mirror of
https://github.com/betaflight/betaflight.git
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209 lines
7.3 KiB
C
209 lines
7.3 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include "drivers/io_types.h"
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#include "rcc_types.h"
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typedef uint16_t captureCompare_t; // 16 bit on both 103 and 303, just register access must be 32bit sometimes (use timCCR_t)
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#if defined(STM32F4)
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typedef uint32_t timCCR_t;
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typedef uint32_t timCCER_t;
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typedef uint32_t timSR_t;
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typedef uint32_t timCNT_t;
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#elif defined(STM32F7)
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typedef uint32_t timCCR_t;
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typedef uint32_t timCCER_t;
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typedef uint32_t timSR_t;
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typedef uint32_t timCNT_t;
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#elif defined(STM32F3)
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typedef uint32_t timCCR_t;
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typedef uint32_t timCCER_t;
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typedef uint32_t timSR_t;
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typedef uint32_t timCNT_t;
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#elif defined(STM32F1)
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typedef uint16_t timCCR_t;
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typedef uint16_t timCCER_t;
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typedef uint16_t timSR_t;
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typedef uint16_t timCNT_t;
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#elif defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
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typedef uint32_t timCCR_t;
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typedef uint32_t timCCER_t;
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typedef uint32_t timSR_t;
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typedef uint32_t timCNT_t;
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#else
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#error "Unknown CPU defined"
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#endif
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typedef enum {
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TIM_USE_ANY = 0x0,
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TIM_USE_NONE = 0x0,
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TIM_USE_PPM = 0x1,
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TIM_USE_PWM = 0x2,
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TIM_USE_MOTOR = 0x4,
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TIM_USE_SERVO = 0x8,
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TIM_USE_LED = 0x10,
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TIM_USE_TRANSPONDER = 0x20,
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TIM_USE_BEEPER = 0x40
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} timerUsageFlag_e;
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// use different types from capture and overflow - multiple overflow handlers are implemented as linked list
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struct timerCCHandlerRec_s;
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struct timerOvrHandlerRec_s;
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typedef void timerCCHandlerCallback(struct timerCCHandlerRec_s* self, uint16_t capture);
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typedef void timerOvrHandlerCallback(struct timerOvrHandlerRec_s* self, uint16_t capture);
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typedef struct timerCCHandlerRec_s {
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timerCCHandlerCallback* fn;
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} timerCCHandlerRec_t;
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typedef struct timerOvrHandlerRec_s {
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timerOvrHandlerCallback* fn;
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struct timerOvrHandlerRec_s* next;
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} timerOvrHandlerRec_t;
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typedef struct timerDef_s {
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TIM_TypeDef *TIMx;
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rccPeriphTag_t rcc;
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uint8_t inputIrq;
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} timerDef_t;
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typedef struct timerHardware_s {
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TIM_TypeDef *tim;
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ioTag_t tag;
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uint8_t channel;
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timerUsageFlag_e usageFlags;
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uint8_t output;
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#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
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uint8_t alternateFunction;
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#endif
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#if defined(USE_DSHOT) || defined(LED_STRIP) || defined(TRANSPONDER)
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#if defined(STM32F4) || defined(STM32F7)
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DMA_Stream_TypeDef *dmaRef;
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uint32_t dmaChannel;
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#elif defined(STM32F3) || defined(STM32F1)
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DMA_Channel_TypeDef *dmaRef;
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#endif
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uint8_t dmaIrqHandler;
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#endif
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} timerHardware_t;
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typedef enum {
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TIMER_OUTPUT_NONE = 0x00,
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TIMER_INPUT_ENABLED = 0x01, /* TODO: remove this */
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TIMER_OUTPUT_ENABLED = 0x01, /* TODO: remove this */
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TIMER_OUTPUT_STANDARD = 0x01,
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TIMER_OUTPUT_INVERTED = 0x02,
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TIMER_OUTPUT_N_CHANNEL = 0x04
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} timerFlag_e;
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#ifdef STM32F1
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#if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)
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#define HARDWARE_TIMER_DEFINITION_COUNT 14
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#elif defined(STM32F10X_HD) || defined(STM32F10X_CL)
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#define HARDWARE_TIMER_DEFINITION_COUNT 7
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#else
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#define HARDWARE_TIMER_DEFINITION_COUNT 4
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#endif
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#elif defined(STM32F3)
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#define HARDWARE_TIMER_DEFINITION_COUNT 10
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#elif defined(STM32F411xE)
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#define HARDWARE_TIMER_DEFINITION_COUNT 10
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#elif defined(STM32F4)
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#define HARDWARE_TIMER_DEFINITION_COUNT 14
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#elif defined(STM32F7)
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#define HARDWARE_TIMER_DEFINITION_COUNT 14
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#endif
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#define MHZ_TO_HZ(x) ((x) * 1000000)
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extern const timerHardware_t timerHardware[];
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extern const timerDef_t timerDefinitions[];
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typedef enum {
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TYPE_FREE,
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TYPE_PWMINPUT,
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TYPE_PPMINPUT,
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TYPE_PWMOUTPUT_MOTOR,
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TYPE_PWMOUTPUT_FAST,
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TYPE_PWMOUTPUT_SERVO,
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TYPE_SOFTSERIAL_RX,
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TYPE_SOFTSERIAL_TX,
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TYPE_SOFTSERIAL_RXTX, // bidirectional pin for softserial
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TYPE_SOFTSERIAL_AUXTIMER, // timer channel is used for softserial. No IO function on pin
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TYPE_ADC,
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TYPE_SERIAL_RX,
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TYPE_SERIAL_TX,
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TYPE_SERIAL_RXTX,
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TYPE_TIMER
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} channelType_t;
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void timerConfigure(const timerHardware_t *timHw, uint16_t period, uint32_t hz); // This interface should be replaced.
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void timerChConfigIC(const timerHardware_t *timHw, bool polarityRising, unsigned inputFilterSamples);
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void timerChConfigICDual(const timerHardware_t* timHw, bool polarityRising, unsigned inputFilterSamples);
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void timerChICPolarity(const timerHardware_t *timHw, bool polarityRising);
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volatile timCCR_t* timerChCCR(const timerHardware_t* timHw);
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volatile timCCR_t* timerChCCRLo(const timerHardware_t* timHw);
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volatile timCCR_t* timerChCCRHi(const timerHardware_t* timHw);
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void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHigh);
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void timerChConfigGPIO(const timerHardware_t* timHw, ioConfig_t mode);
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void timerChCCHandlerInit(timerCCHandlerRec_t *self, timerCCHandlerCallback *fn);
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void timerChOvrHandlerInit(timerOvrHandlerRec_t *self, timerOvrHandlerCallback *fn);
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void timerChConfigCallbacks(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallback, timerOvrHandlerRec_t *overflowCallback);
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void timerChConfigCallbacksDual(const timerHardware_t *channel, timerCCHandlerRec_t *edgeCallbackLo, timerCCHandlerRec_t *edgeCallbackHi, timerOvrHandlerRec_t *overflowCallback);
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void timerChITConfigDualLo(const timerHardware_t* timHw, FunctionalState newState);
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void timerChITConfig(const timerHardware_t* timHw, FunctionalState newState);
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void timerChClearCCFlag(const timerHardware_t* timHw);
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void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriority, uint8_t irq);
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void timerInit(void);
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void timerStart(void);
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void timerForceOverflow(TIM_TypeDef *tim);
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uint32_t timerClock(TIM_TypeDef *tim);
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void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz); // TODO - just for migration
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rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
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uint8_t timerInputIrq(TIM_TypeDef *tim);
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const timerHardware_t *timerGetByTag(ioTag_t tag, timerUsageFlag_e flag);
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#if defined(USE_HAL_DRIVER)
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TIM_HandleTypeDef* timerFindTimerHandle(TIM_TypeDef *tim);
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HAL_StatusTypeDef TIM_DMACmd(TIM_HandleTypeDef *htim, uint32_t Channel, FunctionalState NewState);
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HAL_StatusTypeDef DMA_SetCurrDataCounter(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
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uint16_t timerDmaIndex(uint8_t channel);
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#else
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void timerOCInit(TIM_TypeDef *tim, uint8_t channel, TIM_OCInitTypeDef *init);
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void timerOCPreloadConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t preload);
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#endif
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volatile timCCR_t *timerCCR(TIM_TypeDef *tim, uint8_t channel);
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uint16_t timerDmaSource(uint8_t channel);
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uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz);
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uint16_t timerGetPrescalerByDesiredMhz(TIM_TypeDef *tim, uint16_t mhz);
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uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_t hz);
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