Timer driver refactoring

make/mcu/STM32F3.mk

@@ -73,6 +73,7 @@ MCU_COMMON_SRC = \
  drivers/dma.c \
  drivers/serial_uart_stm32f30x.c \
  drivers/system_stm32f30x.c \
+ drivers/timer_impl_stdperiph.c \
  drivers/timer_stm32f30x.c
 
 DSP_LIB := $(ROOT)/lib/main/CMSIS/DSP

make/mcu/STM32F4.mk

@@ -160,6 +160,8 @@ MCU_COMMON_SRC = \
  drivers/serial_softserial.c \
  drivers/serial_uart_stm32f4xx.c \
  drivers/system_stm32f4xx.c \
+ drivers/timer.c \
+ drivers/timer_impl_stdperiph.c \
  drivers/timer_stm32f4xx.c \
  drivers/dma_stm32f4xx.c
 

make/mcu/STM32F7.mk

@@ -148,7 +148,8 @@ MCU_COMMON_SRC = \
  drivers/dma_stm32f7xx.c \
  drivers/inverter.c \
  drivers/bus_spi_hal.c \
- drivers/timer_hal.c \
+ drivers/timer.c \
+ drivers/timer_impl_hal.c \
  drivers/timer_stm32f7xx.c \
  drivers/system_stm32f7xx.c \
  drivers/serial_uart_stm32f7xx.c \
@@ -158,7 +159,6 @@ MCU_COMMON_SRC = \
 MCU_EXCLUDES = \
  drivers/bus_spi.c \
  drivers/bus_i2c.c \
- drivers/timer.c \
  drivers/serial_uart.c
 
 DSP_LIB := $(ROOT)/lib/main/CMSIS/DSP

src/main/common/memory.c

@@ -28,6 +28,7 @@
 #include "platform.h"
 
 #include "build/debug.h"
+#include "drivers/resource.h"
 #include "common/memory.h"
 #include "fc/runtime_config.h"
 
@@ -37,8 +38,9 @@
 
 static uint32_t dynHeap[DYNAMIC_HEAP_SIZE / sizeof(uint32_t)];
 static uint32_t dynHeapFreeWord = 0;
+static size_t dynHeapUsage[OWNER_TOTAL_COUNT];
 
-void * memAllocate(size_t wantedSize)
+void * memAllocate(size_t wantedSize, resourceOwner_e owner)
 {
  void * retPointer = NULL;
  const size_t wantedWords = (wantedSize + sizeof(uint32_t) - 1) / sizeof(uint32_t);
@@ -47,6 +49,7 @@ void * memAllocate(size_t wantedSize)
  // Success
  retPointer = &dynHeap[dynHeapFreeWord];
  dynHeapFreeWord += wantedWords;
+ dynHeapUsage[owner] += wantedWords * sizeof(uint32_t);
  DEBUG_TRACE("Memory allocated. Free memory = %d", memGetAvailableBytes());
  }
  else {
@@ -58,6 +61,11 @@ void * memAllocate(size_t wantedSize)
  return retPointer;
 }
 
+size_t memGetUsedBytesByOwner(resourceOwner_e owner)
+{
+ return (owner == OWNER_FREE) ? memGetAvailableBytes() : dynHeapUsage[owner];
+}
+
 size_t memGetAvailableBytes(void)
 {
  return (DYNAMIC_HEAP_SIZE / sizeof(uint32_t) - dynHeapFreeWord) * sizeof(uint32_t);

src/main/common/memory.h

@@ -25,6 +25,8 @@
 #pragma once
 
 #include <stdlib.h>
+#include "drivers/resource.h"
 
 size_t memGetAvailableBytes(void);
-void * memAllocate(size_t wantedSize);
+size_t memGetUsedBytesByOwner(resourceOwner_e owner);
+void * memAllocate(size_t wantedSize, resourceOwner_e owner);

src/main/drivers/light_ws2811strip_hal.c

@@ -73,7 +73,7 @@ void ws2811LedStripHardwareInit(void)
 
  /* Compute the prescaler value */
  uint16_t prescaler = timerGetPrescalerByDesiredMhz(timer, WS2811_TIMER_MHZ);
- uint16_t period = timerGetPeriodByPrescaler(timer, prescaler, WS2811_CARRIER_HZ);
+ uint16_t period = 1000000 * WS2811_TIMER_MHZ / WS2811_CARRIER_HZ;
 
  BIT_COMPARE_1 = period / 3 * 2;
  BIT_COMPARE_0 = period / 3;

src/main/drivers/light_ws2811strip_stdperiph.c

@@ -68,8 +68,6 @@ static void WS2811_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
 
 void ws2811LedStripHardwareInit(void)
 {
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
  DMA_InitTypeDef DMA_InitStructure;
 
  const timerHardware_t *timerHardware = timerGetByTag(IO_TAG(WS2811_PIN), TIM_USE_ANY);
@@ -84,41 +82,18 @@ void ws2811LedStripHardwareInit(void)
  IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
  IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
 
- RCC_ClockCmd(timerRCC(timer), ENABLE);
-
  // Stop timer
  TIM_Cmd(timer, DISABLE);
 
  /* Compute the prescaler value */
- uint16_t prescaler = timerGetPrescalerByDesiredMhz(timer, WS2811_TIMER_MHZ);
- uint16_t period = timerGetPeriodByPrescaler(timer, prescaler, WS2811_CARRIER_HZ);
+ uint16_t period = 1000000 * WS2811_TIMER_MHZ / WS2811_CARRIER_HZ;
 
  BIT_COMPARE_1 = period / 3 * 2;
  BIT_COMPARE_0 = period / 3;
 
- /* Time base configuration */
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
- TIM_TimeBaseStructure.TIM_Period = period; // 800kHz
- TIM_TimeBaseStructure.TIM_Prescaler = prescaler;
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure);
-
  /* PWM1 Mode configuration */
- TIM_OCStructInit(&TIM_OCInitStructure);
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
- TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
- TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
- } else {
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
- }
- TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
- TIM_OCInitStructure.TIM_Pulse = 0;
-
- timerOCInit(timer, timerHardware->channel, &TIM_OCInitStructure);
- timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
+ timerConfigBase(timer, period, WS2811_TIMER_MHZ);
+ timerPWMConfigChannel(timer, timerHardware->channel, timerHardware->output & TIMER_OUTPUT_N_CHANNEL, timerHardware->output & TIMER_OUTPUT_INVERTED, 0);
 
  TIM_CtrlPWMOutputs(timer, ENABLE);
  TIM_ARRPreloadConfig(timer, ENABLE);

src/main/drivers/pwm_esc_detect.c

@@ -36,7 +36,7 @@ uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
 void detectBrushedESC(void)
 {
- for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
+ for (int i = 0; i < timerHardwareCount; i++) {
  if (timerHardware[i].usageFlags & TIM_USE_MC_MOTOR) {
  IO_t MotorDetectPin = IOGetByTag(timerHardware[i].tag);
  IOInit(MotorDetectPin, OWNER_SYSTEM, RESOURCE_INPUT, 0);

src/main/drivers/pwm_mapping.c

@@ -21,15 +21,15 @@
 
 #include "platform.h"
 
+#include "common/memory.h"
 #include "drivers/io.h"
-#include "io_impl.h"
-#include "timer.h"
-
+#include "drivers/io_impl.h"
+#include "drivers/timer.h"
 #include "drivers/logging.h"
 
-#include "pwm_output.h"
-#include "pwm_mapping.h"
-#include "rx_pwm.h"
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/rx_pwm.h"
 
 enum {
  MAP_TO_NONE,
@@ -59,12 +59,13 @@ bool CheckGPIOPinSource(ioTag_t tag, GPIO_TypeDef *gpio, uint16_t pin)
 pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
 {
  memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
+ pwmIOConfiguration.ioConfigurations = memAllocate(sizeof(pwmPortConfiguration_t) * timerHardwareCount, OWNER_PWMIO);
 
 #if defined(USE_RX_PWM) || defined(USE_RX_PPM)
  int channelIndex = 0;
 #endif
 
- for (int timerIndex = 0; timerIndex < USABLE_TIMER_CHANNEL_COUNT; timerIndex++) {
+ for (int timerIndex = 0; timerIndex < timerHardwareCount; timerIndex++) {
  const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
  int type = MAP_TO_NONE;
 

src/main/drivers/pwm_mapping.h

@@ -97,7 +97,7 @@ typedef struct pwmIOConfiguration_s {
  uint8_t ioCount;
  uint8_t pwmInputCount;
  uint8_t ppmInputCount;
- pwmPortConfiguration_t ioConfigurations[USABLE_TIMER_CHANNEL_COUNT];
+ pwmPortConfiguration_t * ioConfigurations;
 } pwmIOConfiguration_t;
 
 // This indexes into the read-only hardware definition structure, timerHardware_t

src/main/drivers/pwm_output.c

@@ -62,87 +62,18 @@ static uint8_t allocatedOutputPortCount = 0;
 
 static bool pwmMotorsEnabled = true;
 
-
-static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
-{
-#if defined(USE_HAL_DRIVER)
- TIM_HandleTypeDef* Handle = timerFindTimerHandle(tim);
- if (Handle == NULL) return;
-
- TIM_OC_InitTypeDef TIM_OCInitStructure;
-
- TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
- TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;
- TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
- TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_SET;
- TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_LOW : TIM_OCNPOLARITY_HIGH;
- TIM_OCInitStructure.Pulse = value;
- TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
-
- HAL_TIM_PWM_ConfigChannel(Handle, &TIM_OCInitStructure, channel);
-#else
- TIM_OCInitTypeDef TIM_OCInitStructure;
-
- TIM_OCStructInit(&TIM_OCInitStructure);
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- if (output & TIMER_OUTPUT_N_CHANNEL) {
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
- TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
- TIM_OCInitStructure.TIM_OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
- TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
- } else {
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
- TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
- TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
- }
- TIM_OCInitStructure.TIM_Pulse = value;
-
- timerOCInit(tim, channel, &TIM_OCInitStructure);
- timerOCPreloadConfig(tim, channel, TIM_OCPreload_Enable);
-#endif
-}
-
 static void pwmOutConfigTimer(pwmOutputPort_t * p, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
 {
-#if defined(USE_HAL_DRIVER)
- TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
- if (Handle == NULL) return;
-#endif
+ timerConfigBase(timerHardware->tim, period, mhz);
+ timerPWMConfigChannel(timerHardware->tim, timerHardware->channel, timerHardware->output & TIMER_OUTPUT_N_CHANNEL, timerHardware->output & TIMER_OUTPUT_INVERTED, value);
 
- configTimeBase(timerHardware->tim, period, mhz);
- pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output);
-
-#if defined(USE_HAL_DRIVER)
- if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL)
- HAL_TIMEx_PWMN_Start(Handle, timerHardware->channel);
- else
- HAL_TIM_PWM_Start(Handle, timerHardware->channel);
- HAL_TIM_Base_Start(Handle);
-
- switch (timerHardware->channel) {
- case TIM_CHANNEL_1:
- p->ccr = &timerHardware->tim->CCR1;
- break;
- case TIM_CHANNEL_2:
- p->ccr = &timerHardware->tim->CCR2;
- break;
- case TIM_CHANNEL_3:
- p->ccr = &timerHardware->tim->CCR3;
- break;
- case TIM_CHANNEL_4:
- p->ccr = &timerHardware->tim->CCR4;
- break;
- }
-#else
  if (timerHardware->output & TIMER_OUTPUT_ENABLED) {
- TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
+ timerPWMStart(timerHardware->tim, timerHardware->channel, timerHardware->output & TIMER_OUTPUT_N_CHANNEL);
  }
- TIM_Cmd(timerHardware->tim, ENABLE);
 
- p->ccr = timerCCR(timerHardware->tim, timerHardware->channel);
-#endif
+ timerEnable(timerHardware->tim);
 
+ p->ccr = timerCCR(timerHardware->tim, timerHardware->channel);
  p->period = period;
  p->tim = timerHardware->tim;
 

src/main/drivers/resource.c

@@ -18,7 +18,7 @@
 #include "drivers/resource.h"
 
 const char * const ownerNames[OWNER_TOTAL_COUNT] = {
- "FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
+ "FREE", "PWM/IO", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
  "RANGEFINDER", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
  "BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER",
  "NRF24", "VTX", "SPI_PREINIT", "COMPASS", "AIRSPEED", "OLED DISPLAY",

src/main/drivers/resource.h

@@ -21,6 +21,7 @@
 
 typedef enum {
  OWNER_FREE = 0,
+ OWNER_PWMIO,
  OWNER_PWMINPUT,
  OWNER_PPMINPUT,
  OWNER_MOTOR,