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Merge pull request #37 from 4712betaflight/1wire_pass_through_optimize 

Runtime ESC count / gpio / pin detection
This commit is contained in:
borisbstyle 2015-11-13 22:49:21 +01:00
parent 9190f1ad6b 02b297afa7
commit 1adcfaa798
13 changed files with 120 additions and 56 deletions
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15
src/main/drivers/pwm_mapping.c
View File

@ -456,6 +456,11 @@ static const uint16_t * const hardwareMaps[] = {
airPPM,
};
static pwmOutputConfiguration_t pwmOutputConfiguration;
pwmOutputConfiguration_t *pwmGetOutputConfiguration(void){
return &pwmOutputConfiguration;
}
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
int i = 0;
@ -463,7 +468,6 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
int channelIndex = 0;
static pwmOutputConfiguration_t pwmOutputConfiguration;
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
@ -651,16 +655,25 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;
pwmOutputConfiguration.motorCount++;
pwmOutputConfiguration.outputCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.servoCount;
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmOutputConfiguration.servoCount++;
pwmOutputConfiguration.outputCount++;
#endif
}
}

22
src/main/drivers/pwm_mapping.h
View File

@ -16,6 +16,8 @@
*/
#pragma once
#include "gpio.h"
#include "timer.h"
#define MAX_PWM_MOTORS 12
#define MAX_PWM_SERVOS 8
@ -78,9 +80,27 @@ typedef struct drv_pwm_config_s {
} drv_pwm_config_t;
typedef enum {
PWM_PF_NONE = 0,
PWM_PF_MOTOR = (1 << 0),
PWM_PF_SERVO = (1 << 1),
PWM_PF_MOTOR_MODE_BRUSHED = (1 << 2),
PWM_PF_OUTPUT_PROTOCOL_PWM = (1 << 3),
PWM_PF_OUTPUT_PROTOCOL_ONESHOT = (1 << 4)
} pwmPortFlags_e;
typedef struct pwmPortConfiguration_s {
uint8_t index;
pwmPortFlags_e flags;
const timerHardware_t *timerHardware;
} pwmPortConfiguration_t;
typedef struct pwmOutputConfiguration_s {
uint8_t servoCount;
uint8_t motorCount;
uint8_t outputCount;
pwmPortConfiguration_t portConfigurations[MAX_PWM_OUTPUT_PORTS];
} pwmOutputConfiguration_t;
// This indexes into the read-only hardware definition structure, timerHardware_t
@ -102,3 +122,5 @@ enum {
PWM15,
PWM16
};
pwmOutputConfiguration_t *pwmGetOutputConfiguration(void);

81
src/main/io/serial_1wire.c
View File

@ -19,15 +19,20 @@
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "platform.h"
#ifdef USE_SERIAL_1WIRE
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "io/serial_1wire.h"
#include "drivers/pwm_mapping.h"
#include "flight/mixer.h"
/*
const escHardware_t escHardware[ESC_COUNT] = {
// Figure out esc clocks and pins, extrapolated from timer.c
// Periphs could be pulled progmatically... but I'll leave that for another exercise
@ -79,6 +84,12 @@ const escHardware_t escHardware[ESC_COUNT] = {
{ GPIOA, 2 }
#endif
};
*/
uint8_t escCount; // we detect the hardware dynamically
static escHardware_t escHardware[MAX_PWM_MOTORS];
static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) {
gpio_config_t cfg;
@ -88,10 +99,35 @@ static void gpio_set_mode(GPIO_TypeDef* gpio, uint16_t pin, GPIO_Mode mode) {
gpioInit(gpio, &cfg);
}
static uint32_t GetPinPos(uint32_t pin) {
uint32_t pinPos;
for (pinPos = 0; pinPos < 16; pinPos++) {
uint32_t pinMask = (0x1 << pinPos);
if (pin & pinMask) {
// pos found
return pinPos;
}
}
return 0;
}
void usb1WireInitialize()
{
for (volatile uint8_t i = 0; i < ESC_COUNT; i++) {
gpio_set_mode(escHardware[i].gpio, (1U << escHardware[i].pinpos), Mode_IPU); //GPIO_Mode_IPU
escCount = 0;
memset(&escHardware,0,sizeof(escHardware));
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmGetOutputConfiguration();
for (volatile uint8_t i = 0; i < pwmOutputConfiguration->outputCount; i++) {
if ((pwmOutputConfiguration->portConfigurations[i].flags & PWM_PF_MOTOR) == PWM_PF_MOTOR) {
if(motor[pwmOutputConfiguration->portConfigurations[i].index] >0 ) {
escHardware[escCount].gpio = pwmOutputConfiguration->portConfigurations[i].timerHardware->gpio;
escHardware[escCount].pin = pwmOutputConfiguration->portConfigurations[i].timerHardware->pin;
escHardware[escCount].pinpos = GetPinPos(escHardware[escCount].pin);
gpio_set_mode(escHardware[escCount].gpio,escHardware[escCount].pin, Mode_IPU); //GPIO_Mode_IPU
escCount++;
}
}
}
#ifdef BEEPER
// fix for buzzer often starts beeping continuously when the ESCs are read
@ -129,7 +165,7 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
// reference CRL or CRH, depending whether pin number is 0..7 or 8..15
if (mode == Mode_IPU) {
*cr = in_cr_mask;
escHardware[escIndex].gpio->ODR |= (1U << escHardware[escIndex].pinpos);
escHardware[escIndex].gpio->ODR |= escHardware[escIndex].pin;
}
else {
*cr = out_cr_mask;
@ -137,10 +173,10 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
}
#endif
#define ESC_HI(escIndex) ((escHardware[escIndex].gpio->IDR & (1U << escHardware[escIndex].pinpos)) != (uint32_t)Bit_RESET)
#define ESC_HI(escIndex) ((escHardware[escIndex].gpio->IDR & escHardware[escIndex].pin) != (uint32_t)Bit_RESET)
#define RX_HI ((S1W_RX_GPIO->IDR & S1W_RX_PIN) != (uint32_t)Bit_RESET)
#define ESC_SET_HI(escIndex) escHardware[escIndex].gpio->BSRR = (1U << escHardware[escIndex].pinpos)
#define ESC_SET_LO(escIndex) escHardware[escIndex].gpio->BRR = (1U << escHardware[escIndex].pinpos)
#define ESC_SET_HI(escIndex) escHardware[escIndex].gpio->BSRR = escHardware[escIndex].pin
#define ESC_SET_LO(escIndex) escHardware[escIndex].gpio->BRR = escHardware[escIndex].pin
#define TX_SET_HIGH S1W_TX_GPIO->BSRR = S1W_TX_PIN
#define TX_SET_LO S1W_TX_GPIO->BRR = S1W_TX_PIN
@ -154,39 +190,17 @@ static void gpioSetOne(uint32_t escIndex, GPIO_Mode mode) {
#define ESC_OUTPUT(escIndex) gpioSetOne(escIndex, Mode_Out_PP)
#endif
#if defined(STM32F3DISCOVERY)
#define LED_PRGMR_RX GPIO_Pin_8
#define LED_PRGMR_TX GPIO_Pin_10
// Top Left LD4, PE8 (blue)-- from programmer (RX)
#define RX_LED_OFF GPIOE->BRR = LED_PRGMR_RX
#define RX_LED_ON GPIOE->BSRR = LED_PRGMR_RX
// Top Right LD5, PE10 (orange) -- to programmer (TX)
#define TX_LED_OFF GPIOE->BRR = LED_PRGMR_TX
#define TX_LED_ON GPIOE->BSRR = LED_PRGMR_TX
static void ledInitDebug(void)
{
uint32_t pinmask = LED_PRGMR_RX|LED_PRGMR_TX;
GPIO_DeInit(GPIOE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
gpio_set_mode(GPIOE, pinmask, Mode_Out_PP);
GPIOE->BRR = pinmask;
}
#else
#define RX_LED_OFF LED0_OFF
#define RX_LED_ON LED0_ON
#define TX_LED_OFF LED1_OFF
#define TX_LED_ON LED1_ON
#endif
// This method translates 2 wires (a tx and rx line) to 1 wire, by letting the
// RX line control when data should be read or written from the single line
void usb1WirePassthrough(uint8_t escIndex)
{
#ifdef STM32F3DISCOVERY
ledInitDebug();
#endif
//Disable all interrupts
// disable all interrupts
__disable_irq();
// reset all the pins
@ -231,7 +245,7 @@ void usb1WirePassthrough(uint8_t escIndex)
// At first Echo to the esc, which helps to charge input capacities at ESC
ESC_SET_HI(escIndex);
// Listen to the escIndex, input mode, pullup resistor is on
gpio_set_mode(escHardware[escIndex].gpio, (1U << escHardware[escIndex].pinpos), Mode_IPU);
gpio_set_mode(escHardware[escIndex].gpio, escHardware[escIndex].pin, Mode_IPU);
TX_LED_OFF;
if (ct==0) break; //we reached zero
// Listen to the escIndex while there is no data from the programmer
@ -246,6 +260,7 @@ void usb1WirePassthrough(uint8_t escIndex)
}
}
}
// we get here in case ct reached zero
TX_SET_HIGH;
RX_LED_OFF;

6
src/main/io/serial_1wire.h
View File

@ -22,11 +22,15 @@
#ifdef USE_SERIAL_1WIRE
extern uint8_t escCount;
typedef struct {
GPIO_TypeDef* gpio;
uint32_t pinpos;
uint16_t pinpos;
uint16_t pin;
} escHardware_t;
void usb1WireInitialize();
void usb1WirePassthrough(uint8_t escIndex);
#endif

23
src/main/io/serial_cli.c
View File

@ -149,7 +149,7 @@ static void cliFlashRead(char *cmdline);
#endif
#endif
#ifdef USE_SERIAL_1WIRE
#ifdef USE_SERIAL_1WIRE_CLI
static void cliUSB1Wire(char *cmdline);
#endif
@ -234,7 +234,7 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
#ifdef USE_SERIAL_1WIRE
#ifdef USE_SERIAL_1WIRE_CLI
CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
#endif
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
@ -2196,26 +2196,27 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
#ifdef USE_SERIAL_1WIRE
#ifdef USE_SERIAL_1WIRE_CLI
static void cliUSB1Wire(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
return;
} else {
usb1WireInitialize(); // init ESC outputs and get escCount value
int i;
i = atoi(cmdline);
if (i >= 0 && i <= ESC_COUNT) {
if (i >= 0 && i <= escCount) {
printf("Switching to BlHeli mode on motor port %d\r\n", i);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
}
}
// motor 1 => index 0
usb1WirePassthrough(i-1);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", escCount);
// cliReboot();
}
}
}
#endif
static void cliVersion(char *cmdline)

8
src/main/io/serial_msp.c
View File

@ -1787,13 +1787,19 @@ static bool processInCommand(void)
// 0xFF -> preinitialize the Passthrough
// switch all motor lines HI
usb1WireInitialize();
// reply the count of ESC found
headSerialReply(1);
serialize8(escCount);
// and come back right afterwards
// rem: App: Wait at least appx. 500 ms for BLHeli to jump into
// bootloader mode before try to connect any ESC
return true;
}
else {
// Check for channel number 0..ESC_COUNT-1
if (i < ESC_COUNT) {
if (i < escCount) {
// because we do not come back after calling usb1WirePassthrough
// proceed with a success reply first
headSerialReply(0);

3
src/main/target/CC3D/target.h
View File

@ -129,8 +129,7 @@
#define USE_CLI
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
#define USE_SERIAL_1WIRE_CLI
// FlexPort (pin 21/22, TX/RX respectively):
// Note, FlexPort has 10k pullups on both TX and RX

3
src/main/target/MOTOLAB/target.h
View File

@ -178,7 +178,8 @@
#define BIND_PIN Pin_4
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6
#define S1W_RX_GPIO GPIOB

4
src/main/target/NAZE/target.h
View File

@ -187,8 +187,8 @@
#define BIND_PIN Pin_3
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
#define USE_SERIAL_1WIRE_CLI
// STM32F103CBT6-LQFP48 Pin30 (PA9) TX - PC3 connects to onboard CP2102 RX
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9

3
src/main/target/RMDO/target.h
View File

@ -164,7 +164,8 @@
#define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9
#define S1W_RX_GPIO GPIOA

3
src/main/target/SPARKY/target.h
View File

@ -162,7 +162,8 @@
#endif
#define USE_SERIAL_1WIRE
#define ESC_COUNT 6
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOB
#define S1W_TX_PIN GPIO_Pin_6
#define S1W_RX_GPIO GPIOB

3
src/main/target/SPRACINGF3/target.h
View File

@ -172,7 +172,8 @@
#define BIND_PIN Pin_11
#define USE_SERIAL_1WIRE
#define ESC_COUNT 8
#define USE_SERIAL_1WIRE_CLI
#define S1W_TX_GPIO GPIOA
#define S1W_TX_PIN GPIO_Pin_9
#define S1W_RX_GPIO GPIOA

4
src/main/target/STM32F3DISCOVERY/target.h
View File

@ -100,8 +100,8 @@
#define USE_CLI
#define USE_SERIAL_1WIRE
// How many escs does this board support?
#define ESC_COUNT 6
#define USE_SERIAL_1WIRE_CLI
// STM32F3DISCOVERY TX - PD5 connects to UART RX
#define S1W_TX_GPIO GPIOD
#define S1W_TX_PIN GPIO_Pin_5