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Cleanup project structure. Update unit test Makefile to place object

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

179
src/main/drivers/pwm_rx.c Normal file
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#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "gpio.h"
#include "timer.h"
#include "pwm_mapping.h"
#include "pwm_rx.h"
#define PPM_CAPTURE_COUNT 12
#define PWM_INPUT_PORT_COUNT 8
#if PPM_CAPTURE_COUNT > MAX_PWM_INPUT_PORTS
#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PPM_CAPTURE_COUNT
#else
#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PWM_INPUT_PORT_COUNT
#endif
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity); // from pwm_output.c
typedef enum {
INPUT_MODE_PPM,
INPUT_MODE_PWM,
} pwmInputMode_t;
typedef struct {
pwmInputMode_t mode;
uint8_t channel; // only used for pwm, ignored by ppm
uint8_t state;
captureCompare_t rise;
captureCompare_t fall;
captureCompare_t capture;
const timerHardware_t *timerHardware;
} 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
static uint8_t ppmFrameCount = 0;
static uint8_t lastPPMFrameCount = 0;
bool isPPMDataBeingReceived(void)
{
return (ppmFrameCount != lastPPMFrameCount);
}
void resetPPMDataReceivedState(void)
{
lastPPMFrameCount = ppmFrameCount;
}
#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
static void ppmCallback(uint8_t port, captureCompare_t capture)
{
uint16_t diff; // See PPM_TIMER_PERIOD
static captureCompare_t now;
static captureCompare_t last = 0;
static uint8_t chan = 0;
last = now;
now = capture;
diff = now - last;
if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
if (chan >= MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID) {
ppmFrameCount++;
}
chan = 0;
} else {
if (chan < PPM_CAPTURE_COUNT) {
captures[chan] = diff;
}
chan++;
}
}
static void pwmCallback(uint8_t port, captureCompare_t capture)
{
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
const timerHardware_t *timerHardware = pwmInputPort->timerHardware;
if (pwmInputPort->state == 0) {
pwmInputPort->rise = capture;
pwmInputPort->state = 1;
pwmICConfig(timerHardware->tim, timerHardware->channel, TIM_ICPolarity_Falling);
} else {
pwmInputPort->fall = capture;
// compute and store capture
pwmInputPort->capture = pwmInputPort->fall - pwmInputPort->rise;
captures[pwmInputPort->channel] = pwmInputPort->capture;
// switch state
pwmInputPort->state = 0;
pwmICConfig(timerHardware->tim, timerHardware->channel, TIM_ICPolarity_Rising);
}
}
static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
{
gpio_config_t cfg;
cfg.pin = pin;
cfg.mode = mode;
cfg.speed = Speed_2MHz;
gpioInit(gpio, &cfg);
}
#define INPUT_FILTER_TO_HELP_WITH_NOISE_FROM_OPENLRS_TELEMETRY_RX 0x03
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = channel;
TIM_ICInitStructure.TIM_ICPolarity = polarity;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = INPUT_FILTER_TO_HELP_WITH_NOISE_FROM_OPENLRS_TELEMETRY_RX;
TIM_ICInit(tim, &TIM_ICInitStructure);
}
void pwmInConfig(uint8_t timerIndex, uint8_t channel)
{
pwmInputPort_t *p = &pwmInputPorts[channel];
const timerHardware_t *timerHardwarePtr = &(timerHardware[timerIndex]);
p->channel = channel;
p->mode = INPUT_MODE_PWM;
p->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);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmCallback);
}
#define UNUSED_PPM_TIMER_REFERENCE 0
#define FIRST_PWM_PORT 0
void ppmInConfig(uint8_t timerIndex)
{
pwmInputPort_t *p = &pwmInputPorts[FIRST_PWM_PORT];
const timerHardware_t *timerHardwarePtr = &(timerHardware[timerIndex]);
p->mode = INPUT_MODE_PPM;
p->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, ppmCallback);
}
uint16_t pwmRead(uint8_t channel)
{
return captures[channel];
}