void EXTIConfig(IO_t io, extiCallbackRec_t *cb, int irqPriority, EXTITrigger_TypeDef trigger)
{
int chIdx;
chIdx = IO_GPIOPinIdx(io);
if(chIdx < 0)
return;
extiChannelRec_t *rec = &extiChannelRecs[chIdx];
int group = extiGroups[chIdx];
rec->handler = cb;
#if defined(STM32F10X)
GPIO_EXTILineConfig(IO_GPIO_PortSource(io), IO_GPIO_PinSource(io));
#elif defined(STM32F303xC)
SYSCFG_EXTILineConfig(IO_EXTI_PortSourceGPIO(io), IO_EXTI_PinSource(io));
#elif defined(STM32F4)
SYSCFG_EXTILineConfig(IO_EXTI_PortSourceGPIO(io), IO_EXTI_PinSource(io));
#else
# warning "Unknown CPU"
#endif
uint32_t extiLine = IO_EXTI_Line(io);
EXTI_ClearITPendingBit(extiLine);
EXTI_InitTypeDef EXTIInit;
EXTIInit.EXTI_Line = extiLine;
EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
EXTIInit.EXTI_Trigger = trigger;
EXTIInit.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTIInit);
if(extiGroupPriority[group] > irqPriority) {
extiGroupPriority[group] = irqPriority;
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = extiGroupIRQn[group];
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(irqPriority);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(irqPriority);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
}
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
#ifndef SKIP_RX_PWM_PPM
int channelIndex = 0;
#endif
memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
const uint16_t *setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
continue;
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#if defined(STM32F303xC) && defined(USE_USART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && IO_GPIOBYTAG(timerHardwarePtr->tag) == UART3_GPIO && (IO_PINBYTAG(timerHardwarePtr->tag) == UART3_TX_PIN || IO_PINBYTAG(timerHardwarePtr->tag) == UART3_RX_PIN))
continue;
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
continue;
#endif
#ifdef LED_STRIP_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
if (IO_GPIOBYTAG(timerHardwarePtr->tag) == WS2811_GPIO && IO_GPIO_PinSource(IOGetByTag(timerHardwarePtr->tag)) == WS2811_PIN_SOURCE)
continue;
#endif
}
#endif
#ifdef VBAT_ADC_GPIO
if (init->useVbat && IO_GPIOBYTAG(timerHardwarePtr->tag) == VBAT_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == VBAT_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && IO_GPIOBYTAG(timerHardwarePtr->tag) == RSSI_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == RSSI_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && IO_GPIOBYTAG(timerHardwarePtr->tag) == CURRENT_METER_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == CURRENT_METER_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef SONAR
if (init->sonarGPIOConfig && IO_GPIOBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->gpio &&
(
IO_PINBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->triggerPin ||
IO_PINBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->echoPin
)
) {
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
// remap PWM1+2 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
// remap 10 as servo
if (timerIndex == PWM10 && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
if (init->useSoftSerial) {
if (timerIndex == PWM5 || timerIndex == PWM6)
type = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(LED_STRIP_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#ifdef CC3D
// This part of code is unnecessary and can be removed - timer clash is resolved by forcing configuration with the same
// timer tick rate - PWM_TIMER_MHZ
/*
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
*/
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
#ifdef CC3D_PPM1
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#ifdef SPARKY
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
pwmInConfig(timerHardwarePtr, channelIndex);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#if defined(CC3D) && !defined(CC3D_PPM1)
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.motorCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.motorCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
#endif
} else {
continue;
}
pwmIOConfiguration.ioCount++;
}
return &pwmIOConfiguration;
}
bool CheckGPIOPinSource(ioTag_t tag, GPIO_TypeDef *gpio, uint16_t pin)
{
return IO_GPIOBYTAG(tag) == gpio && IO_GPIO_PinSource(IOGetByTag(tag)) == pin;
}
