ardupilot/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp

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/*
* This file 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.
*
* This file 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "SoftSigReader.h"
#include "hwdef/common/stm32_util.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#if HAL_USE_ICU == TRUE
bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan, uint8_t dma_stream, uint32_t dma_channel)
{
if (chan > ICU_CHANNEL_2) {
return false;
}
signal = (uint32_t*)hal.util->malloc_type(sizeof(uint32_t)*_bounce_buf_size, AP_HAL::Util::MEM_DMA_SAFE);
if (signal == nullptr) {
return false;
}
_icu_drv = icu_drv;
//Setup Burst transfer of period and width measurement
dma = STM32_DMA_STREAM(dma_stream);
chSysLock();
bool dma_allocated = dmaStreamAllocate(dma,
12, //IRQ Priority
(stm32_dmaisr_t)_irq_handler,
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
chSysUnlock();
//setup address for full word transfer from Timer
dmaStreamSetPeripheral(dma, &icu_drv->tim->DMAR);
uint32_t dmamode = STM32_DMA_CR_DMEIE | STM32_DMA_CR_TEIE;
dmamode |= STM32_DMA_CR_CHSEL(dma_channel);
dmamode |= STM32_DMA_CR_PL(0);
dmaStreamSetMemory0(dma, signal);
dmaStreamSetTransactionSize(dma, _bounce_buf_size);
dmaStreamSetMode(dma, dmamode | STM32_DMA_CR_DIR_P2M | STM32_DMA_CR_PSIZE_WORD |
STM32_DMA_CR_MSIZE_WORD | STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
icucfg.frequency = INPUT_CAPTURE_FREQUENCY;
icucfg.channel = chan;
icucfg.width_cb = NULL;
icucfg.period_cb = NULL;
icucfg.overflow_cb = NULL;
if (chan == ICU_CHANNEL_1) {
icucfg.dier = STM32_TIM_DIER_CC1DE;
icucfg.mode = ICU_INPUT_ACTIVE_HIGH;
need_swap = true;
} else {
icucfg.mode = ICU_INPUT_ACTIVE_LOW;
icucfg.dier = STM32_TIM_DIER_CC2DE;
}
#ifdef HAL_RCIN_IS_INVERTED
icucfg.mode = (icucfg.mode==ICU_INPUT_ACTIVE_LOW)?ICU_INPUT_ACTIVE_HIGH:ICU_INPUT_ACTIVE_LOW;
#endif
icuStart(_icu_drv, &icucfg);
//Extended Timer Setup to enable DMA transfer
//selected offset for TIM_CCR1 and for two words
_icu_drv->tim->DCR = STM32_TIM_DCR_DBA(0x0D) | STM32_TIM_DCR_DBL(1);
//Enable DMA
dmaStreamEnable(dma);
//sets input filtering to 4 timer clock
stm32_timer_set_input_filter(_icu_drv->tim, chan, 2);
//Start Timer
icuStartCapture(_icu_drv);
return true;
}
void SoftSigReader::_irq_handler(void* self, uint32_t flags)
{
SoftSigReader* sig_reader = (SoftSigReader*)self;
sig_reader->sigbuf.push(sig_reader->signal, sig_reader->_bounce_buf_size);
//restart the DMA transfers
dmaStreamSetMemory0(sig_reader->dma, sig_reader->signal);
dmaStreamSetTransactionSize(sig_reader->dma, sig_reader->_bounce_buf_size);
dmaStreamEnable(sig_reader->dma);
}
bool SoftSigReader::read(uint32_t &widths0, uint32_t &widths1)
{
if (sigbuf.pop(widths0) && sigbuf.pop(widths1)) {
//the data is period and width, order depending on which
//channel is used and width type (0 or 1) depends on mode
//being set to HIGH or LOW. We need to swap the words when on
//channel 1
if (need_swap) {
uint32_t tmp = widths1;
widths1 = widths0;
widths0 = tmp;
}
widths1 -= widths0;
} else {
return false;
}
return true;
}
bool SoftSigReader::set_bounce_buf_size(uint16_t buf_size)
{
if (buf_size > _bounce_buf_size) {
if (signal) {
hal.util->free_type(signal, sizeof(uint32_t)*_bounce_buf_size, AP_HAL::Util::MEM_DMA_SAFE);
}
signal = (uint32_t*)hal.util->malloc_type(sizeof(uint32_t)*buf_size, AP_HAL::Util::MEM_DMA_SAFE);
if (signal == nullptr) {
return false;
}
_bounce_buf_size = buf_size;
} else {
_bounce_buf_size = buf_size;
}
return true;
}
#endif // HAL_USE_ICU
#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS