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Made spektrum timer configurable

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This commit is contained in:
kevindehecker
2016-03-04 15:21:49 +01:00
parent f01a1b9da4
commit c50d468a3b
3 changed files with 77 additions and 33 deletions
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sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
-1
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@@ -43,7 +43,6 @@ int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
*/
void actuators_pwm_arch_init(void)
{
/*-----------------------------------
* Configure timer peripheral clocks
*-----------------------------------*/
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+75 -32
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@@ -56,14 +56,55 @@ INFO("Radio-Control now follows PPRZ sign convention: this means you might need
#define MIN_FRAME_SPACE 70 // 7ms
#define MAX_BYTE_SPACE 3 // .3ms
//not all f1's have a timer 6, so, some redefines have to happen
#define PASTER3(x,y,z) x ## y ## z
#define EVALUATOR3(x,y,z) PASTER3(x,y,z)
#define NVIC_TIMx_IRQ EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_IRQ)
#define NVIC_TIMx_DAC_IRQ EVALUATOR3(NVIC_TIM, SPEKTRUM_TIMER,_DAC_IRQ) // not really necessary, only for f4 which probably always has a timer 4
#define TIMx_ISR EVALUATOR3(tim, SPEKTRUM_TIMER,_isr)
#define TIMx_DAC_ISR EVALUATOR3(tim, SPEKTRUM_TIMER,_dac_isr)
#define PASTER2(x,y) x ## y
#define EVALUATOR2(x,y) PASTER2(x,y)
#define TIMx EVALUATOR2(TIM, SPEKTRUM_TIMER)
#define RCC_TIMx EVALUATOR2(RCC_TIM, SPEKTRUM_TIMER)
#ifndef SPEKTRUM_TIMER
#define SPEKTRUM_TIMER 6
#endif
#if (SPEKTRUM_TIMER == 6)
#ifndef NVIC_TIM6_IRQ_PRIO
#define NVIC_TIM6_IRQ_PRIO 2
#define NVIC_TIMx_IRQ_PRIO 2
#else
#define NVIC_TIMx_IRQ_PRIO NVIC_TIM6_IRQ_PRIO
#endif
#ifndef NVIC_TIM6_DAC_IRQ_PRIO
#define NVIC_TIM6_DAC_IRQ_PRIO 2
#define NVIC_TIMx_DAC_IRQ_PRIO 2
#else
#define NVIC_TIMx_DAC_IRQ_PRIO NVIC_TIM6_DAC_IRQ_PRIO
#endif
#endif
#if (SPEKTRUM_TIMER == 3)
#ifndef NVIC_TIM3_IRQ_PRIO
#define NVIC_TIM3_IRQ_PRIO 2
#define NVIC_TIMx_IRQ_PRIO 2
#else
#define NVIC_TIMx_IRQ_PRIO NVIC_TIM6_IRQ_PRIO
#endif
#ifndef NVIC_TIM3_DAC_IRQ_PRIO
#define NVIC_TIM3_DAC_IRQ_PRIO 2
#define NVIC_TIMx_DAC_IRQ_PRIO 2
#else
#define NVIC_TIMx_DAC_IRQ_PRIO NVIC_TIM6_DAC_IRQ_PRIO
#endif
#endif
PRINT_CONFIG_MSG_VALUE("SPEKTRUM_TIMER: " , SPEKTRUM_TIMER)
#ifdef NVIC_UART_IRQ_PRIO
#define NVIC_PRIMARY_UART_PRIO NVIC_UART_IRQ_PRIO
@@ -136,13 +177,10 @@ int8_t SpektrumSigns[] = RADIO_CONTROL_SPEKTRUM_SIGNS;
/* Parser state variables */
static uint8_t EncodingType = 0;
static uint8_t ExpectedFrames = 0;
/* initialise the uarts used by the parser */
void SpektrumUartInit(void);
/* initialise the timer used by the parser to ensure sync */
void SpektrumTimerInit(void);
void tim6_irq_handler(void);
/** Set polarity using RC_POLARITY_GPIO.
* SBUS signal has a reversed polarity compared to normal UART
* this allows to using hardware UART peripheral by changing
@@ -289,6 +327,8 @@ void radio_control_impl_init(void)
static inline void SpektrumParser(uint8_t _c, SpektrumStateType *spektrum_state, bool_t secondary_receiver)
{
uint16_t ChannelData;
uint8_t TimedOut;
static uint8_t TmpEncType = 0; /* 0 = 10bit, 1 = 11 bit */
@@ -299,7 +339,7 @@ static inline void SpektrumParser(uint8_t _c, SpektrumStateType *spektrum_state,
/* If we have just started the resync process or */
/* if we have recieved a character before our */
/* 7ms wait has finished */
if ((spektrum_state->ReSync == 1) ||
if ((spektrum_state->ReSync == 1) ||
((spektrum_state->Sync == 0) && (!TimedOut))) {
spektrum_state->ReSync = 0;
@@ -310,6 +350,7 @@ static inline void SpektrumParser(uint8_t _c, SpektrumStateType *spektrum_state,
spektrum_state->SecondFrame = 0;
return;
}
//LED_OFF(1);
/* the first byte of a new frame. It was received */
/* more than 7ms after the last received byte. */
@@ -503,55 +544,56 @@ void RadioControlEventImp(void (*frame_handler)(void))
/*****************************************************************************
*
* Initialise TIM6 to fire an interrupt every 100 microseconds to provide
* Initialise TIMx to fire an interrupt every 100 microseconds to provide
* timebase for SpektrumParser
*
*****************************************************************************/
void SpektrumTimerInit(void)
{
/* enable TIM6 clock */
rcc_periph_clock_enable(RCC_TIM6);
/* enable TIMx clock */
rcc_periph_clock_enable(RCC_TIMx);
/* TIM6 configuration, always counts up */
timer_set_mode(TIM6, TIM_CR1_CKD_CK_INT, 0, 0);
timer_reset(TIMx);
/* TIMx configuration, always counts up */
timer_set_mode(TIMx, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP); // used to be 0 0
/* 100 microseconds ie 0.1 millisecond */
timer_set_period(TIM6, TIM_TICS_FOR_100us - 1);
uint32_t tim6_clk = timer_get_frequency(TIM6);
timer_set_period(TIMx, TIM_TICS_FOR_100us - 1);
uint32_t TIMx_clk = timer_get_frequency(TIMx);
/* timer ticks with 1us */
timer_set_prescaler(TIM6, ((tim6_clk / ONE_MHZ) - 1));
timer_set_prescaler(TIMx, ((TIMx_clk / ONE_MHZ) - 1));
/* Enable TIM6 interrupts */
/* Enable TIMx interrupts */
#ifdef STM32F1
nvic_set_priority(NVIC_TIM6_IRQ, NVIC_TIM6_IRQ_PRIO);
nvic_enable_irq(NVIC_TIM6_IRQ);
nvic_set_priority(NVIC_TIMx_IRQ, NVIC_TIMx_IRQ_PRIO);
nvic_enable_irq(NVIC_TIMx_IRQ);
#elif defined STM32F4
/* the define says DAC IRQ, but it is also the global TIM6 IRQ*/
nvic_set_priority(NVIC_TIM6_DAC_IRQ, NVIC_TIM6_DAC_IRQ_PRIO);
nvic_enable_irq(NVIC_TIM6_DAC_IRQ);
/* the define says DAC IRQ, but it is also the global TIMx IRQ*/
nvic_set_priority(NVIC_TIMx_DAC_IRQ, NVIC_TIMx_DAC_IRQ_PRIO);
nvic_enable_irq(NVIC_TIMx_DAC_IRQ);
#endif
/* Enable TIM6 Update interrupt */
timer_enable_irq(TIM6, TIM_DIER_UIE);
timer_clear_flag(TIM6, TIM_SR_UIF);
/* Enable TIMx Update interrupt */
timer_enable_irq(TIMx, TIM_DIER_UIE);
timer_clear_flag(TIMx, TIM_SR_UIF);
/* TIM6 enable counter */
timer_enable_counter(TIM6);
/* TIMx enable counter */
timer_enable_counter(TIMx);
}
/*****************************************************************************
*
* TIM6 interrupt request handler updates times used by SpektrumParser
* TIMx interrupt request handler updates times used by SpektrumParser
*
*****************************************************************************/
#ifdef STM32F1
void tim6_isr(void)
void TIMx_ISR(void)
{
#elif defined STM32F4
void tim6_dac_isr(void) {
void TIMx_DAC_ISR(void) {
#endif
timer_clear_flag(TIM6, TIM_SR_UIF);
timer_clear_flag(TIMx, TIM_SR_UIF);
if (PrimarySpektrumState.SpektrumTimer) {
--PrimarySpektrumState.SpektrumTimer;
@@ -582,7 +624,7 @@ void SpektrumUartInit(void) {
gpio_setup_pin_af(PrimaryUart(_BANK), PrimaryUart(_PIN), PrimaryUart(_AF), FALSE);
/* Configure Primary UART */
usart_set_baudrate(PrimaryUart(_DEV), 115200);
usart_set_baudrate(PrimaryUart(_DEV), B115200);
usart_set_databits(PrimaryUart(_DEV), 8);
usart_set_stopbits(PrimaryUart(_DEV), USART_STOPBITS_1);
usart_set_parity(PrimaryUart(_DEV), USART_PARITY_NONE);
@@ -609,7 +651,7 @@ void SpektrumUartInit(void) {
gpio_setup_pin_af(SecondaryUart(_BANK), SecondaryUart(_PIN), SecondaryUart(_AF), FALSE);
/* Configure secondary UART */
usart_set_baudrate(SecondaryUart(_DEV), 115200);
usart_set_baudrate(SecondaryUart(_DEV), B115200);
usart_set_databits(SecondaryUart(_DEV), 8);
usart_set_stopbits(SecondaryUart(_DEV), USART_STOPBITS_1);
usart_set_parity(SecondaryUart(_DEV), USART_PARITY_NONE);
@@ -701,7 +743,7 @@ void SecondaryUart(_ISR)(void) {
*
*****************************************************************************/
void radio_control_spektrum_try_bind(void) {
#ifdef SPEKTRUM_BIND_PIN_PORT
#ifdef SPEKTRUM_BIND_PIN_HIGH
/* Init GPIO for the bind pin, we enable the pulldown resistor.
* (esden) As far as I can tell only navstick is using the PIN LOW version of
@@ -727,6 +769,7 @@ void radio_control_spektrum_try_bind(void) {
if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) != 0) {
return;
}
#endif
#endif
/* Master receiver Rx push-pull */
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
+2
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@@ -79,5 +79,7 @@
#endif
extern void RadioControlEventImp(void (*_received_frame_handler)(void));
/* initialise the uarts used by the parser */
void SpektrumUartInit(void);
#endif /* RADIO_CONTROL_SPEKTRUM_ARCH_H */