From 2ca124f747139e68b49bf3f832f79774dbff3929 Mon Sep 17 00:00:00 2001 From: mikeller Date: Mon, 27 Feb 2017 00:20:52 +1300 Subject: [PATCH] Moved hardware specific parts into 'transponder_ir.c'. --- ...transponder_ir_stm32f4xx.c => transponder_ir.c} | 170 ++++++++++++++++++++- src/main/drivers/transponder_ir_stm32f30x.c | 139 ----------------- src/main/target/OMNIBUS/target.mk | 1 - src/main/target/PIKOBLX/target.mk | 1 - src/main/target/RG_SSD_F3/target.mk | 1 - src/main/target/SPRACINGF3EVO/target.mk | 1 - src/main/target/SPRACINGF3MINI/target.mk | 1 - src/main/target/SPRACINGF3NEO/target.mk | 1 - 8 files changed, 162 insertions(+), 153 deletions(-) rename src/main/drivers/{transponder_ir_stm32f4xx.c => transponder_ir.c} (53%) delete mode 100644 src/main/drivers/transponder_ir_stm32f30x.c diff --git a/src/main/drivers/transponder_ir_stm32f4xx.c b/src/main/drivers/transponder_ir.c similarity index 53% rename from src/main/drivers/transponder_ir_stm32f4xx.c rename to src/main/drivers/transponder_ir.c index fc89b5b54..1b2ff1678 100644 --- a/src/main/drivers/transponder_ir_stm32f4xx.c +++ b/src/main/drivers/transponder_ir.c @@ -17,33 +17,56 @@ #include #include +#include #include -#include "io.h" -#include "nvic.h" - #include "dma.h" +#include "nvic.h" +#include "io.h" #include "rcc.h" #include "timer.h" +#if defined(STM32F4) #include "timer_stm32f4xx.h" +#endif #include "transponder_ir.h" +/* + * Implementation note: + * Using around over 700 bytes for a transponder DMA buffer is a little excessive, likely an alternative implementation that uses a fast + * ISR to generate the output signal dynamically based on state would be more memory efficient and would likely be more appropriate for + * other targets. However this approach requires very little CPU time and is just fire-and-forget. + * + * On an STM32F303CC 720 bytes is currently fine and that is the target for which this code was designed for. + */ +uint8_t transponderIrDMABuffer[TRANSPONDER_DMA_BUFFER_SIZE]; + +volatile uint8_t transponderIrDataTransferInProgress = 0; + static IO_t transponderIO = IO_NONE; -static DMA_Stream_TypeDef *stream = NULL; static TIM_TypeDef *timer = NULL; +#if defined(STM32F3) +static DMA_Channel_TypeDef *dmaChannel = NULL; +#elif defined(STM32F4) +static DMA_Stream_TypeDef *stream = NULL; +#else +#error "Transponder not supported on this MCU." +#endif static void TRANSPONDER_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor) { if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) { transponderIrDataTransferInProgress = 0; +#if defined(STM32F3) + DMA_Cmd(descriptor->channel, DISABLE); +#elif defined(STM32F4) DMA_Cmd(descriptor->stream, DISABLE); +#endif DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF); } } - void transponderIrHardwareInit(ioTag_t ioTag) { if (!ioTag) { @@ -57,9 +80,15 @@ void transponderIrHardwareInit(ioTag_t ioTag) const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY); timer = timerHardware->tim; +#if defined(STM32F3) + if (timerHardware->dmaChannel == NULL) { + return; + } +#elif defined(STM32F4) if (timerHardware->dmaStream == NULL) { return; } +#endif transponderIO = IOGetByTag(ioTag); IOInit(transponderIO, OWNER_TRANSPONDER, 0); @@ -91,21 +120,32 @@ void transponderIrHardwareInit(ioTag_t ioTag) TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High; TIM_OCInitStructure.TIM_Pulse = 0; - +#if defined(STM32F3) + TIM_OC1Init(timer, &TIM_OCInitStructure); + TIM_OC1PreloadConfig(timer, TIM_OCPreload_Enable); +#elif defined(STM32F4) timerOCInit(timer, timerHardware->channel, &TIM_OCInitStructure); timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable); - +#endif TIM_CtrlPWMOutputs(timer, ENABLE); /* configure DMA */ +#if defined(STM32F3) + dmaChannel = timerHardware->dmaChannel; + DMA_DeInit(dmaChannel); +#elif defined(STM32F4) stream = timerHardware->dmaStream; DMA_Cmd(stream, DISABLE); DMA_DeInit(stream); +#endif DMA_StructInit(&DMA_InitStructure); DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerCCR(timer, timerHardware->channel); +#if defined(STM32F3) + DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)transponderIrDMABuffer; +#elif defined(STM32F4) DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)transponderIrDMABuffer; - DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; +#endif DMA_InitStructure.DMA_BufferSize = TRANSPONDER_DMA_BUFFER_SIZE; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; @@ -113,25 +153,130 @@ void transponderIrHardwareInit(ioTag_t ioTag) DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; DMA_InitStructure.DMA_Priority = DMA_Priority_High; +#if defined(STM32F3) + DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; + DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; + + DMA_Init(dmaChannel, &DMA_InitStructure); +#elif defined(STM32F4) + DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; DMA_Init(stream, &DMA_InitStructure); +#endif TIM_DMACmd(timer, timerDmaSource(timerHardware->channel), ENABLE); +#if defined(STM32F3) + DMA_ITConfig(dmaChannel, DMA_IT_TC, ENABLE); +#elif defined(STM32F4) DMA_ITConfig(stream, DMA_IT_TC, ENABLE); +#endif +} + +bool transponderIrInit(void) +{ + memset(&transponderIrDMABuffer, 0, TRANSPONDER_DMA_BUFFER_SIZE); + + ioTag_t ioTag = IO_TAG_NONE; + for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) { + if (timerHardware[i].usageFlags & TIM_USE_TRANSPONDER) { + ioTag = timerHardware[i].tag; + break; + } + } + + if (!ioTag) { + return false; + } + + + transponderIrHardwareInit(ioTag); + + return true; +} + +bool isTransponderIrReady(void) +{ + return !transponderIrDataTransferInProgress; +} + +static uint16_t dmaBufferOffset; + +void updateTransponderDMABuffer(const uint8_t* transponderData) +{ + uint8_t byteIndex; + uint8_t bitIndex; + uint8_t toggleIndex; + + for (byteIndex = 0; byteIndex < TRANSPONDER_DATA_LENGTH; byteIndex++) { + + uint8_t byteToSend = *transponderData; + transponderData++; + for (bitIndex = 0; bitIndex < TRANSPONDER_BITS_PER_BYTE; bitIndex++) + { + bool doToggles = false; + if (bitIndex == 0) { + doToggles = true; + } else if (bitIndex == TRANSPONDER_BITS_PER_BYTE - 1) { + doToggles = false; + } else { + doToggles = byteToSend & (1 << (bitIndex - 1)); + } + + for (toggleIndex = 0; toggleIndex < TRANSPONDER_TOGGLES_PER_BIT; toggleIndex++) + { + if (doToggles) { + transponderIrDMABuffer[dmaBufferOffset] = BIT_TOGGLE_1; + } else { + transponderIrDMABuffer[dmaBufferOffset] = BIT_TOGGLE_0; + } + dmaBufferOffset++; + } + transponderIrDMABuffer[dmaBufferOffset] = BIT_TOGGLE_0; + dmaBufferOffset++; + } + } +} + +void transponderIrWaitForTransmitComplete(void) +{ + static uint32_t waitCounter = 0; + + while(transponderIrDataTransferInProgress) { + waitCounter++; + } +} + +void transponderIrUpdateData(const uint8_t* transponderData) +{ + transponderIrWaitForTransmitComplete(); + + updateTransponderDMABuffer(transponderData); } void transponderIrDMAEnable(void) { +#if defined(STM32F3) + DMA_SetCurrDataCounter(dmaChannel, TRANSPONDER_DMA_BUFFER_SIZE); // load number of bytes to be transferred +#elif defined(STM32F4) DMA_SetCurrDataCounter(stream, TRANSPONDER_DMA_BUFFER_SIZE); // load number of bytes to be transferred +#endif TIM_SetCounter(timer, 0); TIM_Cmd(timer, ENABLE); +#if defined(STM32F3) + DMA_Cmd(dmaChannel, ENABLE); +#elif defined(STM32F4) DMA_Cmd(stream, ENABLE); +#endif } void transponderIrDisable(void) { +#if defined(STM32F3) + DMA_Cmd(dmaChannel, DISABLE); +#elif defined(STM32F4) DMA_Cmd(stream, DISABLE); +#endif TIM_Cmd(timer, DISABLE); IOInit(transponderIO, OWNER_TRANSPONDER, 0); @@ -144,3 +289,12 @@ void transponderIrDisable(void) #endif } +void transponderIrTransmit(void) +{ + transponderIrWaitForTransmitComplete(); + + dmaBufferOffset = 0; + + transponderIrDataTransferInProgress = 1; + transponderIrDMAEnable(); +} diff --git a/src/main/drivers/transponder_ir_stm32f30x.c b/src/main/drivers/transponder_ir_stm32f30x.c deleted file mode 100644 index 807d08016..000000000 --- a/src/main/drivers/transponder_ir_stm32f30x.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * Cleanflight 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. - * - * You should have received a copy of the GNU General Public License - * along with Cleanflight. If not, see . - */ - -#include -#include - -#include - -#include "io.h" -#include "nvic.h" - -#include "dma.h" -#include "rcc.h" -#include "timer.h" - -#include "transponder_ir.h" - -static IO_t transponderIO = IO_NONE; -static DMA_Channel_TypeDef *dmaChannel = NULL; -static TIM_TypeDef *timer = NULL; - -static void TRANSPONDER_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor) -{ - if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) { - transponderIrDataTransferInProgress = 0; - DMA_Cmd(descriptor->channel, DISABLE); - DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF); - } -} - - -void transponderIrHardwareInit(ioTag_t ioTag) -{ - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; - TIM_OCInitTypeDef TIM_OCInitStructure; - DMA_InitTypeDef DMA_InitStructure; - - const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY); - timer = timerHardware->tim; - - if (timerHardware->dmaChannel == NULL) { - return; - } - - transponderIO = IOGetByTag(ioTag); - IOInit(transponderIO, OWNER_TRANSPONDER, 0); - IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN), timerHardware->alternateFunction); - - dmaInit(timerHardware->dmaIrqHandler, OWNER_TRANSPONDER, 0); - dmaSetHandler(timerHardware->dmaIrqHandler, TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, 0); - RCC_ClockCmd(timerRCC(timer), ENABLE); - - /* Time base configuration */ - TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); - TIM_TimeBaseStructure.TIM_Period = 156; - TIM_TimeBaseStructure.TIM_Prescaler = 0; - TIM_TimeBaseStructure.TIM_ClockDivision = 0; - TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; - TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure); - - /* PWM1 Mode configuration: Channel1 */ - TIM_OCStructInit(&TIM_OCInitStructure); - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; - if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) { - TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; - TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset; - } else { - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; - TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; - } - TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High; - TIM_OCInitStructure.TIM_Pulse = 0; - TIM_OC1Init(timer, &TIM_OCInitStructure); - TIM_OC1PreloadConfig(timer, TIM_OCPreload_Enable); - - TIM_CtrlPWMOutputs(timer, ENABLE); - - /* configure DMA */ - dmaChannel = timerHardware->dmaChannel; - DMA_DeInit(dmaChannel); - - DMA_StructInit(&DMA_InitStructure); - DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerCCR(timer, timerHardware->channel); - DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)transponderIrDMABuffer; - DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; - DMA_InitStructure.DMA_BufferSize = TRANSPONDER_DMA_BUFFER_SIZE; - DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; - DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; - DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; - DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; - DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; - DMA_InitStructure.DMA_Priority = DMA_Priority_High; - DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; - - DMA_Init(dmaChannel, &DMA_InitStructure); - - TIM_DMACmd(timer, timerDmaSource(timerHardware->channel), ENABLE); - - DMA_ITConfig(dmaChannel, DMA_IT_TC, ENABLE); - -} - -void transponderIrDMAEnable(void) -{ - DMA_SetCurrDataCounter(dmaChannel, TRANSPONDER_DMA_BUFFER_SIZE); // load number of bytes to be transferred - TIM_SetCounter(timer, 0); - TIM_Cmd(timer, ENABLE); - DMA_Cmd(dmaChannel, ENABLE); -} - -void transponderIrDisable(void) -{ - DMA_Cmd(dmaChannel, DISABLE); - TIM_Cmd(timer, DISABLE); - - IOInit(transponderIO, OWNER_TRANSPONDER, 0); - IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN), timerHardware->alternateFunction); - -#ifdef TRANSPONDER_INVERTED - IOHi(transponderIO); -#else - IOLo(transponderIO); -#endif -} - diff --git a/src/main/target/OMNIBUS/target.mk b/src/main/target/OMNIBUS/target.mk index 5878246a4..39f1a2725 100644 --- a/src/main/target/OMNIBUS/target.mk +++ b/src/main/target/OMNIBUS/target.mk @@ -12,5 +12,4 @@ TARGET_SRC = \ drivers/max7456.c \ drivers/serial_usb_vcp.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ io/transponder_ir.c diff --git a/src/main/target/PIKOBLX/target.mk b/src/main/target/PIKOBLX/target.mk index 922b78405..fe40d79e3 100644 --- a/src/main/target/PIKOBLX/target.mk +++ b/src/main/target/PIKOBLX/target.mk @@ -5,6 +5,5 @@ TARGET_SRC = \ drivers/accgyro_mpu.c \ drivers/accgyro_spi_mpu6000.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ io/transponder_ir.c diff --git a/src/main/target/RG_SSD_F3/target.mk b/src/main/target/RG_SSD_F3/target.mk index 06d9d1dfa..9634576e0 100644 --- a/src/main/target/RG_SSD_F3/target.mk +++ b/src/main/target/RG_SSD_F3/target.mk @@ -8,7 +8,6 @@ TARGET_SRC = \ drivers/light_ws2811strip_stm32f30x.c \ drivers/serial_usb_vcp.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ io/transponder_ir.c HSE_VALUE = 12000000 diff --git a/src/main/target/SPRACINGF3EVO/target.mk b/src/main/target/SPRACINGF3EVO/target.mk index 937cd6bf4..527c06f14 100644 --- a/src/main/target/SPRACINGF3EVO/target.mk +++ b/src/main/target/SPRACINGF3EVO/target.mk @@ -9,6 +9,5 @@ TARGET_SRC = \ drivers/compass_ak8963.c \ drivers/serial_usb_vcp.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ io/transponder_ir.c diff --git a/src/main/target/SPRACINGF3MINI/target.mk b/src/main/target/SPRACINGF3MINI/target.mk index a46cf1be8..b1caf722b 100644 --- a/src/main/target/SPRACINGF3MINI/target.mk +++ b/src/main/target/SPRACINGF3MINI/target.mk @@ -10,7 +10,6 @@ TARGET_SRC = \ drivers/compass_ak8963.c \ drivers/flash_m25p16.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ io/transponder_ir.c ifeq ($(TARGET), TINYBEEF3) diff --git a/src/main/target/SPRACINGF3NEO/target.mk b/src/main/target/SPRACINGF3NEO/target.mk index c596c191c..5d664fa28 100755 --- a/src/main/target/SPRACINGF3NEO/target.mk +++ b/src/main/target/SPRACINGF3NEO/target.mk @@ -13,7 +13,6 @@ TARGET_SRC = \ drivers/light_ws2811strip_stm32f30x.c \ drivers/serial_usb_vcp.c \ drivers/transponder_ir.c \ - drivers/transponder_ir_stm32f30x.c \ drivers/max7456.c \ drivers/vtx_rtc6705.c \ io/osd.c \ -- 2.11.4.GIT