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SPRacingF3Mini - First cut of transponder system.

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Implementation is DMA buffer based, just like the WS2811 LED Strip code,
so that there is minimal impact on flight performance.

Currently the code is mutually exclusive with the LED_STRIP code and
there is no means to set the transponder code.
This commit is contained in:
Dominic Clifton 2016-01-07 16:45:04 +01:00 • committed by borisbstyle
parent 360ea84a14
commit 6d32aa5d7b
11 changed files with 502 additions and 12 deletions
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160
src/main/drivers/transponder_ir_stm32f30x.c Normal file
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/*
* This file is part of Cleanflight.
*
* Cleanflight 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/transponder_ir.h"
#include "nvic.h"
#ifndef TRANSPONDER_GPIO
#define USE_TRANSPONDER_ON_DMA1_CHANNEL3
#define TRANSPONDER_GPIO GPIOB
#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define TRANSPONDER_GPIO_AF GPIO_AF_1
#define TRANSPONDER_PIN GPIO_Pin_8 // TIM16_CH1
#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8
#define TRANSPONDER_TIMER TIM16
#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define TRANSPONDER_DMA_CHANNEL DMA1_Channel3
#define TRANSPONDER_IRQ DMA1_Channel3_IRQn
#endif
void transponderIrHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
RCC_AHBPeriphClockCmd(TRANSPONDER_GPIO_AHB_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(TRANSPONDER_GPIO, TRANSPONDER_PIN_SOURCE, TRANSPONDER_GPIO_AF);
/* Configuration alternate function push-pull */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = TRANSPONDER_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(TRANSPONDER_GPIO, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(TRANSPONDER_TIMER_APB2_PERIPHERAL, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 156;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TRANSPONDER_TIMER, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
#ifdef TRANSPONDER_INVERTED
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
#else
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
#endif
TIM_OC1Init(TRANSPONDER_TIMER, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TRANSPONDER_TIMER, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TRANSPONDER_TIMER, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel6 Config */
DMA_DeInit(TRANSPONDER_DMA_CHANNEL);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TRANSPONDER_TIMER->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)transponderIrDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = TRANSPONDER_DMA_BUFFER_SIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(TRANSPONDER_DMA_CHANNEL, &DMA_InitStructure);
TIM_DMACmd(TRANSPONDER_TIMER, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(TRANSPONDER_DMA_CHANNEL, DMA_IT_TC, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TRANSPONDER_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_TRANSPONDER_DMA);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_TRANSPONDER_DMA);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
#ifdef USE_TRANSPONDER_ON_DMA1_CHANNEL3
void DMA1_Channel3_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_FLAG_TC3)) {
transponderIrDataTransferInProgress = 0;
DMA_Cmd(DMA1_Channel3, DISABLE); // disable DMA channel
DMA_ClearFlag(DMA1_FLAG_TC3); // clear DMA1 Channel transfer complete flag
}
}
#endif
#ifdef USE_TRANSPONDER_ON_DMA1_CHANNEL2
void DMA1_Channel2_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_FLAG_TC2)) {
transponderIrDataTransferInProgress = 0;
DMA_Cmd(DMA1_Channel2, DISABLE); // disable DMA channel
DMA_ClearFlag(DMA1_FLAG_TC2); // clear DMA1 Channel transfer complete flag
}
}
#endif
#ifdef USE_TRANSPONDER_ON_DMA1_CHANNEL7
void DMA1_Channel7_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_FLAG_TC7)) {
transponderIrDataTransferInProgress = 0;
DMA_Cmd(DMA1_Channel7, DISABLE); // disable DMA channel
DMA_ClearFlag(DMA1_FLAG_TC7); // clear DMA1 Channel transfer complete flag
}
}
#endif
void transponderIrDMAEnable(void)
{
DMA_SetCurrDataCounter(TRANSPONDER_DMA_CHANNEL, TRANSPONDER_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(TRANSPONDER_TIMER, 0);
TIM_Cmd(TRANSPONDER_TIMER, ENABLE);
DMA_Cmd(TRANSPONDER_DMA_CHANNEL, ENABLE);
}