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Rename HAL dshot file and cleanup

This commit is contained in:
Sami Korhonen 2017-05-06 13:36:57 +03:00
parent a50192f71c
commit 5214f4bdec
2 changed files with 16 additions and 44 deletions
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2
Makefile
View File

@ -985,7 +985,7 @@ STM32F7xx_COMMON_SRC = \
drivers/gpio_stm32f7xx.c \ drivers/gpio_stm32f7xx.c \
drivers/light_ws2811strip_hal.c \ drivers/light_ws2811strip_hal.c \
drivers/bus_spi_hal.c \ drivers/bus_spi_hal.c \
drivers/pwm_output_stm32f7xx.c \ drivers/pwm_output_dshot_hal.c \
drivers/timer_hal.c \ drivers/timer_hal.c \
drivers/timer_stm32f7xx.c \ drivers/timer_stm32f7xx.c \
drivers/system_stm32f7xx.c \ drivers/system_stm32f7xx.c \

58
src/main/drivers/pwm_output_stm32f7xx.c → src/main/drivers/pwm_output_dshot_hal.c
View File

@ -47,7 +47,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
} }
} }
dmaMotorTimers[dmaMotorTimerCount++].timer = timer; dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
return dmaMotorTimerCount-1; return dmaMotorTimerCount - 1;
} }
void pwmWriteDigital(uint8_t index, uint16_t value) void pwmWriteDigital(uint8_t index, uint16_t value)
@ -63,13 +63,13 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
} }
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0); uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum // compute checksum
int csum = 0; int csum = 0;
int csum_data = packet; int csum_data = packet;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
csum ^= csum_data; // xor data by nibbles csum ^= csum_data; // xor data by nibbles
csum_data >>= 4; csum_data >>= 4;
} }
csum &= 0xf; csum &= 0xf;
@ -77,22 +77,17 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
packet = (packet << 4) | csum; packet = (packet << 4) | csum;
// generate pulses for whole packet // generate pulses for whole packet
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
packet <<= 1; packet <<= 1;
} }
if(motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
{ if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
if(HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
{
/* Starting PWM generation Error */ /* Starting PWM generation Error */
return; return;
} }
} } else {
else if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
{
if(HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
{
/* Starting PWM generation Error */ /* Starting PWM generation Error */
return; return;
} }
@ -102,15 +97,6 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount) void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{ {
UNUSED(motorCount); UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
//TIM_SetCounter(dmaMotorTimers[i].timer, 0);
//TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
}
} }
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor) static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
@ -119,16 +105,6 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]); HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
} }
/*static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
{
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
DMA_Cmd(descriptor->stream, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
}
}*/
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output) void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{ {
motorDmaOutput_t * const motor = &dmaMotors[motorIndex]; motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
@ -147,14 +123,13 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
RCC_ClockCmd(timerRCC(timer), ENABLE); RCC_ClockCmd(timerRCC(timer), ENABLE);
motor->TimHandle.Instance = timerHardware->tim; motor->TimHandle.Instance = timerHardware->tim;
motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / getDshotHz(pwmProtocolType)) - 1;; motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / getDshotHz(pwmProtocolType)) - 1;
motor->TimHandle.Init.Period = MOTOR_BITLENGTH; motor->TimHandle.Init.Period = MOTOR_BITLENGTH;
motor->TimHandle.Init.RepetitionCounter = 0; motor->TimHandle.Init.RepetitionCounter = 0;
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
motor->TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; motor->TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if(HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK) if (HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK) {
{
/* Initialization Error */ /* Initialization Error */
return; return;
} }
@ -163,7 +138,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource; dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
/* Set the parameters to be configured */ /* Set the parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaChannel; motor->hdma_tim.Init.Channel = timerHardware->dmaChannel;
motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH; motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE; motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE; motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
@ -177,8 +152,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE; motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
/* Set hdma_tim instance */ /* Set hdma_tim instance */
if(timerHardware->dmaRef == NULL) if (timerHardware->dmaRef == NULL) {
{
/* Initialization Error */ /* Initialization Error */
return; return;
} }
@ -191,8 +165,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex); dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
/* Initialize TIMx DMA handle */ /* Initialize TIMx DMA handle */
if(HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK) if (HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK) {
{
/* Initialization Error */ /* Initialization Error */
return; return;
} }
@ -203,7 +176,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1; TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
if (output & TIMER_OUTPUT_N_CHANNEL) { if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET; TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_HIGH: TIM_OCPOLARITY_LOW; TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET; TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW; TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW;
} else { } else {
@ -215,8 +188,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE; TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
TIM_OCInitStructure.Pulse = 0; TIM_OCInitStructure.Pulse = 0;
if(HAL_TIM_PWM_ConfigChannel(&motor->TimHandle, &TIM_OCInitStructure, motor->timerHardware->channel) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&motor->TimHandle, &TIM_OCInitStructure, motor->timerHardware->channel) != HAL_OK) {
{
/* Configuration Error */ /* Configuration Error */
return; return;
} }