191 lines
6.8 KiB
C
191 lines
6.8 KiB
C
/*
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Copyright 2017 fishpepper <AT> gmail.com
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This program 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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This program 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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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http:// www.gnu.org/licenses/>.
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author: fishpepper <AT> gmail.com
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*/
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#include "hal_soft_serial.h"
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#include "debug.h"
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#include "config.h"
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#include "led.h"
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#include "soft_serial.h"
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#include "stm32f10x.h"
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#include "stm32f10x_rcc.h"
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#include "stm32f10x_gpio.h"
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#include "stm32f10x_tim.h"
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#include "misc.h" // stm32 nvic
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#ifndef HUB_TELEMETRY_ON_SBUS_UART
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void hal_soft_serial_init(void) {
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hal_soft_serial_init_gpio();
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hal_soft_serial_init_rcc();
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hal_soft_serial_init_timer();
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hal_soft_serial_init_nvic();
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}
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static void hal_soft_serial_init_rcc(void) {
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// enable clocks
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RCC_APBxPeriphClockCmd(SOFT_SERIAL_CLK_RCC, SOFT_SERIAL_CLK, ENABLE);
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// timer clock enable
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RCC_APBxPeriphClockCmd(SOFT_SERIAL_TIMER_CLK_RCC, SOFT_SERIAL_TIMER_CLK, ENABLE);
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// release reset cmd (?)
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RCC_APBxPeriphResetCmd(SOFT_SERIAL_TIMER_CLK_RCC, SOFT_SERIAL_TIMER_CLK, DISABLE);
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}
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static void hal_soft_serial_init_gpio(void) {
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GPIO_InitTypeDef gpio_init;
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// configure rx pin as input:
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gpio_init.GPIO_Pin = SOFT_SERIAL_PIN;
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gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
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gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(SOFT_SERIAL_GPIO, &gpio_init);
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}
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static void hal_soft_serial_init_timer(void) {
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TIM_TimeBaseInitTypeDef tim_init;
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TIM_ICInitTypeDef tim_ic_init;
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// time base configuration:
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TIM_TimeBaseStructInit(&tim_init);
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// this serial uart runs at 9600 baud, thus bitlength = 1/9600 = 104.166667 us
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// a 1mhz counter gives us 1us resolution, a 24mhz counter gives us 1/24 us res
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// the finer the better -> go for 24mhz counter = prescaler = 0 (:1)
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tim_init.TIM_Prescaler = (uint16_t) (0);
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// timer period = bit duration
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tim_init.TIM_Period = 0xFFFF;
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tim_init.TIM_ClockDivision = 0;
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tim_init.TIM_CounterMode = TIM_CounterMode_Up;
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// set time base. NOTE: this will immediately trigger an INT!
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TIM_TimeBaseInit(SOFT_SERIAL_TIMER, &tim_init);
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// clear IT flag (caused by TimeBaseInit()):
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TIM_ClearITPendingBit(SOFT_SERIAL_TIMER, TIM_IT_Update);
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TIM_ICStructInit(&tim_ic_init);
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tim_ic_init.TIM_Channel = SOFT_SERIAL_TIMER_CH;
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#ifdef HUB_TELEMETRY_INVERTED
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#ifdef SOFT_SERIAL_PIN_HAS_INVERTER
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// board has inverter -> invert twice = no inversion
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tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Falling;
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#else
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tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Rising;
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#endif // SOFT_SERIAL_PIN_HAS_INVERTER
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#else
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#ifdef SOFT_SERIAL_PIN_HAS_INVERTER
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// board has inverter -> invert
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tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Rising;
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#else
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tim_ic_init.TIM_ICPolarity = TIM_ICPolarity_Falling;
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#endif // SOFT_SERIAL_PIN_HAS_INVERTER
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#endif // HUB_TELEMETRY_INVERTED
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tim_ic_init.TIM_ICSelection = TIM_ICSelection_DirectTI;
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tim_ic_init.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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tim_ic_init.TIM_ICFilter = 0x0;
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TIM_ICInit(SOFT_SERIAL_TIMER, &tim_ic_init);
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TIM_ClearITPendingBit(SOFT_SERIAL_TIMER, SOFT_SERIAL_TIMER_IT_IC);
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/*
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// Output Compare Active Mode configuration:
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TIM_OCStructInit(&tim_oc_init);
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tim_oc_init.TIM_OCMode = TIM_OCMode_ disable;
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tim_oc_init.TIM_OutputState = TIM_OutputState_ disable;
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tim_oc_init.TIM_Pulse = PPM_SYNC_PULS_LEN_TICKS;
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tim_oc_init.TIM_OCPolarity = TIM_OCPolarity_High;
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hal_ppm_init_ocx(PPM_TIMER_CH, PPM_TIMER, &tim_oc_init);
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*/
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// enable counter
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TIM_Cmd(SOFT_SERIAL_TIMER, ENABLE);
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}
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static void hal_soft_serial_init_nvic(void) {
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NVIC_InitTypeDef nvic_init;
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// strange, somehow the Timer IT Flags seem to be already enabled?!
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TIM_ITConfig(SOFT_SERIAL_TIMER, TIM_IT_Update, DISABLE);
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TIM_ITConfig(SOFT_SERIAL_TIMER, TIM_IT_Break, DISABLE);
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TIM_ITConfig(SOFT_SERIAL_TIMER, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, DISABLE);
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TIM_ITConfig(SOFT_SERIAL_TIMER, TIM_IT_Trigger, DISABLE);
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// enable input capture timer interrupt
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nvic_init.NVIC_IRQChannel = SOFT_SERIAL_TIMER_IC_IRQn;
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nvic_init.NVIC_IRQChannelPreemptionPriority = NVIC_PRIO_SOFT_SERIAL;
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nvic_init.NVIC_IRQChannelSubPriority = 0;
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nvic_init.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&nvic_init);
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// enable update timer interrupt
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nvic_init.NVIC_IRQChannel = SOFT_SERIAL_TIMER_UP_IRQn;
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nvic_init.NVIC_IRQChannelPreemptionPriority = NVIC_PRIO_SOFT_SERIAL;
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nvic_init.NVIC_IRQChannelSubPriority = 0;
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nvic_init.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&nvic_init);
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// for now enable ONLY the capture interrupt
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TIM_ClearITPendingBit(SOFT_SERIAL_TIMER, SOFT_SERIAL_TIMER_IT_IC);
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TIM_ITConfig(SOFT_SERIAL_TIMER, SOFT_SERIAL_TIMER_IT_IC, ENABLE);
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}
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void SOFT_SERIAL_TIMER_IC_IRQHandler(void) {
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// handle startbit:
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if (HAL_SOFT_SERIAL_IC_ISR_FLAG_SET()) {
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// reset counter
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TIM_SetCounter(SOFT_SERIAL_TIMER, 0);
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// this is the startbit -> re synchronize the timer to this
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// by setting the next cc interrupt to 1/2 bit length:
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HAL_SOFT_SERIAL_UPDATE_TOP_VALUE(HAL_SOFTSERIAL_BIT_DURATION_TICKS / 2);
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// disable IC interrupt (only compare match interrupts will trigger this isr)
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HAL_SOFT_SERIAL_IC_ISR_DISABLE();
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// enable overflow isr
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HAL_SOFT_SERIAL_UP_ISR_ENABLE();
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// clear flag - NOTE: this should never be done at the end of the isr!
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HAL_SOFT_SERIAL_IC_ISR_FLAG_CLEAR();
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// clear any pending update flags as well
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HAL_SOFT_SERIAL_UP_ISR_FLAG_CLEAR();
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// process
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soft_serial_process_startbit();
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}
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}
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void SOFT_SERIAL_TIMER_UP_IRQHandler(void) {
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if (HAL_SOFT_SERIAL_UP_ISR_FLAG_SET()) {
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// clear flag - NOTE: this should never be done at the end of the isr!
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HAL_SOFT_SERIAL_UP_ISR_FLAG_CLEAR();
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// re-arm for the next bit
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HAL_SOFT_SERIAL_UPDATE_TOP_VALUE(HAL_SOFTSERIAL_BIT_DURATION_TICKS);
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if (soft_serial_process_databit()) {
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// finished transmission, disable UP and enable IC isr
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HAL_SOFT_SERIAL_UP_ISR_DISABLE();
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HAL_SOFT_SERIAL_IC_ISR_FLAG_CLEAR();
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HAL_SOFT_SERIAL_IC_ISR_ENABLE();
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}
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}
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}
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#endif // if not HUB_TELEMETRY_ON_SBUS_UART
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