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[X9D] Trainer driver

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[X9D] Audio started
This commit is contained in:
bsongis
2013-01-12 18:21:08 +00:00
parent 51a665cec7
commit 9d52bdd6bd
9 changed files with 291 additions and 139 deletions
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src/Makefile
+1 -1
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@@ -496,7 +496,7 @@ ifeq ($(PCB), X9D)
EEPROMSRC = eeprom_avr.cpp # TODO later eeprom_conversions.cpp
PULSESSRC = pulses_arm.cpp
CPPSRC += sky9x/audio.cpp
CPPSRC += x9d/pwr_driver.cpp x9d/eeprom_driver.cpp x9d/pulses_driver.cpp x9d/keys_driver.cpp x9d/adc_driver.cpp x9d/audio_driver.cpp x9d/delays.cpp x9d/uart.cpp
CPPSRC += x9d/pwr_driver.cpp x9d/eeprom_driver.cpp x9d/pulses_driver.cpp x9d/keys_driver.cpp x9d/adc_driver.cpp x9d/trainer_driver.cpp x9d/audio_driver.cpp x9d/delays.cpp x9d/uart.cpp
CPPSRC += bmp.cpp monitors_views.cpp
SRC += x9d/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/CMSIS/Device/ST/STM32F2xx/Source/Templates/system_stm32f2xx.c
SRC += x9d/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/STM32F2xx_StdPeriph_Driver/src/stm32f2xx_gpio.c
src/sky9x/board_sky9x.cpp
+3 -3
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@@ -302,10 +302,10 @@ extern "C" void TC3_IRQHandler() //capture ppm in at 2MHz
// G: We process g_ppmIns immediately here, to make servo movement as smooth as possible
// while under trainee control
if (val>4000 && val < 16000) // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
if (val>4000 && val<19000) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
else
{
}
else {
if (ppmInState && ppmInState<=8)
{
if (val>800 && val<2200) // if valid pulse-width range
src/x9d/Audio.c
-105
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@@ -1,105 +0,0 @@
/**
******************************************************************************
* @file Project/Audio/Audio.c
* @author X9D Application Team
* @version V 0.2
* @date 12-JULY-2012
* @brief This file provides drivers foe Audio module.I2S AND GPIO Included.
******************************************************************************
*/
#include "stm32f2xx.h"
#include "Audio.h"
#include "hal.h"
static
void Audio_GPIO_Init()
{
GPIO_InitTypeDef GPIO_InitStructure;
/* EnableI2C GPIO clocks */
RCC_AHB1PeriphClockCmd(CODEC_I2S_GPIO_CLOCK, ENABLE);//GPIOA C
/* CODEC_I2S pins configuration: WS, SCK and SD pins -----------------------------*/
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_SCK_PIN | CODEC_I2S_SD_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_WS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_WS_GPIO, &GPIO_InitStructure);
/* Connect pins to I2S peripheral */
GPIO_PinAFConfig(CODEC_I2S_WS_GPIO, CODEC_I2S_WS_PINSRC, CODEC_I2S_GPIO_AF);
GPIO_PinAFConfig(CODEC_I2S_GPIO, CODEC_I2S_SCK_PINSRC, CODEC_I2S_GPIO_AF);
GPIO_PinAFConfig(CODEC_I2S_GPIO, CODEC_I2S_SD_PINSRC, CODEC_I2S_GPIO_AF);
#ifdef CODEC_MCLK_ENABLED
/* CODEC_I2S pins configuration: MCK pin */
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_MCK_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_MCK_GPIO, &GPIO_InitStructure);
/* Connect pins to I2S peripheral */
GPIO_PinAFConfig(CODEC_I2S_MCK_GPIO, CODEC_I2S_MCK_PINSRC, CODEC_I2S_GPIO_AF);
#endif /* CODEC_MCLK_ENABLED */
/*CODEC_I2S_MUTE & CODEC_I2S_FLT GPIO CONFIG*/
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_MUTE;// | CODEC_I2S_FLT;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_GPIO, &GPIO_InitStructure);
GPIO_SetBits(CODEC_I2S_GPIO,CODEC_I2S_MUTE);
// GPIO_SetBits(CODEC_I2S_CTL_GPIO,CODEC_I2S_FLT);
}
void I2S2_Init()
{
I2S_InitTypeDef I2S_InitStructure;
Audio_GPIO_Init();
/*CONFIG the I2S_RCC ,MUST before enabling the I2S APB clock*/
//PLLI2SN 302,PLLI2SR 2,I2SDIV 53,I2SODD 1,FS 44.1KHZ,16bit,Error 0.0011%
RCC_PLLI2SConfig(302,2);
RCC_PLLI2SCmd(ENABLE);
RCC_I2SCLKConfig(RCC_I2S2CLKSource_PLLI2S);
/* Enable the CODEC_I2S peripheral clock */
RCC_APB1PeriphClockCmd(CODEC_I2S_CLK, ENABLE);
/* CODEC_I2S peripheral configuration */
SPI_I2S_DeInit(CODEC_I2S);
I2S_InitStructure.I2S_AudioFreq = AudioFreq;
I2S_InitStructure.I2S_Standard = I2S_Standard_Phillips;
I2S_InitStructure.I2S_DataFormat = I2S_DataFormat_16b;
I2S_InitStructure.I2S_CPOL = I2S_CPOL_Low;//clk 0 when idle state
I2S_InitStructure.I2S_Mode = I2S_Mode_MasterTx;
#ifdef CODEC_MCLK_ENABLED
I2S_InitStructure.I2S_MCLKOutput = I2S_MCLKOutput_Enable;
#elif defined(CODEC_MCLK_DISABLED)
I2S_InitStructure.I2S_MCLKOutput = I2S_MCLKOutput_Disable;
#else
#error "No selection for the MCLK output has been defined !"
#endif /* CODEC_MCLK_ENABLED */
/* Initialize the I2S peripheral with the structure above */
I2S_Init(CODEC_I2S, &I2S_InitStructure);
I2S_Cmd(CODEC_I2S,ENABLE);
//interrupt
#ifdef CODEC_USE_INT
SPI_I2S_ITConfig(CODEC_I2S,SPI_I2S_IT_TXE,ENABLE);
#elif defined(CODEC_USE_DMA)
#error "DMA is not initialized"
#endif
}
src/x9d/Audio.h
-28
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@@ -1,28 +0,0 @@
/**
******************************************************************************
* @file Project/Audio/Audio.h
* @author X9D Application Team
* @version V 0.2
* @date 12-JULY-2011
* @brief Header for Audio.c.
******************************************************************************
*/
#ifndef _AUDIO_H_
#define _AUDIO_H_
#include "stdint.h"
#include "Macro_define.h"
extern const uint16_t AUDIO_SAMPLE[];
//
void I2S2_Init();
typedef struct{
uint32_t size; //number of chars per font
uint16_t *base; //font addr
}A_SAMPLE;
extern A_SAMPLE demo_sample;
#endif
src/x9d/audio_driver.cpp
+91
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@@ -101,3 +101,94 @@ void setVolume( unsigned char volume )
void read_volume()
{
} */
static void Audio_GPIO_Init()
{
GPIO_InitTypeDef GPIO_InitStructure;
/* EnableI2C GPIO clocks */
RCC_AHB1PeriphClockCmd(CODEC_I2S_GPIO_CLOCK, ENABLE);//GPIOA C
/* CODEC_I2S pins configuration: WS, SCK and SD pins -----------------------------*/
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_SCK_PIN | CODEC_I2S_SD_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_WS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_WS_GPIO, &GPIO_InitStructure);
/* Connect pins to I2S peripheral */
GPIO_PinAFConfig(CODEC_I2S_WS_GPIO, CODEC_I2S_WS_PINSRC, CODEC_I2S_GPIO_AF);
GPIO_PinAFConfig(CODEC_I2S_GPIO, CODEC_I2S_SCK_PINSRC, CODEC_I2S_GPIO_AF);
GPIO_PinAFConfig(CODEC_I2S_GPIO, CODEC_I2S_SD_PINSRC, CODEC_I2S_GPIO_AF);
#ifdef CODEC_MCLK_ENABLED
/* CODEC_I2S pins configuration: MCK pin */
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_MCK_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_MCK_GPIO, &GPIO_InitStructure);
/* Connect pins to I2S peripheral */
GPIO_PinAFConfig(CODEC_I2S_MCK_GPIO, CODEC_I2S_MCK_PINSRC, CODEC_I2S_GPIO_AF);
#endif /* CODEC_MCLK_ENABLED */
/*CODEC_I2S_MUTE & CODEC_I2S_FLT GPIO CONFIG*/
GPIO_InitStructure.GPIO_Pin = CODEC_I2S_MUTE;// | CODEC_I2S_FLT;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CODEC_I2S_GPIO, &GPIO_InitStructure);
GPIO_SetBits(CODEC_I2S_GPIO,CODEC_I2S_MUTE);
// GPIO_SetBits(CODEC_I2S_CTL_GPIO,CODEC_I2S_FLT);
}
void audioInit()
{
I2S_InitTypeDef I2S_InitStructure;
Audio_GPIO_Init();
/*CONFIG the I2S_RCC ,MUST before enabling the I2S APB clock*/
//PLLI2SN 302,PLLI2SR 2,I2SDIV 53,I2SODD 1,FS 44.1KHZ,16bit,Error 0.0011%
RCC_PLLI2SConfig(302,2);
RCC_PLLI2SCmd(ENABLE);
RCC_I2SCLKConfig(RCC_I2S2CLKSource_PLLI2S);
/* Enable the CODEC_I2S peripheral clock */
RCC_APB1PeriphClockCmd(CODEC_I2S_CLK, ENABLE);
/* CODEC_I2S peripheral configuration */
SPI_I2S_DeInit(CODEC_I2S);
I2S_InitStructure.I2S_AudioFreq = AudioFreq;
I2S_InitStructure.I2S_Standard = I2S_Standard_Phillips;
I2S_InitStructure.I2S_DataFormat = I2S_DataFormat_16b;
I2S_InitStructure.I2S_CPOL = I2S_CPOL_Low;//clk 0 when idle state
I2S_InitStructure.I2S_Mode = I2S_Mode_MasterTx;
#ifdef CODEC_MCLK_ENABLED
I2S_InitStructure.I2S_MCLKOutput = I2S_MCLKOutput_Enable;
#elif defined(CODEC_MCLK_DISABLED)
I2S_InitStructure.I2S_MCLKOutput = I2S_MCLKOutput_Disable;
#else
#error "No selection for the MCLK output has been defined !"
#endif /* CODEC_MCLK_ENABLED */
/* Initialize the I2S peripheral with the structure above */
I2S_Init(CODEC_I2S, &I2S_InitStructure);
I2S_Cmd(CODEC_I2S,ENABLE);
//interrupt
#ifdef CODEC_USE_INT
SPI_I2S_ITConfig(CODEC_I2S,SPI_I2S_IT_TXE,ENABLE);
#elif defined(CODEC_USE_DMA)
#error "DMA is not initialized"
#endif
}
src/x9d/board_x9d.cpp
+7
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@@ -169,6 +169,13 @@ void boardInit()
keysInit();
adcInit();
delaysInit();
audioInit();
// TODO init_ppm() ;
init_trainer_ppm() ;
init_trainer_capture() ;
init5msTimer();
src/x9d/board_x9d.h
+4 -1
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@@ -123,8 +123,11 @@ void pwrInit();
void eepromInit(); // TODO check it's not in another include
void delaysInit();
void adcInit();
void adcRead();
void audioInit();
void adcRead();
void init_trainer_ppm();
void init_trainer_capture();
extern volatile uint16_t Analog_values[];
#define DEBUG_UART_BAUDRATE 115200
src/x9d/hal.h
+8 -1
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@@ -70,9 +70,16 @@
#define PIN_SPORT_RX GPIO_Pin_6 //PD.06
// Trainer Port
#define PIN_TR_PPM_IN GPIO_Pin_8 //PC.08
#define PIN_TR_PPM_IN GPIO_Pin_5 //PC.08
#define PIN_TR_PPM_OUT GPIO_Pin_9 //PC.09
// TODO merge these constants
#define PIN_PER_3 0x030
// #define PIN_OS2 0x0000
#define PIN_OS25 0x2000
// #define PIN_OS50 0x4000
// #define PIN_OS100 0x6000
// Cppm
#define RCC_AHB1Periph_GPIOCPPM RCC_AHB1Periph_GPIOA
#define PIN_CPPM_OUT GPIO_Pin_8 //PA.08
src/x9d/trainer_driver.cpp
+177
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@@ -0,0 +1,177 @@
/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Jean-Pierre Parisy
* - Karl Szmutny <shadow@privy.de>
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* open9x is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*
*/
#include "../open9x.h"
uint16_t TrainerPpmStream[20] =
{
2000,
2200,
2400,
2600,
2800,
3000,
3200,
3400,
45000-21600,
0,0,0,0,0,0,0,0,0,0,0
};
uint16_t * TrainerPulsePtr;
void setupTrainerPulses()
{
int16_t PPM_range = g_model.extendedLimits ? 640 * 2 : 512 * 2; //range of 0.7..1.7msec
uint16_t *ptr ;
uint32_t p=8+g_model.ppmNCH*2; //Channels *2
ptr = TrainerPpmStream ;
uint32_t rest = 22500u * 2; //Minimum Framelen=22.5 ms
rest += int32_t(g_model.ppmFrameLength) * 1000;
for (uint32_t i = 0 ; i < p ; i += 1 ) {
uint32_t pulse = limit((int16_t)-PPM_range, g_chans512[i], (int16_t)PPM_range) + 2*PPM_CH_CENTER(i);
rest -= pulse ;
*ptr++ = pulse ;
}
*ptr++ = rest ;
*ptr = 0 ;
TIM8->CCR2 = rest - 1000 ; // Update time
TIM8->CCR4 = (g_model.ppmDelay*50+300)*2 ;
}
// Trainer PPM oputput PC9, Timer 8 channel 4
void init_trainer_ppm()
{
setupTrainerPulses() ;
TrainerPulsePtr = TrainerPpmStream ;
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
configure_pins( 0x0200, PIN_PERIPHERAL | PIN_PORTC | PIN_PER_3 | PIN_OS25 | PIN_PUSHPULL ) ;
RCC->APB2ENR |= RCC_APB2ENR_TIM8EN ; // Enable clock
TIM8->ARR = *TrainerPulsePtr++ ;
TIM8->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 2000000 - 1 ; // 0.5uS from 30MHz
TIM8->CCER = TIM_CCER_CC4E ;
TIM8->CCMR2 = TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE ; // PWM mode 1
TIM8->CCR4 = 600 ; // 300 uS pulse
TIM8->BDTR = TIM_BDTR_MOE ;
TIM8->EGR = 1 ;
TIM8->DIER = TIM_DIER_UDE ;
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear flag
TIM8->DIER |= TIM_DIER_CC2IE ;
TIM8->DIER |= TIM_DIER_UIE ;
TIM8->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM8_CC_IRQn) ;
NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn) ;
}
extern "C" void TIM8_CC_IRQHandler()
{
TIM8->DIER &= ~TIM_DIER_CC2IE ; // stop this interrupt
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear flag
setupTrainerPulses() ;
TrainerPulsePtr = TrainerPpmStream ;
TIM8->DIER |= TIM_DIER_UDE ;
TIM8->SR &= ~TIM_SR_UIF ; // Clear this flag
TIM8->DIER |= TIM_DIER_UIE ; // Enable this interrupt
}
extern "C" void TIM8_UP_TIM13_IRQHandler()
{
TIM8->SR &= ~TIM_SR_UIF ; // Clear flag
TIM8->ARR = *TrainerPulsePtr++ ;
if ( *TrainerPulsePtr == 0 )
{
TIM8->SR &= ~TIM_SR_CC2IF ; // Clear this flag
TIM8->DIER |= TIM_DIER_CC2IE ; // Enable this interrupt
}
}
// Trainer capture, PC8, Timer 3 channel 3
void init_trainer_capture()
{
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN ; // Enable portC clock
configure_pins( 0x0100, PIN_PERIPHERAL | PIN_PORTC | PIN_TR_PPM_IN ) ;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN ; // Enable clock
TIM3->ARR = 0xFFFF ;
TIM3->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5uS
TIM3->CR2 = 0 ;
TIM3->CCMR2 = TIM_CCMR2_IC3F_0 | TIM_CCMR2_IC3F_1 | TIM_CCMR2_CC3S_0 ;
TIM3->CCER = TIM_CCER_CC3E ;
TIM3->SR &= ~TIM_SR_CC3IF ; // Clear flag
TIM3->DIER |= TIM_DIER_CC3IE ;
TIM3->CR1 = TIM_CR1_CEN ;
NVIC_EnableIRQ(TIM3_IRQn) ;
}
extern "C" void TIM3_IRQHandler()
{
uint16_t capture ;
static uint16_t lastCapt ;
uint16_t val ;
capture = TIM3->CCR3 ;
val = (uint16_t)(capture - lastCapt) / 2 ;
lastCapt = capture;
// We prcoess g_ppmInsright here to make servo movement as smooth as possible
// while under trainee control
if ((val>4000) && (val < 19000)) { // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
ppmInState = 1; // triggered
}
else {
if(ppmInState && (ppmInState<=8)) {
if ((val>800) && (val<2200)) {
g_ppmIns[ppmInState++ - 1] = (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
}
else {
ppmInState = 0; // not triggered
}
}
}
}