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[X10S] PWM sticks support - with autodetection (#5251)

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[X10S] PWM sticks support - with autodetection
This commit is contained in:
Bertrand Songis 2017-10-01 09:07:07 +02:00 • committed by GitHub
parent a1c0aafc16
commit cbd824eb10
7 changed files with 253 additions and 10 deletions
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4
radio/src/opentx.cpp
View file

@ -2593,6 +2593,10 @@ void opentxInit(OPENTX_INIT_ARGS)
backlightOn();
}
#if NUM_PWMANALOGS > 0
pwmCheck();
#endif
if (!unexpectedShutdown) {
opentxStart();
}

31
radio/src/targets/common/arm/stm32/adc_driver.cpp
View file

@ -44,10 +44,15 @@
const int8_t ana_direction[NUM_ANALOGS] = {1,-1,1,-1, -1,1,0, -1,1, 1};
#endif
#if defined(PCBX9E)
#if NUM_PWMANALOGS > 0
#define FIRST_ANALOG_ADC (ANALOGS_PWM_ENABLED() ? NUM_PWMANALOGS : 0)
#define NUM_ANALOGS_ADC (ANALOGS_PWM_ENABLED() ? (NUM_ANALOGS - NUM_PWMANALOGS) : NUM_ANALOGS)
#elif defined(PCBX9E)
#define FIRST_ANALOG_ADC 0
#define NUM_ANALOGS_ADC 10
#define NUM_ANALOGS_ADC_EXT (NUM_ANALOGS - 10)
#else
#define FIRST_ANALOG_ADC 0
#define NUM_ANALOGS_ADC NUM_ANALOGS
#endif
@ -86,8 +91,14 @@ void adcInit()
ADC_MAIN->SQR1 = (NUM_ANALOGS_ADC-1) << 20; // bits 23:20 = number of conversions
#if defined(PCBX10)
if (ANALOGS_PWM_ENABLED()) {
ADC_MAIN->SQR2 = (ADC_CHANNEL_EXT1<<0) + (ADC_CHANNEL_EXT2<<5); // conversions 7 and more
ADC_MAIN->SQR3 = (ADC_CHANNEL_POT1<<0) + (ADC_CHANNEL_POT2<<5) + (ADC_CHANNEL_POT3<<10) + (ADC_CHANNEL_SLIDER1<<15) + (ADC_CHANNEL_SLIDER2<<20) + (ADC_CHANNEL_BATT<<25); // conversions 1 to 6
}
else {
ADC_MAIN->SQR2 = (ADC_CHANNEL_POT3<<0) + (ADC_CHANNEL_SLIDER1<<5) + (ADC_CHANNEL_SLIDER2<<10) + (ADC_CHANNEL_BATT<<15) + (ADC_CHANNEL_EXT1<<20) + (ADC_CHANNEL_EXT2<<25); // conversions 7 and more
ADC_MAIN->SQR3 = (ADC_CHANNEL_STICK_LH<<0) + (ADC_CHANNEL_STICK_LV<<5) + (ADC_CHANNEL_STICK_RV<<10) + (ADC_CHANNEL_STICK_RH<<15) + (ADC_CHANNEL_POT1<<20) + (ADC_CHANNEL_POT2<<25); // conversions 1 to 6
}
#elif defined(PCBX9E)
ADC_MAIN->SQR2 = (ADC_CHANNEL_POT4<<0) + (ADC_CHANNEL_SLIDER3<<5) + (ADC_CHANNEL_SLIDER4<<10) + (ADC_CHANNEL_BATT<<15); // conversions 7 and more
ADC_MAIN->SQR3 = (ADC_CHANNEL_STICK_LH<<0) + (ADC_CHANNEL_STICK_LV<<5) + (ADC_CHANNEL_STICK_RV<<10) + (ADC_CHANNEL_STICK_RH<<15) + (ADC_CHANNEL_POT2<<20) + (ADC_CHANNEL_POT3<<25); // conversions 1 to 6
@ -106,7 +117,7 @@ void adcInit()
ADC_DMA_Stream->CR = DMA_SxCR_PL | ADC_DMA_SxCR_CHSEL | DMA_SxCR_MSIZE_0 | DMA_SxCR_PSIZE_0 | DMA_SxCR_MINC;
ADC_DMA_Stream->PAR = CONVERT_PTR_UINT(&ADC_MAIN->DR);
ADC_DMA_Stream->M0AR = CONVERT_PTR_UINT(adcValues);
ADC_DMA_Stream->M0AR = CONVERT_PTR_UINT(&adcValues[FIRST_ANALOG_ADC]);
ADC_DMA_Stream->NDTR = NUM_ANALOGS_ADC;
ADC_DMA_Stream->FCR = DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0;
@ -125,6 +136,12 @@ void adcInit()
ADC_EXT_DMA_Stream->NDTR = NUM_ANALOGS_ADC_EXT;
ADC_EXT_DMA_Stream->FCR = DMA_SxFCR_DMDIS | DMA_SxFCR_FTH_0;
#endif
#if NUM_PWMANALOGS > 0
if (ANALOGS_PWM_ENABLED()) {
pwmInit();
}
#endif
}
void adcSingleRead()
@ -167,7 +184,7 @@ void adcRead()
for (int i=0; i<4; i++) {
adcSingleRead();
for (uint8_t x=0; x<NUM_ANALOGS; x++) {
for (uint8_t x=FIRST_ANALOG_ADC; x<NUM_ANALOGS; x++) {
uint16_t val = adcValues[x];
#if defined(JITTER_MEASURE)
if (JITTER_MEASURE_ACTIVE()) {
@ -178,9 +195,15 @@ void adcRead()
}
}
for (uint8_t x=0; x<NUM_ANALOGS; x++) {
for (uint8_t x=FIRST_ANALOG_ADC; x<NUM_ANALOGS; x++) {
adcValues[x] = temp[x] >> 2;
}
#if NUM_PWMANALOGS > 0
if (ANALOGS_PWM_ENABLED()) {
pwmRead(adcValues);
}
#endif
}
// TODO

1
radio/src/targets/horus/CMakeLists.txt
View file

@ -29,6 +29,7 @@ if (PCB STREQUAL X10)
${TARGET_SRC}
../common/arm/stm32/audio_dac_driver.cpp
../common/arm/stm32/adc_driver.cpp
pwm_driver.cpp
)
set(FIRMWARE_DEPENDENCIES ${FIRMWARE_DEPENDENCIES} x10_bitmaps)
set(LUA_EXPORT lua_export_x10)

1
radio/src/targets/horus/board.cpp
View file

@ -129,6 +129,7 @@ void boardInit()
ENABLE);
RCC_APB1PeriphClockCmd(INTERRUPT_1MS_RCC_APB1Periph |
ADC_RCC_APB1Periph |
TIMER_2MHz_RCC_APB1Periph |
AUDIO_RCC_APB1Periph |
SERIAL_RCC_APB1Periph |

10
radio/src/targets/horus/board.h
View file

@ -328,8 +328,10 @@ void watchdogInit(unsigned int duration);
#define NUM_XPOTS NUM_POTS
#if defined(PCBX10)
#define NUM_SLIDERS 2
#define NUM_PWMANALOGS 4
#else
#define NUM_SLIDERS 4
#define NUM_PWMANALOGS 0
#endif
enum Analogs {
STICK1,
@ -389,6 +391,14 @@ void adcInit(void);
void adcRead(void);
uint16_t getAnalogValue(uint8_t index);
uint16_t getBatteryVoltage(); // returns current battery voltage in 10mV steps
#if NUM_PWMANALOGS > 0
extern uint8_t analogs_pwm_disabled;
#define ANALOGS_PWM_ENABLED() (analogs_pwm_disabled == false)
void pwmInit(void);
void pwmRead(uint16_t * values);
void pwmCheck();
extern volatile uint32_t pwm_interrupt_count;
#endif
#if defined(__cplusplus) && !defined(SIMU)
extern "C" {

10
radio/src/targets/horus/hal.h
View file

@ -177,6 +177,7 @@
// ADC
#if defined(PCBX12S)
#define ADC_RCC_AHB1Periph (RCC_AHB1Periph_GPIOE | RCC_AHB1Periph_GPIOF | RCC_AHB1Periph_DMA2)
#define ADC_RCC_APB1Periph 0
#define ADC_RCC_APB2Periph (RCC_APB2Periph_SPI4 | RCC_APB2Periph_ADC3)
#define ADC_SPI SPI4
#define ADC_GPIO_AF GPIO_AF_SPI4
@ -198,6 +199,7 @@
#define ADC_SAMPTIME 3
#elif defined(PCBX10)
#define ADC_RCC_AHB1Periph (RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOF | RCC_AHB1Periph_DMA2)
#define ADC_RCC_APB1Periph (RCC_APB1Periph_TIM5)
#define ADC_RCC_APB2Periph (RCC_APB2Periph_ADC3)
#define ADC_GPIO_PIN_STICK_LH GPIO_Pin_0 // PA.00
#define ADC_GPIO_PIN_STICK_LV GPIO_Pin_1 // PA.01
@ -211,7 +213,13 @@
#define ADC_GPIO_PIN_BATT GPIO_Pin_7 // PF.07
#define ADC_GPIO_PIN_EXT1 GPIO_Pin_8 // PF.08
#define ADC_GPIO_PIN_EXT2 GPIO_Pin_9 // PF.09
#define ADC_GPIOA_PINS (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3)
#define PWM_TIMER TIM5
#define PWM_GPIO GPIOA
#define PWM_GPIO_AF GPIO_AF_TIM5
#define PWM_IRQHandler TIM5_IRQHandler
#define PWM_IRQn TIM5_IRQn
#define PWM_GPIOA_PINS (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3)
#define ADC_GPIOA_PINS (ANALOGS_PWM_ENABLED() ? 0 : (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3))
#define ADC_GPIOC_PINS (GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3)
#define ADC_GPIOF_PINS (GPIO_Pin_6 | GPIO_Pin_7) // | GPIO_Pin_8 | GPIO_Pin_9)
#define ADC_CHANNEL_STICK_LH ADC_Channel_0 // ADC3_IN0

196
radio/src/targets/horus/pwm_driver.cpp Normal file
View file

@ -0,0 +1,196 @@
/*
* Copyright (C) OpenTX
*
* Based on code named
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
#define TIMESAMPLE_COUNT 6
uint8_t analogs_pwm_disabled = 0;
volatile uint32_t pwm_interrupt_count;
volatile uint8_t timer_capture_states[4];
volatile uint32_t timer_capture_rising_time[4];
volatile uint32_t timer_capture_values[4][TIMESAMPLE_COUNT];
volatile uint8_t timer_capture_indexes[4];
void pwmInit()
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = PWM_GPIOA_PINS;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(PWM_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource0, PWM_GPIO_AF);
GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource1, PWM_GPIO_AF);
GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource2, PWM_GPIO_AF);
GPIO_PinAFConfig(PWM_GPIO, GPIO_PinSource3, PWM_GPIO_AF);
PWM_TIMER->CR1 &= ~TIM_CR1_CEN; // Stop timer
PWM_TIMER->PSC = 80;
PWM_TIMER->ARR = 0xffff;
PWM_TIMER->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
PWM_TIMER->CCMR2 = TIM_CCMR2_CC3S_0 | TIM_CCMR2_CC4S_0;
PWM_TIMER->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E;
PWM_TIMER->DIER |= TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4;
PWM_TIMER->CR1 = TIM_CR1_CEN; // Start timer
NVIC_EnableIRQ(PWM_IRQn);
NVIC_SetPriority(PWM_IRQn, 10);
}
inline uint32_t TIM_GetCapture(uint8_t n)
{
switch (n) {
case 0:
return PWM_TIMER->CCR1;
case 1:
return PWM_TIMER->CCR2;
case 2:
return PWM_TIMER->CCR3;
case 3:
return PWM_TIMER->CCR4;
default:
return 0;
}
}
inline void TIM_SetPolarityRising(uint8_t n)
{
switch (n) {
case 0:
PWM_TIMER->CCER &= ~TIM_CCER_CC1P;
break;
case 1:
PWM_TIMER->CCER &= ~TIM_CCER_CC2P;
break;
case 2:
PWM_TIMER->CCER &= ~TIM_CCER_CC3P;
break;
case 3:
PWM_TIMER->CCER &= ~TIM_CCER_CC4P;
break;
}
}
inline void TIM_SetPolarityFalling(uint8_t n)
{
switch (n) {
case 0:
PWM_TIMER->CCER |= TIM_CCER_CC1P;
break;
case 1:
PWM_TIMER->CCER |= TIM_CCER_CC2P;
break;
case 2:
PWM_TIMER->CCER |= TIM_CCER_CC3P;
break;
case 3:
PWM_TIMER->CCER |= TIM_CCER_CC4P;
break;
}
}
inline void TIM_ClearITPendingBit(uint8_t n)
{
switch (n) {
case 0:
PWM_TIMER->SR = ~TIM_IT_CC1;
break;
case 1:
PWM_TIMER->SR = ~TIM_IT_CC2;
break;
case 2:
PWM_TIMER->SR = ~TIM_IT_CC3;
break;
case 3:
PWM_TIMER->SR = ~TIM_IT_CC4;
break;
}
}
inline uint32_t diff_with_16bits_overflow(uint32_t a, uint32_t b)
{
if (b > a)
return b - a;
else
return b + 0xffff - a;
}
extern "C" void PWM_IRQHandler(void)
{
for (int i=0; i<4; i++) {
if (PWM_TIMER->SR & (TIM_DIER_CC1IE << i)) {
uint32_t capture = TIM_GetCapture(i);
if (timer_capture_states[i] != 0) {
uint32_t value = diff_with_16bits_overflow(timer_capture_rising_time[i], capture);
if (value < 10000) {
pwm_interrupt_count++;
timer_capture_values[i][timer_capture_indexes[i]++] = value;
timer_capture_indexes[i] %= TIMESAMPLE_COUNT;
}
TIM_SetPolarityRising(i);
timer_capture_states[i] = 0;
}
else {
timer_capture_rising_time[i] = capture;
TIM_SetPolarityFalling(i);
timer_capture_states[i] = 0x80;
}
TIM_ClearITPendingBit(i);
}
}
}
void pwmRead(uint16_t * values)
{
uint32_t tmp[4];
for (int i=0; i<4; i++) {
uint32_t mycount = 0;
uint32_t mymax = 0;
uint32_t mymin = 4095;
for (uint32_t j=0; j<TIMESAMPLE_COUNT; j++) {
uint32_t value = timer_capture_values[i][j];
mycount += value;
if (value > mymax)
mymax = value;
if (value < mymin)
mymin = value;
}
// from the 6 values, remove the min and max and divide by 4
tmp[i] = (mycount - mymax - mymin) >> 2;
}
values[0] = tmp[0];
values[1] = tmp[1];
values[2] = tmp[3];
values[3] = tmp[2];
}
void pwmCheck()
{
// I have ~1860 interrupts with only one stick
if (pwm_interrupt_count < 1000) {
analogs_pwm_disabled = true;
adcInit();
}
}