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Merge pull request #520 from blckmn/sonar_io 

Changes to sonar to use new IO
This commit is contained in:
Martin Budden 2016-06-16 08:31:13 +01:00 committed by GitHub
parent dcffd1cf46 cd25f0fa96
commit f0f7220ff2
19 changed files with 148 additions and 112 deletions
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9
src/main/drivers/pwm_mapping.c
View File

@ -189,12 +189,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif
#ifdef SONAR
if (init->sonarGPIOConfig &&
if (init->sonarConfig &&
(
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) ||
CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin)
)
) {
timerHardwarePtr->pin == init->sonarConfig->triggerPin ||
timerHardwarePtr->pin == init->sonarConfig->echoPin
)) {
continue;
}
#endif

13
src/main/drivers/pwm_mapping.h
View File

@ -16,7 +16,7 @@
*/
#pragma once
#include "gpio.h"
#include "timer.h"
#define MAX_PWM_MOTORS 12
@ -42,11 +42,10 @@
#define ONESHOT42_TIMER_MHZ 24
#define ONESHOT125_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
uint16_t triggerPin;
uint16_t echoPin;
} sonarGPIOConfig_t;
typedef struct sonarIOConfig_s {
ioTag_t triggerPin;
ioTag_t echoPin;
} sonarIOConfig_t;
typedef struct drv_pwm_config_s {
bool useParallelPWM;
@ -78,7 +77,7 @@ typedef struct drv_pwm_config_s {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarGPIOConfig_t *sonarGPIOConfig;
sonarIOConfig_t *sonarConfig;
} drv_pwm_config_t;
enum {

33
src/main/drivers/sonar_hcsr04.c
View File

@ -22,7 +22,6 @@
#include "build_config.h"
#include "system.h"
#include "gpio.h"
#include "nvic.h"
#include "io.h"
#include "exti.h"
@ -43,8 +42,9 @@ static uint32_t lastMeasurementAt;
static sonarHardware_t const *sonarHardware;
extiCallbackRec_t hcsr04_extiCallbackRec;
static IO_t echoIO;
//static IO_t triggerIO;
static IO_t triggerIO;
void hcsr04_extiHandler(extiCallbackRec_t* cb)
{
@ -52,7 +52,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb)
uint32_t timing_stop;
UNUSED(cb);
if (digitalIn(sonarHardware->echo_gpio, sonarHardware->echo_pin) != 0) {
if (IORead(echoIO) != 0) {
timing_start = micros();
}
else {
@ -71,32 +71,27 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware, sonarRange_t *sona
sonarRange->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES;
#if !defined(UNIT_TEST)
gpio_config_t gpio;
#ifdef STM32F10X
// enable AFIO for EXTI support
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
#ifdef STM32F303xC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
#if defined(STM32F3) || defined(STM32F4)
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
// trigger pin
gpio.pin = sonarHardware->trigger_pin;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(sonarHardware->trigger_gpio, &gpio);
// echo pin
gpio.pin = sonarHardware->echo_pin;
gpio.mode = Mode_IN_FLOATING;
gpioInit(sonarHardware->echo_gpio, &gpio);
triggerIO = IOGetByTag(sonarHardware->triggerIO);
IOInit(triggerIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(triggerIO, IOCFG_OUT_PP);
echoIO = IOGetByTag(sonarHardware->echoIO);
// echo pin
echoIO = IOGetByTag(sonarHardware->echoIO);
IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT);
IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
#ifdef USE_EXTI
EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler);
EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority!
@ -123,10 +118,10 @@ void hcsr04_start_reading(void)
lastMeasurementAt = now;
digitalHi(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOHi(triggerIO);
// The width of trig signal must be greater than 10us
delayMicroseconds(11);
digitalLo(sonarHardware->trigger_gpio, sonarHardware->trigger_pin);
IOLo(triggerIO);
#endif
}

4
src/main/drivers/sonar_hcsr04.h
View File

@ -21,10 +21,6 @@
#include "io.h"
typedef struct sonarHardware_s {
uint16_t trigger_pin;
GPIO_TypeDef* trigger_gpio;
uint16_t echo_pin;
GPIO_TypeDef* echo_gpio;
ioTag_t triggerIO;
ioTag_t echoIO;
} sonarHardware_t;

9
src/main/main.c
View File

@ -265,12 +265,11 @@ void init(void)
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.gpio = SONAR_GPIO,
.triggerPin = sonarHardware->echo_pin,
.echoPin = sonarHardware->trigger_pin,
sonarIOConfig_t sonarConfig = {
.triggerPin = sonarHardware->triggerIO,
.echoPin = sonarHardware->echoIO
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
pwm_params.sonarConfig = &sonarConfig;
}
#endif

78
src/main/sensors/sonar.c
View File

@ -26,7 +26,7 @@
#include "common/axis.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
@ -48,79 +48,21 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude;
#ifdef SONAR_CUSTOM_CONFIG
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig);
#endif
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
static const sonarHardware_t const sonarPWM56 = {
.trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant
.trigger_gpio = GPIOB,
.echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
#elif defined(OLIMEXINO)
#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(CC3D)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_5, // (PB5)
.trigger_gpio = GPIOB,
.echo_pin = Pin_0, // (PB0) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB5),
.echoIO = IO_TAG(PB0),
};
return &sonarHardware;
// TODO - move sonar pin selection to CLI
#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3) || defined(RMDO)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOB,
.echo_pin = Pin_1, // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
return &sonarHardware;
#elif defined(SPARKY)
UNUSED(batteryConfig);
static const sonarHardware_t const sonarHardware = {
.trigger_pin = Pin_2, // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor )
.trigger_gpio = GPIOA,
.echo_pin = Pin_1, // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor )
.echo_gpio = GPIOB,
.triggerIO = IO_TAG(PA2),
.echoIO = IO_TAG(PB1),
.triggerIO = IO_TAG(SONAR_TRIGGER_PIN),
.echoIO = IO_TAG(SONAR_ECHO_PIN),
};
return &sonarHardware;
#elif defined(SONAR_CUSTOM_CONFIG)
return sonarGetTargetHardwareConfiguration(batteryConfig);
#elif defined(UNIT_TEST)
UNUSED(batteryConfig);
return 0;

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

@ -118,6 +118,9 @@
#define DISPLAY
#define SONAR
#define SONAR_ECHO_PIN PB0
#define SONAR_TRIGGER_PIN PB5
#undef GPS
#undef BARO

28
src/main/target/EUSTM32F103RC/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/EUSTM32F103RC/target.h
View File

@ -69,6 +69,8 @@
#define MAG_AK8975_ALIGN CW180_DEG_FLIP
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

3
src/main/target/FURYF3/target.h
View File

@ -184,6 +184,9 @@
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES FEATURE_BLACKBOX

28
src/main/target/NAZE/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

1
src/main/target/NAZE/target.h
View File

@ -111,6 +111,7 @@
#define MAG_HMC5883_ALIGN CW180_DEG
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/OLIMEXINO/target.h
View File

@ -59,6 +59,8 @@
#define USE_MAG_HMC5883
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

28
src/main/target/PORT103R/sonar_config.c Normal file
View File

@ -0,0 +1,28 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/io.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "sensors/sonar.h"
const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig)
{
static const sonarHardware_t const sonarPWM56 = {
.triggerIO = IO_TAG(PB8),
.echoIO = IO_TAG(PB9),
};
static const sonarHardware_t sonarRC78 = {
.triggerIO = IO_TAG(PB0),
.echoIO = IO_TAG(PB1),
};
// If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
if (feature(FEATURE_SOFTSERIAL)
|| feature(FEATURE_RX_PARALLEL_PWM )
|| (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) {
return &sonarPWM56;
} else {
return &sonarRC78;
}
}

2
src/main/target/PORT103R/target.h
View File

@ -87,6 +87,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_CUSTOM_CONFIG
#define DISPLAY
#define USE_USART1

2
src/main/target/RMDO/target.h
View File

@ -52,6 +52,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

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

@ -156,6 +156,9 @@
// USART2, PA3
#define BIND_PIN PA3
//#define SONAR
//#define SONAR_ECHO_PIN PB1
//#define SONAR_TRIGGER_PIN PA2
// available IO pins (from schematics)
//#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15))

2
src/main/target/SPRACINGF3/target.h
View File

@ -61,6 +61,8 @@
#define USE_FLASH_M25P16
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USE_USART1
#define USE_USART2

10
src/main/target/SPRACINGF3MINI/target.h
View File

@ -24,9 +24,9 @@
// early prototype had slightly different pin mappings.
//#define SPRACINGF3MINI_MKII_REVA
#define LED0 PB3
#define LED0 PB3
#define BEEPER PC15
#define BEEPER PC15
#define BEEPER_INVERTED
#define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins.
@ -50,7 +50,7 @@
//#define USE_FAKE_ACC
#define USE_ACC_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_MPU6500_ALIGN CW180_DEG
#define GYRO_MPU6500_ALIGN CW180_DEG
#define BARO
@ -64,11 +64,13 @@
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
#define SONAR
#define SONAR_ECHO_PIN PB1
#define SONAR_TRIGGER_PIN PB0
#define USB_IO
#define USB_CABLE_DETECTION
#define USB_DETECT_PIN PB5
#define USB_DETECT_PIN PB5
#define USE_VCP
#define USE_USART1