mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 04:45:24 +03:00
Use slightly flatter directory structure since some developers did not
like too many folders. Extracted code from some files into separate files to fit with the new layout.
This commit is contained in:
Dominic Clifton
parent
39adc34278
commit
3bd4cd2ed2
84 changed files with 732 additions and 645 deletions
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@ -1,236 +0,0 @@
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#include "board.h"
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/* FreeFlight/Naze32 timer layout
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TIM2_CH1 RC1 PWM1
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TIM2_CH2 RC2 PWM2
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TIM2_CH3 RC3/UA2_TX PWM3
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TIM2_CH4 RC4/UA2_RX PWM4
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TIM3_CH1 RC5 PWM5
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TIM3_CH2 RC6 PWM6
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TIM3_CH3 RC7 PWM7
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TIM3_CH4 RC8 PWM8
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TIM1_CH1 PWM1 PWM9
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TIM1_CH4 PWM2 PWM10
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TIM4_CH1 PWM3 PWM11
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TIM4_CH2 PWM4 PWM12
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TIM4_CH3 PWM5 PWM13
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TIM4_CH4 PWM6 PWM14
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RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
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RX2 TIM2_CH2 PA1
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RX3 TIM2_CH3 PA2 [also UART2_TX]
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RX4 TIM2_CH4 PA3 [also UART2_RX]
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RX5 TIM3_CH1 PA6 [also ADC_IN6]
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RX6 TIM3_CH2 PA7 [also ADC_IN7]
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RX7 TIM3_CH3 PB0 [also ADC_IN8]
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RX8 TIM3_CH4 PB1 [also ADC_IN9]
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Outputs
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PWM1 TIM1_CH1 PA8
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PWM2 TIM1_CH4 PA11
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PWM3 TIM4_CH1 PB6? [also I2C1_SCL]
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PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
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PWM5 TIM4_CH3 PB8
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PWM6 TIM4_CH4 PB9
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Groups that allow running different period (ex 50Hz servos + 400Hz throttle + etc):
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TIM2 4 channels
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TIM3 4 channels
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TIM1 2 channels
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TIM4 4 channels
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*/
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const timerHardware_t timerHardware[] = {
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{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1
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{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2
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{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, }, // PWM3
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{ TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, }, // PWM4
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{ TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, }, // PWM5
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{ TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, }, // PWM6
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{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, }, // PWM7
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{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, }, // PWM8
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{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, }, // PWM9
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{ TIM1, GPIOA, Pin_11, TIM_Channel_4, TIM1_CC_IRQn, 1, }, // PWM10
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{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, }, // PWM11
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{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, }, // PWM12
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{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, }, // PWM13
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{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, }, // PWM14
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};
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#define MAX_TIMERS 4 // TIM1..TIM4
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#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
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static const TIM_TypeDef *timers[MAX_TIMERS] = {
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TIM1, TIM2, TIM3, TIM4
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};
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static const uint8_t channels[CC_CHANNELS_PER_TIMER] = {
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TIM_Channel_1, TIM_Channel_2, TIM_Channel_3, TIM_Channel_4
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};
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typedef struct timerConfig_s {
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TIM_TypeDef *tim;
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uint8_t channel;
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timerCCCallbackPtr *callback;
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uint8_t reference;
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} timerConfig_t;
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timerConfig_t timerConfig[MAX_TIMERS * CC_CHANNELS_PER_TIMER];
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static uint8_t lookupTimerIndex(const TIM_TypeDef *tim)
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{
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uint8_t timerIndex = 0;
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while (timers[timerIndex] != tim) {
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timerIndex++;
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}
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return timerIndex;
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}
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static uint8_t lookupChannelIndex(const uint8_t channel)
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{
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uint8_t channelIndex = 0;
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while (channels[channelIndex] != channel) {
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channelIndex++;
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}
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return channelIndex;
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}
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void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
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{
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assert_param(IS_TIM_CHANNEL(channel));
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uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
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if (timerConfigIndex >= MAX_TIMERS * CC_CHANNELS_PER_TIMER) {
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return;
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}
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timerConfig[timerConfigIndex].callback = callback;
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timerConfig[timerConfigIndex].channel = channel;
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timerConfig[timerConfigIndex].reference = reference;
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}
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void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
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{
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switch (channel) {
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case TIM_Channel_1:
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TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
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break;
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case TIM_Channel_2:
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TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
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break;
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case TIM_Channel_3:
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TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
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break;
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case TIM_Channel_4:
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TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
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break;
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}
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}
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void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
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{
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configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
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configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
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}
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void timerNVICConfigure(uint8_t irq)
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{
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = irq;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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}
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void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = period - 1; // AKA TIMx_ARR
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// "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
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// Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
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TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
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}
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void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz)
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{
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configTimeBase(timerHardwarePtr->tim, period, mhz);
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TIM_Cmd(timerHardwarePtr->tim, ENABLE);
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timerNVICConfigure(timerHardwarePtr->irq);
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}
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timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel)
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{
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uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
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return &(timerConfig[timerConfigIndex]);
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}
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static void timCCxHandler(TIM_TypeDef *tim)
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{
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uint16_t capture;
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timerConfig_t *timerConfig;
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uint8_t channelIndex = 0;
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for (channelIndex = 0; channelIndex < CC_CHANNELS_PER_TIMER; channelIndex++) {
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uint8_t channel = channels[channelIndex];
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if (channel == TIM_Channel_1 && TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC1);
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timerConfig = findTimerConfig(tim, TIM_Channel_1);
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capture = TIM_GetCapture1(tim);
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} else if (channel == TIM_Channel_2 && TIM_GetITStatus(tim, TIM_IT_CC2) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC2);
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timerConfig = findTimerConfig(tim, TIM_Channel_2);
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capture = TIM_GetCapture2(tim);
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} else if (channel == TIM_Channel_3 && TIM_GetITStatus(tim, TIM_IT_CC3) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC3);
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timerConfig = findTimerConfig(tim, TIM_Channel_3);
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capture = TIM_GetCapture3(tim);
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} else if (channel == TIM_Channel_4 && TIM_GetITStatus(tim, TIM_IT_CC4) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC4);
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timerConfig = findTimerConfig(tim, TIM_Channel_4);
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capture = TIM_GetCapture4(tim);
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} else {
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continue; // avoid uninitialised variable dereference
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}
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if (!timerConfig->callback) {
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continue;
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}
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timerConfig->callback(timerConfig->reference, capture);
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}
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}
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void TIM1_CC_IRQHandler(void)
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{
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timCCxHandler(TIM1);
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}
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void TIM2_IRQHandler(void)
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{
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timCCxHandler(TIM2);
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}
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void TIM3_IRQHandler(void)
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{
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timCCxHandler(TIM3);
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}
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void TIM4_IRQHandler(void)
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{
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timCCxHandler(TIM4);
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}
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