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Re-organize files by topic
Keil project not updated, I have no way to verify it. Note, mw.c, drv_pwm.c and drv_system.c contain code for too many topics. Later commits will relocate the code as appropriate. Not even looked at utils yet. 'Utils' is a bad naming practice and is a synonym for 'too lazy to find the right file/name'.
This commit is contained in:
Dominic Clifton
parent
a8f383077c
commit
9fa99cf9f5
61 changed files with 76 additions and 6363 deletions
236
src/drivers/timer/drv_timer.c
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236
src/drivers/timer/drv_timer.c
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@ -0,0 +1,236 @@
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#include "board.h"
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/* FreeFlight/Naze32 timer layout
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TIM2_CH1 RC1 PWM1
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TIM2_CH2 RC2 PWM2
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TIM2_CH3 RC3/UA2_TX PWM3
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TIM2_CH4 RC4/UA2_RX PWM4
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TIM3_CH1 RC5 PWM5
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TIM3_CH2 RC6 PWM6
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TIM3_CH3 RC7 PWM7
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TIM3_CH4 RC8 PWM8
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TIM1_CH1 PWM1 PWM9
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TIM1_CH4 PWM2 PWM10
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TIM4_CH1 PWM3 PWM11
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TIM4_CH2 PWM4 PWM12
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TIM4_CH3 PWM5 PWM13
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TIM4_CH4 PWM6 PWM14
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RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
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RX2 TIM2_CH2 PA1
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RX3 TIM2_CH3 PA2 [also UART2_TX]
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RX4 TIM2_CH4 PA3 [also UART2_RX]
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RX5 TIM3_CH1 PA6 [also ADC_IN6]
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RX6 TIM3_CH2 PA7 [also ADC_IN7]
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RX7 TIM3_CH3 PB0 [also ADC_IN8]
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RX8 TIM3_CH4 PB1 [also ADC_IN9]
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Outputs
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PWM1 TIM1_CH1 PA8
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PWM2 TIM1_CH4 PA11
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PWM3 TIM4_CH1 PB6? [also I2C1_SCL]
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PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
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PWM5 TIM4_CH3 PB8
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PWM6 TIM4_CH4 PB9
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Groups that allow running different period (ex 50Hz servos + 400Hz throttle + etc):
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TIM2 4 channels
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TIM3 4 channels
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TIM1 2 channels
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TIM4 4 channels
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*/
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const timerHardware_t timerHardware[] = {
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{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1
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{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2
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{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, }, // PWM3
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{ TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, }, // PWM4
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{ TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, }, // PWM5
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{ TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, }, // PWM6
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{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, }, // PWM7
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{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, }, // PWM8
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{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, }, // PWM9
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{ TIM1, GPIOA, Pin_11, TIM_Channel_4, TIM1_CC_IRQn, 1, }, // PWM10
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{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, }, // PWM11
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{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, }, // PWM12
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{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, }, // PWM13
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{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, }, // PWM14
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};
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#define MAX_TIMERS 4 // TIM1..TIM4
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#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
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static const TIM_TypeDef *timers[MAX_TIMERS] = {
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TIM1, TIM2, TIM3, TIM4
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};
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static const uint8_t channels[CC_CHANNELS_PER_TIMER] = {
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TIM_Channel_1, TIM_Channel_2, TIM_Channel_3, TIM_Channel_4
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};
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typedef struct timerConfig_s {
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TIM_TypeDef *tim;
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uint8_t channel;
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timerCCCallbackPtr *callback;
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uint8_t reference;
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} timerConfig_t;
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timerConfig_t timerConfig[MAX_TIMERS * CC_CHANNELS_PER_TIMER];
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static uint8_t lookupTimerIndex(const TIM_TypeDef *tim)
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{
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uint8_t timerIndex = 0;
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while (timers[timerIndex] != tim) {
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timerIndex++;
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}
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return timerIndex;
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}
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static uint8_t lookupChannelIndex(const uint8_t channel)
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{
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uint8_t channelIndex = 0;
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while (channels[channelIndex] != channel) {
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channelIndex++;
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}
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return channelIndex;
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}
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void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
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{
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assert_param(IS_TIM_CHANNEL(channel));
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uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
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if (timerConfigIndex >= MAX_TIMERS * CC_CHANNELS_PER_TIMER) {
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return;
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}
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timerConfig[timerConfigIndex].callback = callback;
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timerConfig[timerConfigIndex].channel = channel;
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timerConfig[timerConfigIndex].reference = reference;
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}
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void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
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{
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switch (channel) {
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case TIM_Channel_1:
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TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
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break;
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case TIM_Channel_2:
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TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
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break;
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case TIM_Channel_3:
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TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
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break;
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case TIM_Channel_4:
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TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
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break;
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}
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}
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void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
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{
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configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
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configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
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}
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void timerNVICConfigure(uint8_t irq)
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{
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = irq;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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}
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void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
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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; // AKA TIMx_ARR
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// "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
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// Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
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TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
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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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void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz)
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{
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configTimeBase(timerHardwarePtr->tim, period, mhz);
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TIM_Cmd(timerHardwarePtr->tim, ENABLE);
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timerNVICConfigure(timerHardwarePtr->irq);
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}
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timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint8_t channel)
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{
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uint8_t timerConfigIndex = (lookupTimerIndex(tim) * MAX_TIMERS) + lookupChannelIndex(channel);
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return &(timerConfig[timerConfigIndex]);
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}
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static void timCCxHandler(TIM_TypeDef *tim)
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{
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uint16_t capture;
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timerConfig_t *timerConfig;
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uint8_t channelIndex = 0;
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for (channelIndex = 0; channelIndex < CC_CHANNELS_PER_TIMER; channelIndex++) {
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uint8_t channel = channels[channelIndex];
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if (channel == TIM_Channel_1 && TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC1);
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timerConfig = findTimerConfig(tim, TIM_Channel_1);
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capture = TIM_GetCapture1(tim);
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} else if (channel == TIM_Channel_2 && TIM_GetITStatus(tim, TIM_IT_CC2) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC2);
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timerConfig = findTimerConfig(tim, TIM_Channel_2);
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capture = TIM_GetCapture2(tim);
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} else if (channel == TIM_Channel_3 && TIM_GetITStatus(tim, TIM_IT_CC3) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC3);
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timerConfig = findTimerConfig(tim, TIM_Channel_3);
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capture = TIM_GetCapture3(tim);
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} else if (channel == TIM_Channel_4 && TIM_GetITStatus(tim, TIM_IT_CC4) == SET) {
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TIM_ClearITPendingBit(tim, TIM_IT_CC4);
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timerConfig = findTimerConfig(tim, TIM_Channel_4);
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capture = TIM_GetCapture4(tim);
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} else {
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continue; // avoid uninitialised variable dereference
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}
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if (!timerConfig->callback) {
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continue;
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}
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timerConfig->callback(timerConfig->reference, capture);
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}
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}
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void TIM1_CC_IRQHandler(void)
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{
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timCCxHandler(TIM1);
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}
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void TIM2_IRQHandler(void)
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{
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timCCxHandler(TIM2);
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}
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void TIM3_IRQHandler(void)
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{
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timCCxHandler(TIM3);
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}
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void TIM4_IRQHandler(void)
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{
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timCCxHandler(TIM4);
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}
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