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HAL_ChibiOS: detect overcapture in SoftSigReaderInt.cpp

This commit is contained in:
Alexander Malishev 2018-05-27 18:37:43 +04:00 committed by Andrew Tridgell
parent 9e4ec33277
commit 73d33356ad
2 changed files with 38 additions and 4 deletions
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41
libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
View File

@ -24,9 +24,6 @@ extern const AP_HAL::HAL& hal;
#if HAL_USE_EICU == TRUE
#define eicu_lld_invert_polarity(eicup, channel) \
(eicup)->tim->CCER ^= ((uint16_t)(STM32_TIM_CCER_CC1P << ((channel) * 4)))
// singleton instance
SoftSigReaderInt *SoftSigReaderInt::_instance;
@ -57,11 +54,47 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
eicuEnable(_icu_drv);
}
inline void invert_polarity(EICUDriver *eicup, eicuchannel_t channel)
{
eicup->tim->CCER ^= STM32_TIM_CCER_CC1P << (channel * 4);
}
//check for CCxOF, if it was set by timer hw, it means we missed 2 or more transitions
inline bool overcapture_occured(EICUDriver *eicup, eicuchannel_t channel)
{
bool result = (eicup->tim->SR & (STM32_TIM_SR_CC1OF << channel)) != 0;
eicup->tim->SR &= ~(STM32_TIM_SR_CC1OF << channel);
return result;
}
//check for right pin polarity, if it is wrong it means we missed 1, 3, 5 or more transitions
inline bool wrong_polarity(EICUDriver *eicup, eicuchannel_t channel)
{
bool pin_high = palReadLine(RCININT_PIN);
bool waiting_rising = (eicup->tim->CCER & (STM32_TIM_CCER_CC1P << (channel * 4))) == 0;
if (pin_high && waiting_rising) {
return true;
}
if (!pin_high && !waiting_rising) {
return true;
}
return false;
}
void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t channel)
{
uint16_t value = eicup->tim->CCR[channel];
invert_polarity(eicup, channel);
_instance->sigbuf.push(value);
eicu_lld_invert_polarity(eicup, channel);
//check for missed interrupt
if (overcapture_occured(eicup, channel) || wrong_polarity(eicup, channel)) {
//we have missed some pulses
//try to reset RCProtocol parser by returning invalid value (i.e. 0 width pulse)
_instance->sigbuf.push(value);
//second 0 width pulse to keep polarity right
_instance->sigbuf.push(value);
}
}
bool SoftSigReaderInt::read(uint32_t &widths0, uint32_t &widths1)

1
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -701,6 +701,7 @@ def write_PWM_config(f):
f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n)
f.write('#define RCININT_EICU_TIMER EICUD%u\n' % n)
f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % int(chan_str))
f.write('#define RCININT_PIN HAL_GPIO_PIN_TIM%s_CH%s\n' % (timer_str, chan_str))
f.write('\n')
if alarm is not None: