ardupilot/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp

132 lines
3.8 KiB
C++

/*
* 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/>.
*
*/
#include "SoftSigReaderInt.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_EICU == TRUE
#if STM32_EICU_USE_TIM10 || STM32_EICU_USE_TIM11 || STM32_EICU_USE_TIM13 || STM32_EICU_USE_TIM14
#error "Timers with only one channel are not supported"
#endif
// singleton instance
SoftSigReaderInt *SoftSigReaderInt::_instance;
SoftSigReaderInt::SoftSigReaderInt()
{
_instance = this;
}
eicuchannel_t SoftSigReaderInt::get_pair_channel(eicuchannel_t channel)
{
switch (channel) {
case EICU_CHANNEL_1:
return EICU_CHANNEL_2;
case EICU_CHANNEL_2:
return EICU_CHANNEL_1;
case EICU_CHANNEL_3:
return EICU_CHANNEL_4;
case EICU_CHANNEL_4:
return EICU_CHANNEL_3;
case EICU_CHANNEL_ENUM_END:
return EICU_CHANNEL_ENUM_END;
}
return EICU_CHANNEL_ENUM_END;
}
void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
{
last_value = 0;
_icu_drv = icu_drv;
eicuchannel_t aux_chan = get_pair_channel(chan);
icucfg.dier = 0;
icucfg.frequency = INPUT_CAPTURE_FREQUENCY;
for (int i=0; i< EICU_CHANNEL_ENUM_END; i++) {
icucfg.iccfgp[i]=nullptr;
}
//configure main channel
icucfg.iccfgp[chan] = &channel_config;
#ifdef HAL_RCIN_IS_INVERTED
channel_config.alvl = EICU_INPUT_ACTIVE_HIGH;
#else
channel_config.alvl = EICU_INPUT_ACTIVE_LOW;
#endif
channel_config.capture_cb = nullptr;
//configure aux channel
icucfg.iccfgp[aux_chan] = &aux_channel_config;
#ifdef HAL_RCIN_IS_INVERTED
aux_channel_config.alvl = EICU_INPUT_ACTIVE_LOW;
#else
aux_channel_config.alvl = EICU_INPUT_ACTIVE_HIGH;
#endif
aux_channel_config.capture_cb = _irq_handler;
eicuStart(_icu_drv, &icucfg);
//sets input filtering to 4 timer clock
stm32_timer_set_input_filter(_icu_drv->tim, chan, 2);
//sets input for aux_chan
stm32_timer_set_channel_input(_icu_drv->tim, aux_chan, 2);
eicuEnable(_icu_drv);
}
void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t aux_channel)
{
eicuchannel_t channel = get_pair_channel(aux_channel);
pulse_t pulse;
pulse.w0 = eicup->tim->CCR[channel];
pulse.w1 = eicup->tim->CCR[aux_channel];
_instance->sigbuf.push(pulse);
//check for missed interrupt
uint32_t mask = (STM32_TIM_SR_CC1OF << channel) | (STM32_TIM_SR_CC1OF << aux_channel);
if ((eicup->tim->SR & mask) != 0) {
//we have missed some pulses
//try to reset RCProtocol parser by returning invalid value (i.e. 0 width pulse)
pulse.w0 = 0;
pulse.w1 = 0;
_instance->sigbuf.push(pulse);
//reset overcapture mask
eicup->tim->SR &= ~mask;
}
}
bool SoftSigReaderInt::read(uint32_t &widths0, uint32_t &widths1)
{
if (sigbuf.available() >= 2) {
pulse_t pulse;
if (sigbuf.pop(pulse)) {
widths0 = uint16_t(pulse.w0 - last_value);
widths1 = uint16_t(pulse.w1 - pulse.w0);
last_value = pulse.w1;
return true;
}
}
return false;
}
#endif // HAL_USE_EICU
#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS