src/main/drivers/timer_impl.h - master - Sangak/inav

src/main/drivers/timer_impl.h
93 строки4 KB
Ray Morris
Fix circular DMA reliability: IRQ handler guard, data length reload, DMAR support
19 мар 2026, 21:34
19 мар 2026, 21:347801a8e
/*
 * This file is part of INAV.
 *
 * INAV 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.
 *
 * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#if defined(AT32F43x)
#define IMPL_TIM_IT_UPDATE_INTERRUPT      TMR_OVF_INT
#define TIM_IT_CCx(chIdx)                 (TMR_C1_INT << (chIdx))
// 0x2 0x4 0x8 0x10 0\1\2\3

#define _TIM_IRQ_HANDLER2(name, i, j)                                   \
    void name(void)                                                     \
    {                                                                   \
        impl_timerCaptureCompareHandler(TMR ## i, timerCtx[i - 1]); \
        impl_timerCaptureCompareHandler(TMR ## j, timerCtx[j - 1]); \
    } struct dummy

#define _TIM_IRQ_HANDLER(name, i)                                       \
    void name(void)                                                     \
    {                                                                   \
        impl_timerCaptureCompareHandler(TMR ## i, timerCtx[i - 1]); \
    } struct dummy

uint8_t lookupTimerIndex(const tmr_type *tim);
void impl_timerCaptureCompareHandler(tmr_type *tim, timHardwareContext_t * timerCtx);

#else // end at32 

#if defined(USE_HAL_DRIVER)
# define IMPL_TIM_IT_UPDATE_INTERRUPT      TIM_IT_UPDATE
# define TIM_IT_CCx(chIdx)                 (TIM_IT_CC1 << (chIdx))
#else
#define IMPL_TIM_IT_UPDATE_INTERRUPT      TIM_IT_Update
#define TIM_IT_CCx(chIdx)                 (TIM_IT_CC1 << (chIdx))
#endif

#define _TIM_IRQ_HANDLER2(name, i, j)                                   \
    void name(void)                                                     \
    {                                                                   \
        impl_timerCaptureCompareHandler(TIM ## i, timerCtx[i - 1]); \
        impl_timerCaptureCompareHandler(TIM ## j, timerCtx[j - 1]); \
    } struct dummy

#define _TIM_IRQ_HANDLER(name, i)                                       \
    void name(void)                                                     \
    {                                                                   \
        impl_timerCaptureCompareHandler(TIM ## i, timerCtx[i - 1]); \
    } struct dummy

uint8_t lookupTimerIndex(const TIM_TypeDef *tim);
void impl_timerCaptureCompareHandler(TIM_TypeDef *tim, timHardwareContext_t * timerCtx);

#endif //end of else (stm32)

void impl_timerInitContext(timHardwareContext_t * timCtx);

volatile timCCR_t * impl_timerCCR(TCH_t * tch);
void impl_timerNVICConfigure(TCH_t * tch, int irqPriority);
void impl_timerConfigBase(TCH_t * tch, uint16_t period, uint32_t hz);
void impl_enableTimer(TCH_t * tch);
void impl_timerEnableIT(TCH_t * tch, uint32_t interrupt);
void impl_timerDisableIT(TCH_t * tch, uint32_t interrupt);
void impl_timerClearFlag(TCH_t * tch, uint32_t flag);
void impl_timerChConfigIC(TCH_t * tch, bool polarityRising, unsigned inputFilterTicks);
void impl_timerChCaptureCompareEnable(TCH_t * tch, bool enable);

void impl_timerPWMConfigChannel(TCH_t * tch, uint16_t value);
void impl_timerPWMStart(TCH_t * tch);
bool impl_timerPWMConfigChannelDMA(TCH_t * tch, void * dmaBuffer, uint8_t dmaBufferElementSize, uint32_t dmaBufferElementCount);
void impl_timerPWMPrepareDMA(TCH_t * tch, uint32_t dmaBufferElementCount);
void impl_timerPWMStartDMA(TCH_t * tch);
void impl_timerPWMStopDMA(TCH_t * tch);
void impl_timerPWMSetDMACircular(TCH_t * tch, bool circular, uint32_t dmaBufferSize);

#ifdef USE_DSHOT_DMAR
bool impl_timerPWMConfigDMABurst(burstDmaTimer_t *burstDmaTimer, TCH_t * tch, void * dmaBuffer, uint8_t dmaBufferElementSize, uint32_t dmaBufferElementCount);
void impl_pwmBurstDMAStart(burstDmaTimer_t * burstDmaTimer, uint32_t BurstLength);
void impl_pwmBurstDMASetCircular(burstDmaTimer_t * burstDmaTimer, TCH_t * tch, bool circular, uint32_t dmaBufferSize);
#endif