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fixed mag calibration stuff as reported by multiwii dudes

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added (untested) support for additional PWM output channels incase of PPM input - 4 more, so total of 10 outputs in this mode.
added (mostly untested) support for throttle calibration - short out PPM input connector with a bind plug and power up.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@122 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-23 03:59:15 +00:00
parent c526d2f3b9
commit 8318331f27
8 changed files with 2892 additions and 2466 deletions
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104
src/drv_pwm.c
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@ -32,6 +32,10 @@ static volatile uint16_t *OutputChannels[] = {
&(TIM4->CCR2),
&(TIM4->CCR3),
&(TIM4->CCR4),
&(TIM3->CCR1),
&(TIM3->CCR2),
&(TIM3->CCR3),
&(TIM3->CCR4),
};
static struct PWM_State {
@ -43,6 +47,7 @@ static struct PWM_State {
static TIM_ICInitTypeDef TIM_ICInitStructure = { 0, };
static bool usePPMFlag = false;
static uint8_t numOutputChannels = 0;
void TIM2_IRQHandler(void)
{
@ -95,7 +100,7 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
for (i = 0; i < 8; i++) {
struct TIM_Channel channel = Channels[i];
struct PWM_State *state = &Inputs[i];
if (channel.tim == tim && (TIM_GetITStatus(tim, channel.cc) == SET)) {
TIM_ClearITPendingBit(channel.tim, channel.cc);
@ -113,16 +118,16 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
val = TIM_GetCapture4(channel.tim);
break;
}
if (state->state == 0)
state->rise = val;
else
state->fall = val;
if (state->state == 0) {
// switch states
state->state = 1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.tim, &TIM_ICInitStructure);
@ -132,10 +137,10 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
state->capture = (state->fall - state->rise);
else
state->capture = ((0xffff - state->rise) + state->fall);
// switch state
state->state = 0;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.tim, &TIM_ICInitStructure);
@ -144,32 +149,49 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
}
}
void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
{
uint8_t i;
GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
TIM_OCInitTypeDef TIM_OCInitStructure = { 0, };
NVIC_InitTypeDef NVIC_InitStructure = { 0, };
uint8_t i, val;
uint16_t c;
bool throttleCal = true;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// Inputs
// RX1 TIM2_CH1 PA0 [also PPM]
// RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
// RX2 TIM2_CH2 PA1
// RX3 TIM2_CH3 PA2
// RX4 TIM2_CH4 PA3
// RX5 TIM3_CH1 PA6
// RX6 TIM3_CH2 PA7
// RX7 TIM3_CH3 PB0
// RX8 TIM3_CH4 PB1
// RX3 TIM2_CH3 PA2 [also UART2_TX]
// RX4 TIM2_CH4 PA3 [also UART2_RX]
// RX5 TIM3_CH1 PA6 [also ADC_IN6]
// RX6 TIM3_CH2 PA7 [also ADC_IN7]
// RX7 TIM3_CH3 PB0 [also ADC_IN8]
// RX8 TIM3_CH4 PB1 [also ADC_IN9]
// Outputs
// PWM1 TIM1_CH1 PA8
// PWM2 TIM1_CH4 PA11
// PWM3 TIM4_CH1 PB6
// PWM4 TIM4_CH2 PB7
// PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
// PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
// PWM5 TIM4_CH3 PB8
// PWM6 TIM4_CH4 PB9
// automatic throttle calibration detection: PA0 to ground via bindplug
// Configure TIM2_CH1 for input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
for (c = 0; c < 10000; c++) {
val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
if (val) {
throttleCal = false;
break;
}
}
// use PPM or PWM input
usePPMFlag = usePPM;
@ -185,7 +207,7 @@ void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
if (usePPM) {
// Configure TIM2_CH1 for PPM input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
@ -215,6 +237,8 @@ void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
TIM_Cmd(TIM2, ENABLE);
// configure number of PWM outputs, in PPM mode, we use bottom 4 channels more more motors
numOutputChannels = 10;
} else {
// Configure TIM2, TIM3 all 4 channels
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_6 | GPIO_Pin_7;
@ -256,6 +280,9 @@ void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
TIM_Cmd(TIM2, ENABLE);
TIM_Cmd(TIM3, ENABLE);
// In PWM input mode, all 8 channels are wasted
numOutputChannels = 6;
}
// Output pins
@ -302,14 +329,43 @@ void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
if (usePPM) {
// PWM 7,8,9,10
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = PULSE_1MS;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
}
return throttleCal;
}
void pwmWrite(uint8_t channel, uint16_t value)
{
*OutputChannels[channel] = value;
if (channel < numOutputChannels)
*OutputChannels[channel] = value;
}
uint16_t pwmRead(uint8_t channel)
{
return Inputs[channel].capture;
}
uint8_t pwmGetNumOutputChannels(void)
{
return numOutputChannels;
}