src/main/drivers/camera_control.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include "platform.h"
  22
  23 #ifdef USE_CAMERA_CONTROL
  24
  25 #include "camera_control.h"
  26 #include "io.h"
  27 #include "math.h"
  28 #include "nvic.h"
  29 #include "pwm_output.h"
  30 #include "time.h"
  31 #include "pg/pg_ids.h"
  32
  33 #define CAMERA_CONTROL_PWM_RESOLUTION   128
  34 #define CAMERA_CONTROL_SOFT_PWM_RESOLUTION 448
  35
  36 #ifdef CURRENT_TARGET_CPU_VOLTAGE
  37 #define ADC_VOLTAGE CURRENT_TARGET_CPU_VOLTAGE
  38 #else
  39 #define ADC_VOLTAGE 3.3f
  40 #endif
  41
  42 #if !defined(STM32F411xE) && !defined(STM32F7) && !defined(STM32H7) && !defined(STM32G4)
  43 #define CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
  44 #include "build/atomic.h"
  45 #endif
  46
  47 #define CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
  48 #include "timer.h"
  49
  50 #ifdef USE_OSD
  51 #include "osd/osd.h"
  52 #endif
  53
  54 PG_REGISTER_WITH_RESET_FN(cameraControlConfig_t, cameraControlConfig, PG_CAMERA_CONTROL_CONFIG, 0);
  55
  56 void pgResetFn_cameraControlConfig(cameraControlConfig_t *cameraControlConfig)
  57 {
  58     cameraControlConfig->mode = CAMERA_CONTROL_MODE_HARDWARE_PWM;
  59     cameraControlConfig->refVoltage = 330;
  60     cameraControlConfig->keyDelayMs = 180;
  61     cameraControlConfig->internalResistance = 470;
  62     cameraControlConfig->ioTag = timerioTagGetByUsage(TIM_USE_CAMERA_CONTROL, 0);
  63     cameraControlConfig->inverted = 0;   // Output is inverted externally
  64     cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_ENTER] = 450;
  65     cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_LEFT]  = 270;
  66     cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_UP]    = 150;
  67     cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_RIGHT] = 68;
  68     cameraControlConfig->buttonResistanceValues[CAMERA_CONTROL_KEY_DOWN]  = 0;
  69 }
  70
  71 static struct {
  72     bool enabled;
  73     IO_t io;
  74     timerChannel_t channel;
  75     uint32_t period;
  76     uint8_t inverted;
  77 } cameraControlRuntime;
  78
  79 static uint32_t endTimeMillis;
  80
  81 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
  82 static void cameraControlHi(void)
  83 {
  84     if (cameraControlRuntime.inverted) {
  85         IOLo(cameraControlRuntime.io);
  86     } else {
  87         IOHi(cameraControlRuntime.io);
  88     }
  89 }
  90
  91 static void cameraControlLo(void)
  92 {
  93     if (cameraControlRuntime.inverted) {
  94         IOHi(cameraControlRuntime.io);
  95     } else {
  96         IOLo(cameraControlRuntime.io);
  97     }
  98 }
  99
 100 void TIM6_DAC_IRQHandler(void)
 101 {
 102     cameraControlHi();
 103
 104     TIM6->SR = 0;
 105 }
 106
 107 void TIM7_IRQHandler(void)
 108 {
 109     cameraControlLo();
 110
 111     TIM7->SR = 0;
 112 }
 113 #endif
 114
 115 void cameraControlInit(void)
 116 {
 117     if (cameraControlConfig()->ioTag == IO_TAG_NONE)
 118         return;
 119
 120     cameraControlRuntime.inverted = cameraControlConfig()->inverted;
 121     cameraControlRuntime.io = IOGetByTag(cameraControlConfig()->ioTag);
 122     IOInit(cameraControlRuntime.io, OWNER_CAMERA_CONTROL, 0);
 123
 124     if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
 125 #ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
 126         const timerHardware_t *timerHardware = timerAllocate(cameraControlConfig()->ioTag, OWNER_CAMERA_CONTROL, 0);
 127
 128         if (!timerHardware) {
 129             return;
 130         }
 131
 132         #ifdef STM32F1
 133             IOConfigGPIO(cameraControlRuntime.io, IOCFG_AF_PP);
 134         #else
 135             IOConfigGPIOAF(cameraControlRuntime.io, IOCFG_AF_PP, timerHardware->alternateFunction);
 136         #endif
 137
 138         pwmOutConfig(&cameraControlRuntime.channel, timerHardware, timerClock(TIM6), CAMERA_CONTROL_PWM_RESOLUTION, 0, cameraControlRuntime.inverted);
 139
 140         cameraControlRuntime.period = CAMERA_CONTROL_PWM_RESOLUTION;
 141         *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
 142         cameraControlRuntime.enabled = true;
 143 #endif
 144     } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
 145 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
 146
 147         IOConfigGPIO(cameraControlRuntime.io, IOCFG_OUT_PP);
 148         cameraControlHi();
 149
 150         cameraControlRuntime.period = CAMERA_CONTROL_SOFT_PWM_RESOLUTION;
 151         cameraControlRuntime.enabled = true;
 152
 153         NVIC_InitTypeDef nvicTIM6 = {
 154             TIM6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
 155         };
 156         NVIC_Init(&nvicTIM6);
 157         NVIC_InitTypeDef nvicTIM7 = {
 158             TIM7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
 159         };
 160         NVIC_Init(&nvicTIM7);
 161
 162         RCC->APB1ENR |= RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7;
 163         TIM6->PSC = 0;
 164         TIM7->PSC = 0;
 165 #endif
 166     } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
 167         // @todo not yet implemented
 168     }
 169 }
 170
 171 void cameraControlProcess(uint32_t currentTimeUs)
 172 {
 173     if (endTimeMillis && currentTimeUs >= 1000 * endTimeMillis) {
 174         if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
 175             *cameraControlRuntime.channel.ccr = cameraControlRuntime.period;
 176         } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
 177
 178         }
 179
 180         endTimeMillis = 0;
 181     }
 182 }
 183
 184 static float calculateKeyPressVoltage(const cameraControlKey_e key)
 185 {
 186     const int buttonResistance = cameraControlConfig()->buttonResistanceValues[key] * 100;
 187     return 1.0e-2f * cameraControlConfig()->refVoltage * buttonResistance / (100 * cameraControlConfig()->internalResistance + buttonResistance);
 188 }
 189
 190 #if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
 191 static float calculatePWMDutyCycle(const cameraControlKey_e key)
 192 {
 193     const float voltage = calculateKeyPressVoltage(key);
 194
 195     return voltage / ADC_VOLTAGE;
 196 }
 197 #endif
 198
 199 void cameraControlKeyPress(cameraControlKey_e key, uint32_t holdDurationMs)
 200 {
 201     if (!cameraControlRuntime.enabled)
 202         return;
 203
 204     if (key >= CAMERA_CONTROL_KEYS_COUNT)
 205         return;
 206
 207 #if defined(CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE) || defined(CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE)
 208     const float dutyCycle = calculatePWMDutyCycle(key);
 209 #else
 210     (void) holdDurationMs;
 211 #endif
 212
 213 #ifdef USE_OSD
 214     // Force OSD timeout so we are alone on the display.
 215     resumeRefreshAt = 0;
 216 #endif
 217
 218     if (CAMERA_CONTROL_MODE_HARDWARE_PWM == cameraControlConfig()->mode) {
 219 #ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
 220         *cameraControlRuntime.channel.ccr = lrintf(dutyCycle * cameraControlRuntime.period);
 221         endTimeMillis = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
 222 #endif
 223     } else if (CAMERA_CONTROL_MODE_SOFTWARE_PWM == cameraControlConfig()->mode) {
 224 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
 225         const uint32_t hiTime = lrintf(dutyCycle * cameraControlRuntime.period);
 226
 227         if (0 == hiTime) {
 228             cameraControlLo();
 229             delay(cameraControlConfig()->keyDelayMs + holdDurationMs);
 230             cameraControlHi();
 231         } else {
 232             TIM6->CNT = hiTime;
 233             TIM6->ARR = cameraControlRuntime.period;
 234
 235             TIM7->CNT = 0;
 236             TIM7->ARR = cameraControlRuntime.period;
 237
 238             // Start two timers as simultaneously as possible
 239             ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
 240                 TIM6->CR1 = TIM_CR1_CEN;
 241                 TIM7->CR1 = TIM_CR1_CEN;
 242             }
 243
 244             // Enable interrupt generation
 245             TIM6->DIER = TIM_IT_Update;
 246             TIM7->DIER = TIM_IT_Update;
 247
 248             const uint32_t endTime = millis() + cameraControlConfig()->keyDelayMs + holdDurationMs;
 249
 250             // Wait to give the camera a chance at registering the key press
 251             while (millis() < endTime);
 252
 253             // Disable timers and interrupt generation
 254             TIM6->CR1 &= ~TIM_CR1_CEN;
 255             TIM7->CR1 &= ~TIM_CR1_CEN;
 256             TIM6->DIER = 0;
 257             TIM7->DIER = 0;
 258
 259             // Reset to idle state
 260             IOHi(cameraControlRuntime.io);
 261         }
 262 #endif
 263     } else if (CAMERA_CONTROL_MODE_DAC == cameraControlConfig()->mode) {
 264         // @todo not yet implemented
 265     }
 266 }
 267
 268 #endif