent 06844745f6
commit 268952eeb5
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GPG key ID: B5690EEEBB952194
10 changed files with 195 additions and 76 deletions
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33
src/main/drivers/serial_escserial.c
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@ -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)