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Code Issues Wiki Activity

New timer implementation

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This is first part of new softserial code. Main timer code is changed, changes to rest of code are kept to minimum.

macros for BASEPRI based synchronization are added to project (atomic.h)

TIMER_PERIOD fixed in pwm_rx.c
This commit is contained in:
Petr Ledvina 2014-11-07 15:26:29 +01:00
parent 2c8b3af88d
commit aa7f5c4a1e
17 changed files with 953 additions and 249 deletions
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65
src/main/drivers/pwm_rx.c
View file

@ -23,6 +23,9 @@
#include "platform.h"
#include "build_config.h"
#include "common/utils.h"
#include "system.h"
#include "nvic.h"
#include "gpio.h"
#include "timer.h"
@ -64,14 +67,16 @@ typedef struct {
uint8_t missedEvents;
const timerHardware_t *timerHardware;
timerCCHandlerRec_t edgeCb;
timerOvrHandlerRec_t overflowCb;
} pwmInputPort_t;
static pwmInputPort_t pwmInputPorts[PWM_INPUT_PORT_COUNT];
static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
#define PPM_TIMER_PERIOD 0xFFFF
#define PWM_TIMER_PERIOD 0xFFFF
#define PPM_TIMER_PERIOD 0x10000
#define PWM_TIMER_PERIOD 0x10000
static uint8_t ppmFrameCount = 0;
static uint8_t lastPPMFrameCount = 0;
@ -132,15 +137,15 @@ static void ppmInit(void)
ppmDev.tracking = false;
}
static void ppmOverflowCallback(uint8_t port, captureCompare_t capture)
static void ppmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t capture)
{
UNUSED(port);
ppmDev.largeCounter += capture;
UNUSED(cbRec);
ppmDev.largeCounter += capture + 1;
}
static void ppmEdgeCallback(uint8_t port, captureCompare_t capture)
static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture)
{
UNUSED(port);
UNUSED(cbRec);
int32_t i;
/* Shift the last measurement out */
@ -218,10 +223,10 @@ static void ppmEdgeCallback(uint8_t port, captureCompare_t capture)
#define MAX_MISSED_PWM_EVENTS 10
static void pwmOverflowCallback(uint8_t port, captureCompare_t capture)
static void pwmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t capture)
{
UNUSED(capture);
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
pwmInputPort_t *pwmInputPort = container_of(cbRec, pwmInputPort_t, overflowCb);
if (++pwmInputPort->missedEvents > MAX_MISSED_PWM_EVENTS) {
if (pwmInputPort->state == 0) {
@ -231,9 +236,9 @@ static void pwmOverflowCallback(uint8_t port, captureCompare_t capture)
}
}
static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
static void pwmEdgeCallback(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
{
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
pwmInputPort_t *pwmInputPort = container_of(cbRec, pwmInputPort_t, edgeCb);
const timerHardware_t *timerHardwarePtr = pwmInputPort->timerHardware;
if (pwmInputPort->state == 0) {
@ -285,27 +290,22 @@ void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
{
pwmInputPort_t *p = &pwmInputPorts[channel];
pwmInputPort_t *self = &pwmInputPorts[channel];
p->state = 0;
p->missedEvents = 0;
p->channel = channel;
p->mode = INPUT_MODE_PWM;
p->timerHardware = timerHardwarePtr;
self->state = 0;
self->missedEvents = 0;
self->channel = channel;
self->mode = INPUT_MODE_PWM;
self->timerHardware = timerHardwarePtr;
pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
timerConfigure(timerHardwarePtr, (uint16_t)PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
#ifdef STM32F303xC
// If overflow monitoring is enabled on STM32F3 then the IRQ handler TIM1_UP_TIM16_IRQHandler is continually called.
if (timerHardwarePtr->tim == TIM1) {
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, NULL);
return;
}
#endif
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, pwmOverflowCallback);
timerChCCHandlerInit(&self->edgeCb, pwmEdgeCallback);
timerChOvrHandlerInit(&self->overflowCb, pwmOverflowCallback);
timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
}
#define UNUSED_PPM_TIMER_REFERENCE 0
@ -315,16 +315,19 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
{
ppmInit();
pwmInputPort_t *p = &pwmInputPorts[FIRST_PWM_PORT];
pwmInputPort_t *self = &pwmInputPorts[FIRST_PWM_PORT];
p->mode = INPUT_MODE_PPM;
p->timerHardware = timerHardwarePtr;
self->mode = INPUT_MODE_PPM;
self->timerHardware = timerHardwarePtr;
pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, UNUSED_PPM_TIMER_REFERENCE, ppmEdgeCallback, ppmOverflowCallback);
timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);
timerChOvrHandlerInit(&self->overflowCb, ppmOverflowCallback);
timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
}
uint16_t pwmRead(uint8_t channel)