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Software serial implementation. Compile with SOFTSERIAL_19200_LOOPBACK to test. Without the define the implementation will have no effect. Next step is to add a 'feature' to enable softserial and settings for the baud rate. Note, only READ is currently supported, write will come later. The highlevel api calls are used in main.c. Uart implementation needs cleanup to make serial port code generic, see uart files for details.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@390 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
fa7eecac18
commit
77a241bd5f
13 changed files with 466 additions and 162 deletions
124
src/drv_pwm.c
124
src/drv_pwm.c
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@ -1,4 +1,4 @@
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#include "board.h"
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#include "board.h"
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#define PULSE_1MS (1000) // 1ms pulse width
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@ -6,9 +6,9 @@
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Configuration maps:
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1) multirotor PPM input
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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2) multirotor PPM input with more servos
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@ -28,9 +28,9 @@
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PWM11.14 used for servos
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4) airplane / flying wing with PPM
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PWM1 used for PPM
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PWM5..8 used for servos
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM1 used for PPM
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PWM5..8 used for servos
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM11.14 used for servos
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*/
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@ -38,9 +38,9 @@ typedef struct {
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volatile uint16_t *ccr;
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uint16_t period;
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// for input only
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uint8_t channel;
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uint8_t state;
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// for input only
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uint8_t channel;
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uint8_t state;
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uint16_t rise;
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uint16_t fall;
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uint16_t capture;
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@ -134,27 +134,17 @@ static const uint8_t * const hardwareMaps[] = {
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multiPWM,
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multiPPM,
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airPWM,
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airPPM,
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};
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static void pwmTimeBase(TIM_TypeDef *tim, uint32_t period)
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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;
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TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 1000000) - 1; // all timers run at 1MHz
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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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airPPM,
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};
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#define PWM_TIMER_MHZ 1
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static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
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TIM_OCInitStructure.TIM_Pulse = value;
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@ -178,13 +168,13 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
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TIM_OC4Init(tim, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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}
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}
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static void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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}
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}
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void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = channel;
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TIM_ICInitStructure.TIM_ICPolarity = polarity;
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@ -205,13 +195,13 @@ static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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gpioInit(gpio, &cfg);
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}
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static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)
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{
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pwmPortData_t *p = &pwmPorts[port];
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pwmTimeBase(timerHardware[port].tim, period);
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pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
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pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
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// Needed only on TIM1
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static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)
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{
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pwmPortData_t *p = &pwmPorts[port];
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configTimeBase(timerHardware[port].tim, period, PWM_TIMER_MHZ);
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pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
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pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
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// Needed only on TIM1
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if (timerHardware[port].outputEnable)
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TIM_CtrlPWMOutputs(timerHardware[port].tim, ENABLE);
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TIM_Cmd(timerHardware[port].tim, ENABLE);
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@ -227,32 +217,32 @@ static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value
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p->ccr = &timerHardware[port].tim->CCR3;
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break;
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case TIM_Channel_4:
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p->ccr = &timerHardware[port].tim->CCR4;
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break;
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}
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p->ccr = &timerHardware[port].tim->CCR4;
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break;
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}
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return p;
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}
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static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uint8_t channel)
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{
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pwmPortData_t *p = &pwmPorts[port];
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pwmTimeBase(timerHardware[port].tim, 0xFFFF);
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pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_IPD);
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pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
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TIM_Cmd(timerHardware[port].tim, ENABLE);
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timerNVICConfig(timerHardware[port].irq);
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const timerHardware_t *timerHardwarePtr = &(timerHardware[port]);
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p->channel = channel;
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configureTimerCaptureCompareInterrupt(&(timerHardware[port]), port, callback);
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pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, Mode_IPD);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
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timerInConfig(timerHardwarePtr, 0xFFFF, PWM_TIMER_MHZ);
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configureTimerCaptureCompareInterrupt(timerHardwarePtr, port, callback);
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return p;
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}
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static void ppmCallback(uint8_t port, uint16_t capture)
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{
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uint16_t diff;
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static uint16_t now;
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{
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uint16_t diff;
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static uint16_t now;
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static uint16_t last = 0;
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static uint8_t chan = 0;
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static uint8_t GoodPulses;
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@ -317,9 +307,9 @@ bool pwmInit(drv_pwm_config_t *init)
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setup = hardwareMaps[i];
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for (i = 0; i < MAX_PORTS; i++) {
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uint8_t port = setup[i] & 0x0F;
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uint8_t mask = setup[i] & 0xF0;
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uint8_t port = setup[i] & 0x0F;
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uint8_t mask = setup[i] & 0xF0;
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if (setup[i] == 0xFF) // terminator
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break;
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@ -328,14 +318,20 @@ bool pwmInit(drv_pwm_config_t *init)
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if (port == PWM2)
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continue;
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#endif
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// skip UART ports for GPS
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if (init->useUART && (port == PWM3 || port == PWM4))
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continue;
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// skip ADC for powerMeter if configured
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if (init->adcChannel && (init->adcChannel == port))
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continue;
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// skip UART ports for GPS
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if (init->useUART && (port == PWM3 || port == PWM4))
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continue;
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#ifdef SOFTSERIAL_19200_LOOPBACK
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// skip softSerial ports
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if ((port == PWM5 || port == PWM6))
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continue;
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#endif
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// skip ADC for powerMeter if configured
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if (init->adcChannel && (init->adcChannel == port))
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continue;
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// hacks to allow current functionality
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if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
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