Merge pull request #3039 from cleanflight/f7-transponder-ir (#5618)

CF/BF - Add support for IR Transponder on STM32F7 boards.

make/mcu/STM32F3.mk

@@ -74,6 +74,7 @@ MCU_COMMON_SRC = \
             drivers/bus_spi_stdperiph.c \
             drivers/dma.c \
             drivers/light_ws2811strip_stdperiph.c \
+            drivers/transponder_ir_io_stdperiph.c \
             drivers/pwm_output_dshot.c \
             drivers/serial_uart_init.c \
             drivers/serial_uart_stm32f30x.c \

make/mcu/STM32F4.mk

@@ -172,6 +172,7 @@ MCU_COMMON_SRC = \
             drivers/dma_stm32f4xx.c \
             drivers/inverter.c \
             drivers/light_ws2811strip_stdperiph.c \
+            drivers/transponder_ir_io_stdperiph.c \
             drivers/pwm_output_dshot.c \
             drivers/serial_uart_init.c \
             drivers/serial_uart_stm32f4xx.c \

make/mcu/STM32F7.mk

@@ -166,6 +166,7 @@ MCU_COMMON_SRC = \
             drivers/bus_i2c_hal.c \
             drivers/dma_stm32f7xx.c \
             drivers/light_ws2811strip_hal.c \
+            drivers/transponder_ir_io_hal.c \
             drivers/bus_spi_ll.c \
             drivers/pwm_output_dshot_hal.c \
             drivers/timer_hal.c \

make/source.mk

@@ -47,7 +47,6 @@ COMMON_SRC = \
             drivers/stack_check.c \
             drivers/system.c \
             drivers/timer.c \
-            drivers/transponder_ir.c \
             drivers/transponder_ir_arcitimer.c \
             drivers/transponder_ir_ilap.c \
             drivers/transponder_ir_erlt.c \
@@ -294,13 +293,15 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/inverter.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \
+            drivers/light_ws2811strip_stdperiph.c \
             drivers/serial_escserial.c \
             drivers/serial_pinconfig.c \
             drivers/serial_tcp.c \
             drivers/serial_uart_init.c \
             drivers/serial_uart_pinconfig.c \
             drivers/serial_usb_vcp.c \
-            drivers/transponder_ir.c \
+            drivers/transponder_ir_io_hal.c \
+            drivers/transponder_ir_io_stdperiph.c \
             drivers/vtx_rtc6705_soft_spi.c \
             drivers/vtx_rtc6705.c \
             drivers/vtx_common.c \

src/main/drivers/transponder_ir.h

@@ -77,7 +77,7 @@
         uint8_t erlt[TRANSPONDER_DMA_BUFFER_SIZE_ERLT]; // 91-200
     } transponderIrDMABuffer_t;
 
-#elif defined(STM32F4)
+#elif defined(STM32F4) || defined(STM32F7)
 
     typedef union transponderIrDMABuffer_s {
         uint32_t arcitimer[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER]; // 620
@@ -93,7 +93,7 @@ typedef struct transponder_s {
     uint16_t bitToggleOne;
     uint32_t dma_buffer_size;
 
-    #if defined(STM32F3) || defined(STM32F4)|| defined(UNIT_TEST)
+    #if defined(STM32F3) || defined(STM32F4)|| defined(STM32F7) || defined(UNIT_TEST)
         transponderIrDMABuffer_t transponderIrDMABuffer;
     #endif
 

src/main/drivers/transponder_ir_arcitimer.c

@@ -24,7 +24,7 @@
 #include "drivers/transponder_ir.h"
 #include "drivers/transponder_ir_arcitimer.h"
 
-#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
+#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(UNIT_TEST)
 
 extern const struct transponderVTable arcitimerTansponderVTable;
 static uint16_t dmaBufferOffset;

src/main/drivers/transponder_ir_erlt.c

@@ -24,7 +24,7 @@
 #include "drivers/transponder_ir.h"
 #include "drivers/transponder_ir_erlt.h"
 
-#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
+#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(UNIT_TEST)
 
 static uint16_t dmaBufferOffset;
 extern const struct transponderVTable erltTansponderVTable;

src/main/drivers/transponder_ir_ilap.c

@@ -24,7 +24,7 @@
 #include "drivers/transponder_ir.h"
 #include "drivers/transponder_ir_ilap.h"
 
-#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
+#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(UNIT_TEST)
 
 static uint16_t dmaBufferOffset;
 extern const struct transponderVTable ilapTansponderVTable;

src/main/drivers/transponder_ir_io_hal.c

@@ -0,0 +1,262 @@
+/*
+ * 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 <string.h>
+
+#include <platform.h>
+
+#ifdef USE_TRANSPONDER
+
+#include "dma.h"
+#include "drivers/nvic.h"
+#include "drivers/io.h"
+#include "rcc.h"
+#include "timer.h"
+
+#include "transponder_ir.h"
+#include "drivers/transponder_ir_arcitimer.h"
+#include "drivers/transponder_ir_ilap.h"
+#include "drivers/transponder_ir_erlt.h"
+
+volatile uint8_t transponderIrDataTransferInProgress = 0;
+
+
+static IO_t transponderIO = IO_NONE;
+static TIM_HandleTypeDef TimHandle;
+static uint16_t timerChannel = 0;
+
+#if !defined(STM32F7)
+#error "Transponder (via HAL) not supported on this MCU."
+#endif
+
+transponder_t transponder;
+bool transponderInitialised = false;
+
+static void TRANSPONDER_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
+{
+    HAL_DMA_IRQHandler(TimHandle.hdma[descriptor->userParam]);
+    TIM_DMACmd(&TimHandle, timerChannel, DISABLE);
+    transponderIrDataTransferInProgress = 0;
+}
+
+void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
+{
+    if (!ioTag) {
+        return;
+    }
+
+    const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY);
+    TIM_TypeDef *timer = timerHardware->tim;
+    timerChannel = timerHardware->channel;
+
+    if (timerHardware->dmaRef == NULL) {
+        return;
+    }
+
+    /* Time base configuration */
+
+    TimHandle.Instance = timer;
+
+    uint16_t prescaler = timerGetPrescalerByDesiredMhz(timer, transponder->timer_hz);
+    uint16_t period = timerGetPeriodByPrescaler(timer, prescaler, transponder->timer_carrier_hz);
+
+    transponder->bitToggleOne = period / 2;
+
+    TimHandle.Init.Prescaler = prescaler;
+    TimHandle.Init.Period = period; // 800kHz
+    TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
+    if (HAL_TIM_PWM_Init(&TimHandle) != HAL_OK) {
+        /* Initialization Error */
+        return;
+    }
+
+    /* IO configuration */
+
+    static DMA_HandleTypeDef hdma_tim;
+
+    transponderIO = IOGetByTag(ioTag);
+    IOInit(transponderIO, OWNER_TRANSPONDER, 0);
+    IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLDOWN), timerHardware->alternateFunction);
+
+    __DMA1_CLK_ENABLE();
+
+    /* Set the parameters to be configured */
+    hdma_tim.Init.Channel = timerHardware->dmaChannel;
+    hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+    hdma_tim.Init.Mode = DMA_NORMAL;
+    hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+    hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
+    hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
+
+    /* Set hdma_tim instance */
+    hdma_tim.Instance = timerHardware->dmaRef;
+
+    uint16_t dmaIndex = timerDmaIndex(timerChannel);
+
+    /* Link hdma_tim to hdma[x] (channelx) */
+    __HAL_LINKDMA(&TimHandle, hdma[dmaIndex], hdma_tim);
+
+    dmaInit(timerHardware->dmaIrqHandler, OWNER_TRANSPONDER, 0);
+    dmaSetHandler(timerHardware->dmaIrqHandler, TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, dmaIndex);
+
+    /* Initialize TIMx DMA handle */
+    if (HAL_DMA_Init(TimHandle.hdma[dmaIndex]) != HAL_OK) {
+        /* Initialization Error */
+        return;
+    }
+
+
+    RCC_ClockCmd(timerRCC(timer), ENABLE);
+
+    /* PWM1 Mode configuration: Channel1 */
+    TIM_OC_InitTypeDef  TIM_OCInitStructure;
+
+    TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
+    TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
+    TIM_OCInitStructure.OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
+    TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+    TIM_OCInitStructure.OCNPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_LOW : TIM_OCNPOLARITY_HIGH;
+    TIM_OCInitStructure.Pulse = 0;
+    TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
+    if (HAL_TIM_PWM_ConfigChannel(&TimHandle, &TIM_OCInitStructure, timerChannel) != HAL_OK) {
+        /* Configuration Error */
+        return;
+    }
+    if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
+        if (HAL_TIMEx_PWMN_Start(&TimHandle, timerChannel) != HAL_OK) {
+            /* Starting PWM generation Error */
+            return;
+        }
+    } else {
+        if (HAL_TIM_PWM_Start(&TimHandle, timerChannel) != HAL_OK) {
+            /* Starting PWM generation Error */
+            return;
+        }
+    }
+
+    transponderInitialised = true;
+}
+
+bool transponderIrInit(const ioTag_t ioTag, const transponderProvider_e provider)
+{
+    if (!ioTag) {
+        return false;
+    }
+
+    switch (provider) {
+        case TRANSPONDER_ARCITIMER:
+            transponderIrInitArcitimer(&transponder);
+            break;
+        case TRANSPONDER_ILAP:
+            transponderIrInitIlap(&transponder);
+            break;
+        case TRANSPONDER_ERLT:
+            transponderIrInitERLT(&transponder);
+            break;
+        default:
+            return false;
+    }
+
+    transponderIrHardwareInit(ioTag, &transponder);
+
+    return true;
+}
+
+bool isTransponderIrReady(void)
+{
+    return !transponderIrDataTransferInProgress;
+}
+
+static uint16_t dmaBufferOffset;
+
+void transponderIrWaitForTransmitComplete(void)
+{
+    static uint32_t waitCounter = 0;
+
+    while (transponderIrDataTransferInProgress) {
+        waitCounter++;
+    }
+}
+
+void transponderIrUpdateData(const uint8_t* transponderData)
+{
+     transponderIrWaitForTransmitComplete();
+     transponder.vTable->updateTransponderDMABuffer(&transponder, transponderData);
+}
+
+void transponderIrDMAEnable(transponder_t *transponder)
+{
+    if (!transponderInitialised) {
+        return;
+    }
+
+    if (DMA_SetCurrDataCounter(&TimHandle, timerChannel, transponder->transponderIrDMABuffer.ilap, transponder->dma_buffer_size) != HAL_OK) {
+        /* DMA set error */
+        transponderIrDataTransferInProgress = 0;
+        return;
+    }
+
+    /* Reset timer counter */
+    __HAL_TIM_SET_COUNTER(&TimHandle, 0);
+    /* Enable channel DMA requests */
+    TIM_DMACmd(&TimHandle, timerChannel, ENABLE);
+}
+
+void transponderIrDisable(void)
+{
+    if (!transponderInitialised) {
+        return;
+    }
+
+    TIM_DMACmd(&TimHandle, timerChannel, DISABLE);
+    if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
+        HAL_TIMEx_PWMN_Stop(&TimHandle, timerChannel);
+    } else {
+        HAL_TIM_PWM_Stop(&TimHandle, timerChannel);
+    }
+
+
+    IOInit(transponderIO, OWNER_TRANSPONDER, 0);
+
+#ifdef TRANSPONDER_INVERTED
+    IOHi(transponderIO);
+#else
+    IOLo(transponderIO);
+#endif
+
+    IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLDOWN), timerHardware->alternateFunction);
+}
+
+void transponderIrTransmit(void)
+{
+    transponderIrWaitForTransmitComplete();
+
+    dmaBufferOffset = 0;
+
+    transponderIrDataTransferInProgress = 1;
+    transponderIrDMAEnable(&transponder);
+}
+#endif

src/main/target/BEEROTORF4/target.mk

@@ -5,6 +5,4 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/max7456.c \
+            drivers/max7456.c
-            drivers/transponder_ir.c \
-            io/transponder_ir.c

src/main/target/SPRACINGF4NEO/target.mk

@@ -10,7 +10,5 @@ TARGET_SRC = \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
-            drivers/transponder_ir.c \
             drivers/vtx_rtc6705.c \
             io/osd.c \
-            io/transponder_ir.c \

src/main/target/SPRACINGF7DUAL/target.h

@@ -199,8 +199,7 @@
 
 #define USE_LED_STRIP
 
-//TODO Implement transponder on F7
+#define USE_TRANSPONDER
-//#define USE_TRANSPONDER
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 //#define RX_CHANNELS_TAER