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initial pass at gpio cleanup. removed almost all dependency on stdperiphlib (remaining exti).

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slightly modified initial pin configuration, but this needs rework soon anyway.
couple spacing/line ending/formatting fixes in sonar driver file while fixing gpio there.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@357 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-06-29 14:09:54 +00:00
parent eec35a20fd
commit d442c9dfb6
18 changed files with 2174 additions and 2096 deletions
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83
src/drv_hcsr04.c
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@ -19,30 +19,28 @@ static uint8_t exti_pin_source;
static IRQn_Type exti_irqn;
static uint32_t last_measurement;
static volatile int16_t* distance_ptr;
static volatile int16_t *distance_ptr;
void ECHO_EXTI_IRQHandler(void)
{
static uint32_t timing_start;
uint32_t timing_stop;
if(GPIO_ReadInputDataBit(GPIOB, echo_pin) != 0)
if (digitalIn(GPIOB, echo_pin) != 0) {
timing_start = micros();
else
{
} else {
timing_stop = micros();
if(timing_stop > timing_start)
{
if (timing_stop > timing_start) {
// The speed of sound is 340 m/s or approx. 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance traveled.
//
// 340 m/s = 0.034 cm/microsecond = 29.41176471 *2 = 58.82352941 rounded to 59
int32_t pulse_duration = timing_stop - timing_start;
*distance_ptr = pulse_duration / 59 ;
int32_t pulse_duration = timing_stop - timing_start;
*distance_ptr = pulse_duration / 59;
}
}
EXTI_ClearITPendingBit(exti_line);
EXTI_ClearITPendingBit(exti_line);
}
void EXTI1_IRQHandler(void)
@ -57,40 +55,39 @@ void EXTI9_5_IRQHandler(void)
void hcsr04_init(sonar_config_t config)
{
GPIO_InitTypeDef GPIO_InitStructure;
gpio_config_t gpio;
EXTI_InitTypeDef EXTIInit;
//enable AFIO for EXTI support - already done is drv_system.c
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE);
// enable AFIO for EXTI support - already done is drv_system.c
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE);
switch(config)
{
case sonar_pwm56:
trigger_pin = GPIO_Pin_8; // PWM5 (PB8) - 5v tolerant
echo_pin = GPIO_Pin_9; // PWM6 (PB9) - 5v tolerant
exti_line = EXTI_Line9;
exti_pin_source = GPIO_PinSource9;
exti_irqn = EXTI9_5_IRQn;
break;
case sonar_rc78:
trigger_pin = GPIO_Pin_0; // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
echo_pin = GPIO_Pin_1; // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
exti_line = EXTI_Line1;
exti_pin_source = GPIO_PinSource1;
exti_irqn = EXTI1_IRQn;
break;
switch(config) {
case sonar_pwm56:
trigger_pin = Pin_8; // PWM5 (PB8) - 5v tolerant
echo_pin = Pin_9; // PWM6 (PB9) - 5v tolerant
exti_line = EXTI_Line9;
exti_pin_source = GPIO_PinSource9;
exti_irqn = EXTI9_5_IRQn;
break;
case sonar_rc78:
trigger_pin = Pin_0; // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
echo_pin = Pin_1; // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
exti_line = EXTI_Line1;
exti_pin_source = GPIO_PinSource1;
exti_irqn = EXTI1_IRQn;
break;
}
// tp - trigger pin
GPIO_InitStructure.GPIO_Pin = trigger_pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
gpio.pin = trigger_pin;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(GPIOB, &gpio);
// ep - echo pin
GPIO_InitStructure.GPIO_Pin = echo_pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
gpio.pin = echo_pin;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOB, &gpio);
// setup external interrupt on echo pin
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, exti_pin_source);
@ -109,24 +106,22 @@ void hcsr04_init(sonar_config_t config)
}
// distance calculation is done asynchronously, using interrupt
void hcsr04_get_distance(volatile int16_t* distance)
{
void hcsr04_get_distance(volatile int16_t *distance)
{
uint32_t current_time = millis();
if( current_time < (last_measurement + 60) )
{
if (current_time < (last_measurement + 60)) {
// the repeat interval of trig signal should be greater than 60ms
// to avoid interference between connective measurements.
return;
}
last_measurement = current_time;
distance_ptr = distance;
GPIO_SetBits(GPIOB, trigger_pin);
digitalHi(GPIOB, trigger_pin);
// The width of trig signal must be greater than 10us
delayMicroseconds(11);
GPIO_ResetBits(GPIOB, trigger_pin);
digitalLo(GPIOB, trigger_pin);
}
#endif