rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #5115 from jflyper/bfdev-camcontrol-drop-softpwm 

CAMERA_CONTROL Drop software PWM mode
This commit is contained in:
jflyper 2018-02-07 21:44:21 +09:00 committed by GitHub
parent 8738e7d623 86149361ab
commit 25b49a58a1
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 87 additions and 121 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
make/source.mk
View File

@ -65,6 +65,7 @@ COMMON_SRC = \
pg/beeper_dev.c \
pg/bus_i2c.c \
pg/bus_spi.c \
pg/camera_control.c \
pg/max7456.c \
pg/pg.c \
pg/rx_pwm.c \

105
src/main/drivers/camera_control.c
View File

@ -25,7 +25,7 @@
#include "nvic.h"
#include "pwm_output.h"
#include "time.h"
#include "pg/pg_ids.h"
#include "pg/camera_control.h"
#if defined(STM32F40_41xxx)
#define CAMERA_CONTROL_TIMER_HZ MHZ_TO_HZ(84)
@ -36,7 +36,6 @@
#endif
#define CAMERA_CONTROL_PWM_RESOLUTION 128
#define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
#ifdef CURRENT_TARGET_CPU_VOLTAGE
#define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
@ -44,32 +43,13 @@
#define ADC_VOLTAGE 3.3f
#endif
#if !defined(STM32F411xE) && !defined(STM32F7)
#define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
#include "build/atomic.h"
#endif
#define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
#include "timer.h"
#ifndef CAMERA_CONTROL_PIN
#define CAMERA_CONTROL_PIN NONE
#endif
#ifdef USE_OSD
#include "io/osd.h"
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
PG_RESET_TEMPLATE(cameraControlConfig_t, cameraControlConfig,
.mode = CAMERA_CONTROL_MODE_HARDWARE_PWM,
.refVoltage = 330,
.keyDelayMs = 180,
.internalResistance = 470,
.ioTag = IO_TAG(CAMERA_CONTROL_PIN)
);
static struct {
bool enabled;
IO_t io;
@ -79,22 +59,6 @@ static struct {
static uint32_t endTimeMillis;
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
void TIM6_DAC_IRQHandler(void)
{
IOHi(cameraControlRuntime.io);
TIM6->SR = 0;
}
void TIM7_IRQHandler(void)
{
IOLo(cameraControlRuntime.io);
TIM7->SR = 0;
}
#endif
void cameraControlInit(void)
{
if (cameraControlConfig()->ioTag == IO_TAG_NONE)
@ -122,27 +86,6 @@ void cameraControlInit(void)
cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
*cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
cameraControlRuntime.enabled = true;
#endif
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
IOConfigGPIO(cameraControlRuntime.io, IOCFG_OUT_PP);
IOHi(cameraControlRuntime.io);
cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
cameraControlRuntime.enabled = true;
NVIC_InitTypeDef nvicTIM6 = {
TIM6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
};
NVIC_Init(&nvicTIM6);
NVIC_InitTypeDef nvicTIM7 = {
TIM7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
};
NVIC_Init(&nvicTIM7);
RCC->APB1ENR |= RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7;
TIM6->PSC = 0;
TIM7->PSC = 0;
#endif
} else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
// @todo not yet implemented
@ -154,8 +97,6 @@ void cameraControlProcess(uint32_t currentTimeUs)
if (endTimeMillis && currentTimeUs >= 1000 * endTimeMillis) {
if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
*cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
}
endTimeMillis = 0;
@ -170,7 +111,7 @@ static float calculateKeyPressVoltage(const cameraControlKey_e key)
return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
}
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE)
static float calculatePWMDutyCycle(const cameraControlKey_e key)
{
const float voltage = calculateKeyPressVoltage(key);
@ -187,7 +128,7 @@ void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
if (key >= CAMERA_CONTROL_KEYS_COUNT)
return;
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
#if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE)
const float dutyCycle = calculatePWMDutyCycle(key);
#else
(void) holdDurationMs;
@ -202,46 +143,6 @@ void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
#ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
*cameraControlRuntime.channel.ccr = lrintf(dutyCycle * cameraControlRuntime.period);
endTimeMillis = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
#endif
} else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
#ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
const uint32_t hiTime = lrintf(dutyCycle * cameraControlRuntime.period);
if (0 == hiTime) {
IOLo(cameraControlRuntime.io);
delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
IOHi(cameraControlRuntime.io);
} else {
TIM6->CNT = hiTime;
TIM6->ARR = cameraControlRuntime.period;
TIM7->CNT = 0;
TIM7->ARR = cameraControlRuntime.period;
// Start two timers as simultaneously as possible
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
TIM6->CR1 = TIM_CR1_CEN;
TIM7->CR1 = TIM_CR1_CEN;
}
// Enable interrupt generation
TIM6->DIER = TIM_IT_Update;
TIM7->DIER = TIM_IT_Update;
const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
// Wait to give the camera a chance at registering the key press
while (millis() < endTime);
// Disable timers and interrupt generation
TIM6->CR1 &= ~TIM_CR1_CEN;
TIM7->CR1 &= ~TIM_CR1_CEN;
TIM6->DIER = 0;
TIM7->DIER = 0;
// Reset to idle state
IOHi(cameraControlRuntime.io);
}
#endif
} else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
// @todo not yet implemented

18
src/main/drivers/camera_control.h
View File

@ -17,9 +17,6 @@
#pragma once
#include "io_types.h"
#include "pg/pg.h"
typedef enum {
CAMERA_CONTROL_KEY_ENTER,
CAMERA_CONTROL_KEY_LEFT,
@ -31,25 +28,10 @@ typedef enum {
typedef enum {
CAMERA_CONTROL_MODE_HARDWARE_PWM,
CAMERA_CONTROL_MODE_SOFTWARE_PWM,
CAMERA_CONTROL_MODE_DAC,
CAMERA_CONTROL_MODES_COUNT
} cameraControlMode_e;
typedef struct cameraControlConfig_s {
cameraControlMode_e mode;
// measured in 10 mV steps
uint16_t refVoltage;
uint16_t keyDelayMs;
// measured 100 Ohm steps
uint16_t internalResistance;
ioTag_t ioTag;
} cameraControlConfig_t;
PG_DECLARE(cameraControlConfig_t, cameraControlConfig);
void cameraControlInit(void);
void cameraControlProcess(uint32_t currentTimeUs);
void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs);

1
src/main/interface/cli.c
View File

@ -118,6 +118,7 @@ extern uint8_t __config_end;
#include "pg/beeper_dev.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/camera_control.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx_pwm.h"

2
src/main/interface/settings.c
View File

@ -67,6 +67,7 @@
#include "pg/max7456.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/camera_control.h"
#include "pg/rx_pwm.h"
#include "pg/sdcard.h"
#include "pg/vcd.h"
@ -229,7 +230,6 @@ static const char * const lookupTableGyroLpf[] = {
#ifdef USE_CAMERA_CONTROL
static const char * const lookupTableCameraControlMode[] = {
"HARDWARE_PWM",
"SOFTWARE_PWM",
"DAC"
};
#endif

46
src/main/pg/camera_control.c Normal file
View File

@ -0,0 +1,46 @@
/*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <platform.h>
#ifdef USE_CAMERA_CONTROL
#include "pg/pg_ids.h"
#include "pg/camera_control.h"
#include "drivers/camera_control.h"
#include "drivers/io.h"
//#include "math.h"
//#include "nvic.h"
//#include "pwm_output.h"
//#include "time.h"
#ifndef CAMERA_CONTROL_PIN
#define CAMERA_CONTROL_PIN NONE
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
PG_RESET_TEMPLATE(cameraControlConfig_t, cameraControlConfig,
.mode = CAMERA_CONTROL_MODE_HARDWARE_PWM,
.refVoltage = 330,
.keyDelayMs = 180,
.internalResistance = 470,
.ioTag = IO_TAG(CAMERA_CONTROL_PIN)
);
#endif

35
src/main/pg/camera_control.h Normal file
View File

@ -0,0 +1,35 @@
/*
* 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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "drivers/io_types.h"
#include "drivers/camera_control.h"
#include "pg/pg.h"
typedef struct cameraControlConfig_s {
cameraControlMode_e mode;
// measured in 10 mV steps
uint16_t refVoltage;
uint16_t keyDelayMs;
// measured 100 Ohm steps
uint16_t internalResistance;
ioTag_t ioTag;
} cameraControlConfig_t;
PG_DECLARE(cameraControlConfig_t, cameraControlConfig);