350 lines
10 KiB
C
350 lines
10 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build_config.h"
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#include "common/utils.h"
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#include "system.h"
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#include "nvic.h"
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#include "gpio.h"
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#include "timer.h"
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#include "pwm_mapping.h"
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#include "pwm_rx.h"
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#define PPM_CAPTURE_COUNT 12
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#define PWM_INPUT_PORT_COUNT 8
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#if PPM_CAPTURE_COUNT > MAX_PWM_INPUT_PORTS
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#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PPM_CAPTURE_COUNT
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#else
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#define PWM_PORTS_OR_PPM_CAPTURE_COUNT PWM_INPUT_PORT_COUNT
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#endif
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// TODO - change to timer cloks ticks
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#define INPUT_FILTER_TO_HELP_WITH_NOISE_FROM_OPENLRS_TELEMETRY_RX 0x03
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static inputFilteringMode_e inputFilteringMode;
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void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
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typedef enum {
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INPUT_MODE_PPM,
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INPUT_MODE_PWM,
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} pwmInputMode_t;
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typedef struct {
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pwmInputMode_t mode;
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uint8_t channel; // only used for pwm, ignored by ppm
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uint8_t state;
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captureCompare_t rise;
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captureCompare_t fall;
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captureCompare_t capture;
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uint8_t missedEvents;
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const timerHardware_t *timerHardware;
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timerCCHandlerRec_t edgeCb;
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timerOvrHandlerRec_t overflowCb;
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} pwmInputPort_t;
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static pwmInputPort_t pwmInputPorts[PWM_INPUT_PORT_COUNT];
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static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
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#define PPM_TIMER_PERIOD 0x10000
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#define PWM_TIMER_PERIOD 0x10000
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static uint8_t ppmFrameCount = 0;
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static uint8_t lastPPMFrameCount = 0;
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static uint8_t ppmCountShift = 0;
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typedef struct ppmDevice {
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uint8_t pulseIndex;
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uint32_t previousTime;
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uint32_t currentTime;
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uint32_t deltaTime;
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uint32_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
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uint32_t largeCounter;
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int8_t numChannels;
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int8_t numChannelsPrevFrame;
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uint8_t stableFramesSeenCount;
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bool tracking;
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} ppmDevice_t;
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ppmDevice_t ppmDev;
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#define PPM_IN_MIN_SYNC_PULSE_US 2700 // microseconds
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#define PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
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#define PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds
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#define PPM_STABLE_FRAMES_REQUIRED_COUNT 25
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#define PPM_IN_MIN_NUM_CHANNELS 4
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#define PPM_IN_MAX_NUM_CHANNELS PWM_PORTS_OR_PPM_CAPTURE_COUNT
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#define PPM_RCVR_TIMEOUT 0
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bool isPPMDataBeingReceived(void)
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{
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return (ppmFrameCount != lastPPMFrameCount);
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}
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void resetPPMDataReceivedState(void)
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{
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lastPPMFrameCount = ppmFrameCount;
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}
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#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
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void pwmRxInit(inputFilteringMode_e initialInputFilteringMode)
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{
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inputFilteringMode = initialInputFilteringMode;
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}
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static void ppmInit(void)
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{
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ppmDev.pulseIndex = 0;
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ppmDev.previousTime = 0;
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ppmDev.currentTime = 0;
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ppmDev.deltaTime = 0;
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ppmDev.largeCounter = 0;
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ppmDev.numChannels = -1;
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ppmDev.numChannelsPrevFrame = -1;
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ppmDev.stableFramesSeenCount = 0;
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ppmDev.tracking = false;
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}
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static void ppmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t capture)
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{
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UNUSED(cbRec);
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ppmDev.largeCounter += capture + 1;
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}
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static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture)
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{
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UNUSED(cbRec);
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int32_t i;
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/* Shift the last measurement out */
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ppmDev.previousTime = ppmDev.currentTime;
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/* Grab the new count */
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ppmDev.currentTime = capture;
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/* Convert to 32-bit timer result */
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ppmDev.currentTime += ppmDev.largeCounter;
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// Divide by 8 if Oneshot125 is active and this is a CC3D board
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ppmDev.currentTime = ppmDev.currentTime >> ppmCountShift;
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/* Capture computation */
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ppmDev.deltaTime = ppmDev.currentTime - ppmDev.previousTime;
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ppmDev.previousTime = ppmDev.currentTime;
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#if 0
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static uint32_t deltaTimes[20];
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static uint8_t deltaIndex = 0;
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deltaIndex = (deltaIndex + 1) % 20;
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deltaTimes[deltaIndex] = ppmDev.deltaTime;
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#endif
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/* Sync pulse detection */
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if (ppmDev.deltaTime > PPM_IN_MIN_SYNC_PULSE_US) {
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if (ppmDev.pulseIndex == ppmDev.numChannelsPrevFrame
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&& ppmDev.pulseIndex >= PPM_IN_MIN_NUM_CHANNELS
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&& ppmDev.pulseIndex <= PPM_IN_MAX_NUM_CHANNELS) {
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/* If we see n simultaneous frames of the same
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number of channels we save it as our frame size */
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if (ppmDev.stableFramesSeenCount < PPM_STABLE_FRAMES_REQUIRED_COUNT) {
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ppmDev.stableFramesSeenCount++;
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} else {
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ppmDev.numChannels = ppmDev.pulseIndex;
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}
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} else {
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ppmDev.stableFramesSeenCount = 0;
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}
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/* Check if the last frame was well formed */
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if (ppmDev.pulseIndex == ppmDev.numChannels && ppmDev.tracking) {
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/* The last frame was well formed */
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for (i = 0; i < ppmDev.numChannels; i++) {
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captures[i] = ppmDev.captures[i];
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}
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for (i = ppmDev.numChannels; i < PPM_IN_MAX_NUM_CHANNELS; i++) {
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captures[i] = PPM_RCVR_TIMEOUT;
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}
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ppmFrameCount++;
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}
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ppmDev.tracking = true;
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ppmDev.numChannelsPrevFrame = ppmDev.pulseIndex;
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ppmDev.pulseIndex = 0;
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/* We rely on the supervisor to set captureValue to invalid
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if no valid frame is found otherwise we ride over it */
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} else if (ppmDev.tracking) {
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/* Valid pulse duration 0.75 to 2.5 ms*/
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if (ppmDev.deltaTime > PPM_IN_MIN_CHANNEL_PULSE_US
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&& ppmDev.deltaTime < PPM_IN_MAX_CHANNEL_PULSE_US
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&& ppmDev.pulseIndex < PPM_IN_MAX_NUM_CHANNELS) {
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ppmDev.captures[ppmDev.pulseIndex] = ppmDev.deltaTime;
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ppmDev.pulseIndex++;
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} else {
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/* Not a valid pulse duration */
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ppmDev.tracking = false;
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for (i = 0; i < PWM_PORTS_OR_PPM_CAPTURE_COUNT; i++) {
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ppmDev.captures[i] = PPM_RCVR_TIMEOUT;
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}
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}
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}
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}
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#define MAX_MISSED_PWM_EVENTS 10
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static void pwmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t capture)
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{
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UNUSED(capture);
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pwmInputPort_t *pwmInputPort = container_of(cbRec, pwmInputPort_t, overflowCb);
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if (++pwmInputPort->missedEvents > MAX_MISSED_PWM_EVENTS) {
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if (pwmInputPort->state == 0) {
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captures[pwmInputPort->channel] = PPM_RCVR_TIMEOUT;
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}
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pwmInputPort->missedEvents = 0;
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}
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}
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static void pwmEdgeCallback(timerCCHandlerRec_t *cbRec, captureCompare_t capture)
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{
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pwmInputPort_t *pwmInputPort = container_of(cbRec, pwmInputPort_t, edgeCb);
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const timerHardware_t *timerHardwarePtr = pwmInputPort->timerHardware;
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if (pwmInputPort->state == 0) {
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pwmInputPort->rise = capture;
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pwmInputPort->state = 1;
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Falling);
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} else {
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pwmInputPort->fall = capture;
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// compute and store capture
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pwmInputPort->capture = pwmInputPort->fall - pwmInputPort->rise;
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captures[pwmInputPort->channel] = pwmInputPort->capture;
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// switch state
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pwmInputPort->state = 0;
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
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pwmInputPort->missedEvents = 0;
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}
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}
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static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
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{
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = channel;
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TIM_ICInitStructure.TIM_ICPolarity = polarity;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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if (inputFilteringMode == INPUT_FILTERING_ENABLED) {
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TIM_ICInitStructure.TIM_ICFilter = INPUT_FILTER_TO_HELP_WITH_NOISE_FROM_OPENLRS_TELEMETRY_RX;
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} else {
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TIM_ICInitStructure.TIM_ICFilter = 0x00;
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}
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TIM_ICInit(tim, &TIM_ICInitStructure);
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}
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void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
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{
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pwmInputPort_t *self = &pwmInputPorts[channel];
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self->state = 0;
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self->missedEvents = 0;
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self->channel = channel;
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self->mode = INPUT_MODE_PWM;
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self->timerHardware = timerHardwarePtr;
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pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
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timerConfigure(timerHardwarePtr, (uint16_t)PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
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timerChCCHandlerInit(&self->edgeCb, pwmEdgeCallback);
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timerChOvrHandlerInit(&self->overflowCb, pwmOverflowCallback);
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timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
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}
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#define UNUSED_PPM_TIMER_REFERENCE 0
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#define FIRST_PWM_PORT 0
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void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer)
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{
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if (timerHardwarePtr->tim == sharedPwmTimer) {
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ppmCountShift = 3; // Divide by 8 if the timer is running at 8 MHz
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}
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}
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void ppmInConfig(const timerHardware_t *timerHardwarePtr)
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{
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ppmInit();
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pwmInputPort_t *self = &pwmInputPorts[FIRST_PWM_PORT];
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self->mode = INPUT_MODE_PPM;
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self->timerHardware = timerHardwarePtr;
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pwmGPIOConfig(timerHardwarePtr->gpio, timerHardwarePtr->pin, timerHardwarePtr->gpioInputMode);
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pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
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timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
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timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);
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timerChOvrHandlerInit(&self->overflowCb, ppmOverflowCallback);
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timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);
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}
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uint16_t pwmRead(uint8_t channel)
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{
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return captures[channel];
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}
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