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https://github.com/betaflight/betaflight.git
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Make ESCSERIAL compatible with F7
This commit is contained in:
jflyper
parent
c168c1b228
commit
b1b3882c13
1 changed files with 56 additions and 35 deletions
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@ -53,6 +53,9 @@ typedef enum {
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static serialPort_t *escPort = NULL;
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static serialPort_t *passPort = NULL;
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#define ICPOLARITY_RISING true
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#define ICPOLARITY_FALLING false
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typedef struct escSerial_s {
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serialPort_t port;
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@ -64,6 +67,11 @@ typedef struct escSerial_s {
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const timerHardware_t *txTimerHardware;
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volatile uint8_t txBuffer[ESCSERIAL_BUFFER_SIZE];
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#ifdef USE_HAL_DRIVER
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const TIM_HandleTypeDef *txTimerHandle;
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const TIM_HandleTypeDef *rxTimerHandle;
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#endif
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uint8_t isSearchingForStartBit;
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uint8_t rxBitIndex;
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uint8_t rxLastLeadingEdgeAtBitIndex;
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@ -107,7 +115,14 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialTimerBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture);
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static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
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// XXX No TIM_DeInit equivalent in HAL driver???
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#ifdef USE_HAL_DRIVER
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static void TIM_DeInit(TIM_TypeDef *tim)
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{
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UNUSED(tim);
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}
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#endif
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void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
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{
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@ -140,22 +155,28 @@ void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
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}
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}
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static void escSerialGPIOConfig(ioTag_t tag, ioConfig_t cfg)
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static void escSerialGPIOConfig(const timerHardware_t *timhw, ioConfig_t cfg)
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{
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ioTag_t tag = timhw->tag;
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if (!tag) {
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return;
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}
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IOInit(IOGetByTag(tag), OWNER_MOTOR, 0);
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#ifdef STM32F7
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IOConfigGPIOAF(IOGetByTag(tag), cfg, timhw->alternateFunction);
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#else
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IOConfigGPIO(IOGetByTag(tag), cfg);
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#endif
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}
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void escSerialInputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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#ifdef STM32F10X
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_IPU);
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escSerialGPIOConfig(timerHardwarePtr, IOCFG_IPU);
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#else
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_AF_PP_UP);
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escSerialGPIOConfig(timerHardwarePtr, IOCFG_AF_PP_UP);
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#endif
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timerChClearCCFlag(timerHardwarePtr);
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timerChITConfig(timerHardwarePtr,ENABLE);
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@ -194,7 +215,7 @@ static void serialTimerRxConfigBL(const timerHardware_t *timerHardwarePtr, uint8
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// start bit is usually a FALLING signal
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TIM_DeInit(timerHardwarePtr->tim);
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timerConfigure(timerHardwarePtr, 0xFFFF, SystemCoreClock / 2);
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escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, (options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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timerChConfigIC(timerHardwarePtr, (options & SERIAL_INVERTED) ? ICPOLARITY_RISING : ICPOLARITY_FALLING, 0);
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timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeBL);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
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}
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@ -208,33 +229,19 @@ static void escSerialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].timerCb, NULL);
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}
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static void escSerialICConfig(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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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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static void escSerialTimerRxConfig(const timerHardware_t *timerHardwarePtr, uint8_t reference)
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{
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// start bit is usually a FALLING signal
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TIM_DeInit(timerHardwarePtr->tim);
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timerConfigure(timerHardwarePtr, 0xFFFF, MHZ_TO_HZ(1));
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escSerialICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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timerChConfigIC(timerHardwarePtr, ICPOLARITY_FALLING, 0);
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timerChCCHandlerInit(&escSerialPorts[reference].edgeCb, onSerialRxPinChangeEsc);
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timerChConfigCallbacks(timerHardwarePtr, &escSerialPorts[reference].edgeCb, NULL);
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}
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static void escSerialOutputPortConfig(const timerHardware_t *timerHardwarePtr)
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{
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_OUT_PP);
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escSerialGPIOConfig(timerHardwarePtr, IOCFG_OUT_PP);
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timerChITConfig(timerHardwarePtr,DISABLE);
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}
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@ -257,11 +264,18 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
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if(mode != PROTOCOL_KISSALL){
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escSerial->rxTimerHardware = &(timerHardware[output]);
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#ifdef USE_HAL_DRIVER
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escSerial->rxTimerHandle = timerFindTimerHandle(escSerial->rxTimerHardware->tim);
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#endif
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}
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escSerial->mode = mode;
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escSerial->txTimerHardware = &(timerHardware[ESCSERIAL_TIMER_TX_HARDWARE]);
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#ifdef USE_HAL_DRIVER
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escSerial->txTimerHandle = timerFindTimerHandle(escSerial->txTimerHardware->tim);
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#endif
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escSerial->port.vTable = escSerialVTable;
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escSerial->port.baudRate = baud;
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escSerial->port.mode = MODE_RXTX;
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@ -339,7 +353,7 @@ void escSerialInputPortDeConfig(const timerHardware_t *timerHardwarePtr)
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{
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timerChClearCCFlag(timerHardwarePtr);
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timerChITConfig(timerHardwarePtr,DISABLE);
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escSerialGPIOConfig(timerHardwarePtr->tag, IOCFG_IPU);
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escSerialGPIOConfig(timerHardwarePtr, IOCFG_IPU);
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}
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@ -531,10 +545,9 @@ void prepareForNextRxByteBL(escSerial_t *escSerial)
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escSerial->isSearchingForStartBit = true;
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if (escSerial->rxEdge == LEADING) {
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escSerial->rxEdge = TRAILING;
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escSerialICConfig(
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escSerial->rxTimerHardware->tim,
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escSerial->rxTimerHardware->channel,
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(escSerial->port.options & SERIAL_INVERTED) ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling
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timerChConfigIC(
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escSerial->rxTimerHardware,
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(escSerial->port.options & SERIAL_INVERTED) ? ICPOLARITY_RISING : ICPOLARITY_FALLING, 0
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);
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}
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}
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@ -611,15 +624,19 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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}
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if (escSerial->isSearchingForStartBit) {
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// synchronise bit counter
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// FIXME this reduces functionality somewhat as receiving breaks concurrent transmission on all ports because
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// the next callback to the onSerialTimer will happen too early causing transmission errors.
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// Adjust the timing so it will interrupt on the middle.
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// This is clobbers transmission, but it is okay because we are
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// always half-duplex.
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#ifdef USE_HAL_DRIVER
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__HAL_TIM_SetCounter(escSerial->txTimerHandle, __HAL_TIM_GetAutoreload(escSerial->txTimerHandle) / 2);
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#else
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TIM_SetCounter(escSerial->txTimerHardware->tim, escSerial->txTimerHardware->tim->ARR / 2);
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#endif
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if (escSerial->isTransmittingData) {
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escSerial->transmissionErrors++;
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}
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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timerChConfigIC(escSerial->rxTimerHardware, inverted ? ICPOLARITY_FALLING : ICPOLARITY_RISING, 0);
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escSerial->rxEdge = LEADING;
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escSerial->rxBitIndex = 0;
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@ -637,10 +654,10 @@ void onSerialRxPinChangeBL(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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if (escSerial->rxEdge == TRAILING) {
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escSerial->rxEdge = LEADING;
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Falling : TIM_ICPolarity_Rising);
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timerChConfigIC(escSerial->rxTimerHardware, inverted ? ICPOLARITY_FALLING : ICPOLARITY_RISING, 0);
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} else {
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escSerial->rxEdge = TRAILING;
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, inverted ? TIM_ICPolarity_Rising : TIM_ICPolarity_Falling);
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timerChConfigIC(escSerial->rxTimerHardware, inverted ? ICPOLARITY_RISING : ICPOLARITY_FALLING, 0);
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}
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}
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/*-------------------------BL*/
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@ -673,7 +690,7 @@ void onSerialTimerEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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{
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escSerial->isReceivingData=0;
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escSerial->receiveTimeout=0;
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Falling);
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timerChConfigIC(escSerial->rxTimerHardware, ICPOLARITY_FALLING, 0);
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}
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}
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@ -691,7 +708,11 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture
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escSerial_t *escSerial = container_of(cbRec, escSerial_t, edgeCb);
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//clear timer
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#ifdef USE_HAL_DRIVER
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__HAL_TIM_SetCounter(escSerial->rxTimerHandle, 0);
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#else
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TIM_SetCounter(escSerial->rxTimerHardware->tim,0);
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#endif
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if(capture > 40 && capture < 90)
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{
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@ -723,7 +744,7 @@ void onSerialRxPinChangeEsc(timerCCHandlerRec_t *cbRec, captureCompare_t capture
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bits=1;
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escSerial->internalRxBuffer = 0x80;
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escSerialICConfig(escSerial->rxTimerHardware->tim, escSerial->rxTimerHardware->channel, TIM_ICPolarity_Rising);
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timerChConfigIC(escSerial->rxTimerHardware, ICPOLARITY_RISING, 0);
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}
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}
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escSerial->receiveTimeout = 0;
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@ -833,7 +854,7 @@ void escSerialInitialize()
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// set outputs to pullup
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if(timerHardware[i].output & TIMER_OUTPUT_ENABLED)
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{
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escSerialGPIOConfig(timerHardware[i].tag, IOCFG_IPU); //GPIO_Mode_IPU
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escSerialGPIOConfig(&timerHardware[i], IOCFG_IPU); //GPIO_Mode_IPU
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}
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}
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}
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