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Code Issues Wiki Activity

OMNIBUS Support, and updates to filenames etc for cleanliness

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This commit is contained in:
blckmn 2016-10-18 20:27:45 +11:00
parent 631408e90b
commit 9f742b017d
12 changed files with 65 additions and 46 deletions
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40
src/main/drivers/pwm_output_stm32f3xx.c
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@ -28,6 +28,8 @@
#include "system.h"
#include "rcc.h"
#ifdef USE_DSHOT
#define MAX_DMA_TIMERS 8
#define MOTOR_DSHOT600_MHZ 24
@ -56,7 +58,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
{
motorDmaOutput_t * const motor = &dmaMotors[index];
value = (value - 1000) * 2;
value = (value <= 1000) ? 0 : ((value - 1000) * 2);
motor->value = value;
motor->dmaBuffer[0] = (value & 0x400) ? MOTOR_BIT_1 : MOTOR_BIT_0;
@ -95,7 +97,9 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
{
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
DMA_Cmd(descriptor->channel, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
}
}
@ -115,7 +119,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(timer));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
if (configureTimer) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
@ -124,7 +128,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_Cmd(timer, DISABLE);
uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / hz) - 1);
TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
@ -133,9 +137,13 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
uint32_t timerChannelAddress = 0;
switch (timerHardware->channel) {
@ -164,15 +172,20 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OC4PreloadConfig(timer, TIM_OCPreload_Enable);
break;
}
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
TIM_CCxCmd(timer, motor->timerHardware->channel, TIM_CCx_Enable);
if (configureTimer) {
TIM_CtrlPWMOutputs(timer, ENABLE);
TIM_CtrlPWMOutputs(timer, ENABLE);
TIM_ARRPreloadConfig(timer, ENABLE);
TIM_Cmd(timer, ENABLE);
TIM_Cmd(timer, ENABLE);
}
DMA_Channel_TypeDef *channel = timerHardware->dmaChannel;
dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
DMA_Cmd(channel, DISABLE);
DMA_DeInit(channel);
DMA_StructInit(&DMA_InitStructure);
@ -182,18 +195,15 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
DMA_InitStructure.DMA_BufferSize = MOTOR_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_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
TIM_DMACmd(timer, motor->timerDmaSource, ENABLE);
DMA_Init(channel, &DMA_InitStructure);
DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
DMA_Init(channel, &DMA_InitStructure);
dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
}
#endif