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Cleanup project structure. Update unit test Makefile to place object

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files in obj/test
This commit is contained in:
Dominic Clifton 2014-05-31 22:43:06 +01:00
parent fb9e3a2358
commit d19a5e7046
330 changed files with 657 additions and 638 deletions
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src/drivers/timer_common.c
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@ -1,339 +0,0 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#include "gpio_common.h"
#include "system_common.h"
#include "timer_common.h"
/* FreeFlight/Naze32 timer layout
TIM2_CH1 RC1 PWM1
TIM2_CH2 RC2 PWM2
TIM2_CH3 RC3/UA2_TX PWM3
TIM2_CH4 RC4/UA2_RX PWM4
TIM3_CH1 RC5 PWM5
TIM3_CH2 RC6 PWM6
TIM3_CH3 RC7 PWM7
TIM3_CH4 RC8 PWM8
TIM1_CH1 PWM1 PWM9
TIM1_CH4 PWM2 PWM10
TIM4_CH1 PWM3 PWM11
TIM4_CH2 PWM4 PWM12
TIM4_CH3 PWM5 PWM13
TIM4_CH4 PWM6 PWM14
RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration]
RX2 TIM2_CH2 PA1
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 [also I2C1_SCL]
PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
PWM5 TIM4_CH3 PB8
PWM6 TIM4_CH4 PB9
Groups that allow running different period (ex 50Hz servos + 400Hz throttle + etc):
TIM2 4 channels
TIM3 4 channels
TIM1 2 channels
TIM4 4 channels
*/
#if defined(STM32F10X_MD) || defined(NAZE)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // PWM1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // PWM2
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_IPD}, // PWM3
{ TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_IPD}, // PWM4
{ TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 0, Mode_IPD}, // PWM5
{ TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 0, Mode_IPD}, // PWM6
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_IPD}, // PWM7
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_IPD}, // PWM8
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_IPD}, // PWM9
{ TIM1, GPIOA, Pin_11, TIM_Channel_4, TIM1_CC_IRQn, 1, Mode_IPD}, // PWM10
{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 0, Mode_IPD}, // PWM11
{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 0, Mode_IPD}, // PWM12
{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 0, Mode_IPD}, // PWM13
{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 0, Mode_IPD} // PWM14
};
#define MAX_TIMERS 4 // TIM1..TIM4
static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4
};
#endif
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM1 - PA8
{ TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 0, Mode_AF_PP_PD}, // PWM2 - PB8
{ TIM17, GPIOB, Pin_9, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD}, // PWM3 - PB9
{ TIM8, GPIOC, Pin_6, TIM_Channel_1, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM4 - PC6
{ TIM8, GPIOC, Pin_7, TIM_Channel_2, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM5 - PC7
{ TIM8, GPIOC, Pin_8, TIM_Channel_3, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM6 - PC8
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP_PD}, // PWM7 - PB1
{ TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP_PD}, // PWM8 - PA2
{ TIM4, GPIOD, Pin_12, TIM_Channel_1, TIM4_IRQn, 0, Mode_AF_PP}, // PWM9 - PD12
{ TIM4, GPIOD, Pin_13, TIM_Channel_2, TIM4_IRQn, 0, Mode_AF_PP}, // PWM10 - PD13
{ TIM4, GPIOD, Pin_14, TIM_Channel_3, TIM4_IRQn, 0, Mode_AF_PP}, // PWM11 - PD14
{ TIM4, GPIOD, Pin_15, TIM_Channel_4, TIM4_IRQn, 0, Mode_AF_PP}, // PWM12 - PD15
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP}, // PWM13 - PA1
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_AF_PP} // PWM14 - PA2
};
#define MAX_TIMERS 7
static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4, TIM8, TIM16, TIM17
};
#endif
#if defined(CHEBUZZF3)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
// INPUTS CH1-8
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM1 - PA8
{ TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 0, Mode_AF_PP_PD}, // PWM2 - PB8
{ TIM17, GPIOB, Pin_9, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, Mode_AF_PP_PD}, // PWM3 - PB9
{ TIM8, GPIOC, Pin_6, TIM_Channel_1, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM4 - PC6
{ TIM8, GPIOC, Pin_7, TIM_Channel_2, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM5 - PC7
{ TIM8, GPIOC, Pin_8, TIM_Channel_3, TIM8_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM6 - PC8
{ TIM15, GPIOF, Pin_9, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 0, Mode_AF_PP_PD}, // PWM7 - PF9
{ TIM15, GPIOF, Pin_10, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 0, Mode_AF_PP_PD}, // PWM8 - PF10
// OUTPUTS CH1-10
{ TIM4, GPIOD, Pin_12, TIM_Channel_1, TIM4_IRQn, 0, Mode_AF_PP}, // PWM9 - PD12
{ TIM4, GPIOD, Pin_13, TIM_Channel_2, TIM4_IRQn, 0, Mode_AF_PP}, // PWM10 - PD13
{ TIM4, GPIOD, Pin_14, TIM_Channel_3, TIM4_IRQn, 0, Mode_AF_PP}, // PWM11 - PD14
{ TIM4, GPIOD, Pin_15, TIM_Channel_4, TIM4_IRQn, 0, Mode_AF_PP}, // PWM12 - PD15
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP}, // PWM13 - PA1
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, Mode_AF_PP}, // PWM14 - PA2
{ TIM2, GPIOA, Pin_3, TIM_Channel_4, TIM2_IRQn, 0, Mode_AF_PP}, // PWM15 - PA3
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP}, // PWM16 - PB0
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP}, // PWM17 - PB1
{ TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 0, Mode_AF_PP} // PWM18 - PA4
};
#define MAX_TIMERS 8
static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4, TIM8, TIM15, TIM16, TIM17
};
#endif
#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
static const uint16_t channels[CC_CHANNELS_PER_TIMER] = {
TIM_Channel_1, TIM_Channel_2, TIM_Channel_3, TIM_Channel_4
};
typedef struct timerConfig_s {
TIM_TypeDef *tim;
uint8_t channel;
timerCCCallbackPtr *callback;
uint8_t reference;
} timerConfig_t;
static timerConfig_t timerConfig[MAX_TIMERS * CC_CHANNELS_PER_TIMER];
static uint8_t lookupTimerIndex(const TIM_TypeDef *tim)
{
uint8_t timerIndex = 0;
while (timers[timerIndex] != tim) {
timerIndex++;
}
return timerIndex;
}
static uint8_t lookupChannelIndex(const uint16_t channel)
{
uint8_t channelIndex = 0;
while (channels[channelIndex] != channel) {
channelIndex++;
}
return channelIndex;
}
static uint8_t lookupTimerConfigIndex(TIM_TypeDef *tim, const uint16_t channel)
{
return lookupTimerIndex(tim) + (MAX_TIMERS * lookupChannelIndex(channel));
}
void configureTimerChannelCallback(TIM_TypeDef *tim, uint8_t channel, uint8_t reference, timerCCCallbackPtr *callback)
{
assert_param(IS_TIM_CHANNEL(channel));
uint8_t timerConfigIndex = lookupTimerConfigIndex(tim, channel);
if (timerConfigIndex >= MAX_TIMERS * CC_CHANNELS_PER_TIMER) {
return;
}
timerConfig[timerConfigIndex].callback = callback;
timerConfig[timerConfigIndex].channel = channel;
timerConfig[timerConfigIndex].reference = reference;
}
void configureTimerInputCaptureCompareChannel(TIM_TypeDef *tim, const uint8_t channel)
{
switch (channel) {
case TIM_Channel_1:
TIM_ITConfig(tim, TIM_IT_CC1, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(tim, TIM_IT_CC2, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(tim, TIM_IT_CC3, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(tim, TIM_IT_CC4, ENABLE);
break;
}
}
void configureTimerCaptureCompareInterrupt(const timerHardware_t *timerHardwarePtr, uint8_t reference, timerCCCallbackPtr *callback)
{
configureTimerChannelCallback(timerHardwarePtr->tim, timerHardwarePtr->channel, reference, callback);
configureTimerInputCaptureCompareChannel(timerHardwarePtr->tim, timerHardwarePtr->channel);
}
void timerNVICConfigure(uint8_t irq)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period - 1; // AKA TIMx_ARR
// "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
// Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(tim, &TIM_TimeBaseStructure);
}
void timerConfigure(const timerHardware_t *timerHardwarePtr, uint16_t period, uint8_t mhz)
{
configTimeBase(timerHardwarePtr->tim, period, mhz);
TIM_Cmd(timerHardwarePtr->tim, ENABLE);
timerNVICConfigure(timerHardwarePtr->irq);
}
timerConfig_t *findTimerConfig(TIM_TypeDef *tim, uint16_t channel)
{
uint8_t timerConfigIndex = lookupTimerConfigIndex(tim, channel);
return &(timerConfig[timerConfigIndex]);
}
static void timCCxHandler(TIM_TypeDef *tim)
{
captureCompare_t capture;
timerConfig_t *timerConfig;
uint8_t channelIndex = 0;
for (channelIndex = 0; channelIndex < CC_CHANNELS_PER_TIMER; channelIndex++) {
uint8_t channel = channels[channelIndex];
if (channel == TIM_Channel_1 && TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
TIM_ClearITPendingBit(tim, TIM_IT_CC1);
timerConfig = findTimerConfig(tim, TIM_Channel_1);
capture = TIM_GetCapture1(tim);
} else if (channel == TIM_Channel_2 && TIM_GetITStatus(tim, TIM_IT_CC2) == SET) {
TIM_ClearITPendingBit(tim, TIM_IT_CC2);
timerConfig = findTimerConfig(tim, TIM_Channel_2);
capture = TIM_GetCapture2(tim);
} else if (channel == TIM_Channel_3 && TIM_GetITStatus(tim, TIM_IT_CC3) == SET) {
TIM_ClearITPendingBit(tim, TIM_IT_CC3);
timerConfig = findTimerConfig(tim, TIM_Channel_3);
capture = TIM_GetCapture3(tim);
} else if (channel == TIM_Channel_4 && TIM_GetITStatus(tim, TIM_IT_CC4) == SET) {
TIM_ClearITPendingBit(tim, TIM_IT_CC4);
timerConfig = findTimerConfig(tim, TIM_Channel_4);
capture = TIM_GetCapture4(tim);
} else {
continue; // avoid uninitialised variable dereference
}
if (!timerConfig->callback) {
continue;
}
timerConfig->callback(timerConfig->reference, capture);
}
}
void TIM1_CC_IRQHandler(void)
{
timCCxHandler(TIM1);
}
void TIM2_IRQHandler(void)
{
timCCxHandler(TIM2);
}
void TIM3_IRQHandler(void)
{
timCCxHandler(TIM3);
}
void TIM4_IRQHandler(void)
{
timCCxHandler(TIM4);
}
#if defined(STM32F303xC) || defined(STM32F3DISCOVERY)
void TIM8_CC_IRQHandler(void)
{
timCCxHandler(TIM8);
}
void TIM1_BRK_TIM15_IRQHandler(void)
{
timCCxHandler(TIM15);
}
void TIM1_UP_TIM16_IRQHandler(void)
{
timCCxHandler(TIM16);
}
void TIM1_TRG_COM_TIM17_IRQHandler(void)
{
timCCxHandler(TIM17);
}
#endif
void timerInit(void)
{
memset(timerConfig, 0, sizeof (timerConfig));
}