Merge pull request #5825 from blckmn/timer_prep

Timer clean up in preparation for configurable timers.

make/source.mk

@@ -32,6 +32,7 @@ COMMON_SRC = \
             drivers/sound_beeper.c \
             drivers/stack_check.c \
             drivers/system.c \
+            drivers/timer_common.c \
             drivers/timer.c \
             drivers/transponder_ir_arcitimer.c \
             drivers/transponder_ir_ilap.c \

src/main/drivers/camera_control.c

@@ -129,7 +129,7 @@ void cameraControlInit(void)
 
     if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
 #ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
-        const timerHardware_t *timerHardware = timerGetByTag(cameraControlConfig()->ioTag, TIM_USE_ANY);
+        const timerHardware_t *timerHardware = timerGetByTag(cameraControlConfig()->ioTag);
 
         if (!timerHardware) {
             return;

src/main/drivers/light_ws2811strip_hal.c

@@ -53,7 +53,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag)
         return;
     }
 
-    const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY);
+    const timerHardware_t *timerHardware = timerGetByTag(ioTag);
     TIM_TypeDef *timer = timerHardware->tim;
     timerChannel = timerHardware->channel;
 

src/main/drivers/light_ws2811strip_stdperiph.c

@@ -66,7 +66,7 @@ void ws2811LedStripHardwareInit(ioTag_t ioTag)
     TIM_OCInitTypeDef  TIM_OCInitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
-    const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY);
+    const timerHardware_t *timerHardware = timerGetByTag(ioTag);
     timer = timerHardware->tim;
 
     if (timerHardware->dmaRef == NULL) {

src/main/drivers/pwm_output.c

@@ -282,7 +282,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
 
     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
         const ioTag_t tag = motorConfig->ioTags[motorIndex];
-        const timerHardware_t *timerHardware = timerGetByTag(tag, TIM_USE_ANY);
+        const timerHardware_t *timerHardware = timerGetByTag(tag);
 
         if (timerHardware == NULL) {
             /* not enough motors initialised for the mixer or a break in the motors */
@@ -449,7 +449,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
 
         IOInit(servos[servoIndex].io, OWNER_SERVO, RESOURCE_INDEX(servoIndex));
 
-        const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_ANY);
+        const timerHardware_t *timer = timerGetByTag(tag);
 #if defined(USE_HAL_DRIVER)
         IOConfigGPIOAF(servos[servoIndex].io, IOCFG_AF_PP, timer->alternateFunction);
 #else
@@ -490,7 +490,7 @@ void pwmToggleBeeper(void)
 
 void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
 {
-    const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
+    const timerHardware_t *timer = timerGetByTag(tag);
     IO_t beeperIO = IOGetByTag(tag);
 
     if (beeperIO && timer) {

src/main/drivers/rx/rx_pwm.c

@@ -371,7 +371,7 @@ void pwmRxInit(const pwmConfig_t *pwmConfig)
 
         pwmInputPort_t *port = &pwmInputPorts[channel];
 
-        const timerHardware_t *timer = timerGetByTag(pwmConfig->ioTags[channel], TIM_USE_ANY);
+        const timerHardware_t *timer = timerGetByTag(pwmConfig->ioTags[channel]);
 
         if (!timer) {
             /* TODO: maybe fail here if not enough channels? */
@@ -426,7 +426,7 @@ void ppmRxInit(const ppmConfig_t *ppmConfig)
 
     pwmInputPort_t *port = &pwmInputPorts[FIRST_PWM_PORT];
 
-    const timerHardware_t *timer = timerGetByTag(ppmConfig->ioTag, TIM_USE_ANY);
+    const timerHardware_t *timer = timerGetByTag(ppmConfig->ioTag);
     if (!timer) {
         /* TODO: fail here? */
         return;

src/main/drivers/serial_escserial.c

@@ -673,7 +673,7 @@ static serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceive
     }
 
     escSerial->mode = mode;
-    escSerial->txTimerHardware = timerGetByTag(escSerialConfig()->ioTag, TIM_USE_ANY);
+    escSerial->txTimerHardware = timerGetByTag(escSerialConfig()->ioTag);
 
 #ifdef USE_HAL_DRIVER
     escSerial->txTimerHandle = timerFindTimerHandle(escSerial->txTimerHardware->tim);
@@ -952,7 +952,7 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
     }
     else {
         uint8_t first_output = 0;
-        for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+        for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
             if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
                 first_output = i;
                 break;

src/main/drivers/serial_softserial.c

@@ -242,8 +242,8 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
     ioTag_t tagRx = serialPinConfig()->ioTagRx[pinCfgIndex];
     ioTag_t tagTx = serialPinConfig()->ioTagTx[pinCfgIndex];
 
-    const timerHardware_t *timerRx = timerGetByTag(tagRx, TIM_USE_ANY);
-    const timerHardware_t *timerTx = timerGetByTag(tagTx, TIM_USE_ANY);
+    const timerHardware_t *timerRx = timerGetByTag(tagRx);
+    const timerHardware_t *timerTx = timerGetByTag(tagTx);
 
     IO_t rxIO = IOGetByTag(tagRx);
     IO_t txIO = IOGetByTag(tagTx);

src/main/drivers/timer.c

@@ -779,12 +779,12 @@ void timerInit(void)
 #endif
 
     /* enable the timer peripherals */
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+    for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
         RCC_ClockCmd(timerRCC(timerHardware[i].tim), ENABLE);
     }
 
 #if defined(STM32F3) || defined(STM32F4)
-    for (int timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
+    for (unsigned timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
         const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
         if (timerHardwarePtr->usageFlags == TIM_USE_NONE) {
             continue;
@@ -795,10 +795,11 @@ void timerInit(void)
 #endif
 
     // initialize timer channel structures
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+    for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
         timerChannelInfo[i].type = TYPE_FREE;
     }
-    for (int i = 0; i < USED_TIMER_COUNT; i++) {
+
+    for (unsigned i = 0; i < USED_TIMER_COUNT; i++) {
         timerInfo[i].priority = ~0;
     }
 }
@@ -852,22 +853,6 @@ void timerForceOverflow(TIM_TypeDef *tim)
     }
 }
 
-const timerHardware_t *timerGetByTag(ioTag_t tag, timerUsageFlag_e flag)
-{
-    if (!tag) {
-        return NULL;
-    }
-
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
-        if (timerHardware[i].tag == tag) {
-            if (timerHardware[i].usageFlags & flag || flag == 0) {
-                return &timerHardware[i];
-            }
-        }
-    }
-    return NULL;
-}
-
 #if !defined(USE_HAL_DRIVER)
 void timerOCInit(TIM_TypeDef *tim, uint8_t channel, TIM_OCInitTypeDef *init)
 {
@@ -935,7 +920,7 @@ uint16_t timerGetPrescalerByDesiredMhz(TIM_TypeDef *tim, uint16_t mhz)
 
 uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_t hz)
 {
-    return ((uint16_t)((timerClock(tim) / (prescaler + 1)) / hz));
+    return (uint16_t)((timerClock(tim) / (prescaler + 1)) / hz);
 }
 
 uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz)

src/main/drivers/timer.h

@@ -25,6 +25,11 @@
 
 #include "drivers/io_types.h"
 #include "rcc_types.h"
+#include "drivers/timer_def.h"
+
+#define CC_CHANNELS_PER_TIMER         4 // TIM_Channel_1..4
+#define CC_INDEX_FROM_CHANNEL(x)      ((uint8_t)((x) >> 2))
+#define CC_CHANNEL_FROM_INDEX(x)      ((uint16_t)(x) << 2)
 
 typedef uint16_t captureCompare_t;        // 16 bit on both 103 and 303, just register access must be 32bit sometimes (use timCCR_t)
 
@@ -199,7 +204,8 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint32_t hz);  // TODO -
 rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
 uint8_t timerInputIrq(TIM_TypeDef *tim);
 
-const timerHardware_t *timerGetByTag(ioTag_t tag, timerUsageFlag_e flag);
+const timerHardware_t *timerGetByTag(ioTag_t ioTag);
+ioTag_t timerioTagGetByUsage(timerUsageFlag_e usageFlag, uint8_t index);
 
 #if defined(USE_HAL_DRIVER)
 TIM_HandleTypeDef* timerFindTimerHandle(TIM_TypeDef *tim);

src/main/drivers/timer_common.c

@@ -0,0 +1,73 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "drivers/io.h"
+#include "timer.h"
+#ifdef USE_TIMER_MGMT
+#include "pg/timerio.h"
+#endif
+
+uint8_t timerIndexByTag(ioTag_t ioTag)
+{
+#ifdef USE_TIMER_MGMT
+    for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
+        if (timerIOConfig(i)->ioTag == ioTag) {
+            return timerIOConfig(i)->index;
+        }
+    }
+#else
+    UNUSED(ioTag);
+#endif
+    return 0;
+}
+
+const timerHardware_t *timerGetByTag(ioTag_t ioTag)
+{
+    if (!ioTag) {
+        return NULL;
+    }
+
+    uint8_t timerIndex = timerIndexByTag(ioTag);
+    uint8_t index = 1;
+
+    for (int i = 0; i < (int)USABLE_TIMER_CHANNEL_COUNT; i++) {
+        if (timerHardware[i].tag == ioTag) {
+            if (index == timerIndex || timerIndex == 0) {                
+                return &timerHardware[i];
+            }
+            index++;
+        }
+    }
+    return NULL;
+}
+
+ioTag_t timerioTagGetByUsage(timerUsageFlag_e usageFlag, uint8_t index)
+{
+    uint8_t currentIndex = 0;
+    for (int i = 0; i < (int)USABLE_TIMER_CHANNEL_COUNT; i++) {
+        if ((timerHardware[i].usageFlags & usageFlag) == usageFlag) {
+            if (currentIndex == index) {
+                return timerHardware[i].tag;
+            }
+            currentIndex++;
+        }
+    }
+    return IO_TAG_NONE;
+}

src/main/drivers/timer_hal.c

@@ -32,6 +32,8 @@
 #include "drivers/nvic.h"
 
 #include "drivers/io.h"
+#include "drivers/dma.h"
+
 #include "rcc.h"
 
 #include "timer.h"
@@ -49,7 +51,6 @@
 
 /// TODO: HAL in a lot af calls lookupTimerIndex is used. Instead of passing the timer instance the index should be passed.
 #define USED_TIMER_COUNT BITCOUNT(USED_TIMERS)
-#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
 
 #define TIM_IT_CCx(ch) (TIM_IT_CC1 << ((ch) / 4))
 
@@ -872,7 +873,7 @@ void timerInit(void)
     }
 
 #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
-    for (int timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
+    for (unsigned timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
         const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
         if (timerHardwarePtr->usageFlags == TIM_USE_NONE) {
             continue;
@@ -882,11 +883,17 @@ void timerInit(void)
     }
 #endif
 
+    /* enable the timer peripherals */
+    for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+        RCC_ClockCmd(timerRCC(timerHardware[i].tim), ENABLE);
+    }
+
     // initialize timer channel structures
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+    for (unsigned i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
         timerChannelInfo[i].type = TYPE_FREE;
     }
-    for (int i = 0; i < USED_TIMER_COUNT; i++) {
+
+    for (unsigned i = 0; i < USED_TIMER_COUNT; i++) {
         timerInfo[i].priority = ~0;
     }
 }
@@ -941,18 +948,6 @@ void timerForceOverflow(TIM_TypeDef *tim)
     }
 }
 
-const timerHardware_t *timerGetByTag(ioTag_t tag, timerUsageFlag_e flag)
-{
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
-        if (timerHardware[i].tag == tag) {
-            if (timerHardware[i].usageFlags & flag || flag == 0) {
-                return &timerHardware[i];
-            }
-        }
-    }
-    return NULL;
-}
-
 // DMA_Handle_index
 uint16_t timerDmaIndex(uint8_t channel)
 {
@@ -992,7 +987,7 @@ uint16_t timerGetPrescalerByDesiredMhz(TIM_TypeDef *tim, uint16_t mhz)
 
 uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_t hz)
 {
-    return ((uint16_t)((timerClock(tim) / (prescaler + 1)) / hz));
+    return (uint16_t)((timerClock(tim) / (prescaler + 1)) / hz);
 }
 
 uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz)

src/main/drivers/transponder_ir_io_hal.c

@@ -64,7 +64,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
         return;
     }
 
-    const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY);
+    const timerHardware_t *timerHardware = timerGetByTag(ioTag);
     TIM_TypeDef *timer = timerHardware->tim;
     timerChannel = timerHardware->channel;
 

src/main/drivers/transponder_ir_io_stdperiph.c

@@ -72,7 +72,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
     TIM_OCInitTypeDef  TIM_OCInitStructure;
     DMA_InitTypeDef DMA_InitStructure;
 
-    const timerHardware_t *timerHardware = timerGetByTag(ioTag, TIM_USE_ANY);
+    const timerHardware_t *timerHardware = timerGetByTag(ioTag);
     timer = timerHardware->tim;
 
     if (timerHardware->dmaRef == NULL) {

src/main/fc/config.c

@@ -359,7 +359,7 @@ static void validateAndFixConfig(void)
 #endif
 
 #if defined(USE_BEEPER)
-    if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag, TIM_USE_BEEPER)) {
+    if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag)) {
         beeperDevConfigMutable()->frequency = 0;
     }
 #endif

src/main/flight/mixer.c

@@ -39,6 +39,7 @@
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_esc_detect.h"
 #include "drivers/time.h"
+#include "drivers/io.h"
 
 #include "io/motors.h"
 
@@ -103,12 +104,8 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
     motorConfig->dev.useBurstDshot = ENABLE_DSHOT_DMAR;
 #endif
 
-    int motorIndex = 0;
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
-        if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
-            motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
-            motorIndex++;
-        }
+    for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
+        motorConfig->dev.ioTags[motorIndex] = timerioTagGetByUsage(TIM_USE_MOTOR, motorIndex);
     }
 
     motorConfig->motorPoleCount = 14;   // Most brushes motors that we use are 14 poles

src/main/flight/servos.c

@@ -66,12 +66,8 @@ void pgResetFn_servoConfig(servoConfig_t *servoConfig)
     servoConfig->servo_lowpass_freq = 0;
     servoConfig->channelForwardingStartChannel = AUX1;
 
-    int servoIndex = 0;
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && servoIndex < MAX_SUPPORTED_SERVOS; i++) {
-        if (timerHardware[i].usageFlags & TIM_USE_SERVO) {
-            servoConfig->dev.ioTags[servoIndex] = timerHardware[i].tag;
-            servoIndex++;
-        }
+    for (unsigned servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
+        servoConfig->dev.ioTags[servoIndex] = timerioTagGetByUsage(TIM_USE_SERVO, servoIndex);
     }
 }
 

src/main/io/ledstrip.c

@@ -174,13 +174,9 @@ void pgResetFn_ledStripConfig(ledStripConfig_t *ledStripConfig)
     ledStripConfig->ledstrip_visual_beeper = 0;
     ledStripConfig->ledstrip_aux_channel = THROTTLE;
 
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
-        if (timerHardware[i].usageFlags & TIM_USE_LED) {
-            ledStripConfig->ioTag = timerHardware[i].tag;
-            return;
-        }
-    }
-    ledStripConfig->ioTag = IO_TAG_NONE;
+#ifndef UNIT_TEST
+    ledStripConfig->ioTag = timerioTagGetByUsage(TIM_USE_LED, 0);
+#endif
 }
 
 static int scaledThrottle;

src/main/pg/rx_pwm.c

@@ -38,12 +38,8 @@ PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0);
 void pgResetFn_pwmConfig(pwmConfig_t *pwmConfig)
 {
     pwmConfig->inputFilteringMode = INPUT_FILTERING_DISABLED;
-    int inputIndex = 0;
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && inputIndex < PWM_INPUT_PORT_COUNT; i++) {
-        if (timerHardware[i].usageFlags & TIM_USE_PWM) {
-            pwmConfig->ioTags[inputIndex] = timerHardware[i].tag;
-            inputIndex++;
-        }
+    for (unsigned inputIndex = 0; inputIndex < PWM_INPUT_PORT_COUNT; inputIndex++) {
+        pwmConfig->ioTags[inputIndex] = timerioTagGetByUsage(TIM_USE_PWM, inputIndex);
     }
 }
 #endif
@@ -56,14 +52,7 @@ void pgResetFn_ppmConfig(ppmConfig_t *ppmConfig)
 #ifdef PPM_PIN
     ppmConfig->ioTag = IO_TAG(PPM_PIN);
 #else
-    for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
-        if (timerHardware[i].usageFlags & TIM_USE_PPM) {
-            ppmConfig->ioTag = timerHardware[i].tag;
-            return;
-        }
-    }
-
-    ppmConfig->ioTag = IO_TAG_NONE;
+    ppmConfig->ioTag = timerioTagGetByUsage(TIM_USE_PPM, 0);
 #endif
 }
 #endif