src/platform/APM32/camera_control_apm32.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include "platform.h"
  23
  24 #ifdef USE_CAMERA_CONTROL
  25
  26 #include <math.h>
  27
  28 #include "drivers/camera_control_impl.h"
  29 #include "drivers/nvic.h"
  30 #include "drivers/pwm_output.h"
  31
  32 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
  33 #include "build/atomic.h"
  34 #endif
  35
  36 #ifdef CAMERA_CONTROL_HARDWARE_PWM_AVAILABLE
  37 void cameraControlHardwarePwmInit(timerChannel_t *channel, const timerHardware_t *timerHardware, uint8_t inverted)
  38 {
  39         pwmOutConfig(channel, timerHardware, timerClock(TMR6), CAMERA_CONTROL_PWM_RESOLUTION, 0, inverted);
  40 }
  41 #endif
  42
  43 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
  44 void TMR6_DAC_IRQHandler(void)
  45 {
  46     cameraControlHi();
  47     TMR6->STS = 0;
  48 }
  49
  50 void TMR7_IRQHandler(void)
  51 {
  52     cameraControlLo();
  53     TMR7->STS = 0;
  54 }
  55
  56 void cameraControlSoftwarePwmInit(void)
  57 {
  58     DAL_NVIC_SetPriority(TMR6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
  59     DAL_NVIC_EnableIRQ(TMR6_DAC_IRQn);
  60
  61     DAL_NVIC_SetPriority(TMR7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER));
  62     DAL_NVIC_EnableIRQ(TMR7_IRQn);
  63
  64     __DAL_RCM_TMR6_CLK_ENABLE();
  65     __DAL_RCM_TMR7_CLK_ENABLE();
  66     DDL_TMR_SetPrescaler(TMR6, 0);
  67     DDL_TMR_SetPrescaler(TMR7, 0);
  68 }
  69
  70 void cameraControlSoftwarePwmEnable(uint32_t hiTime, uint32_t period)
  71 {
  72     DDL_TMR_SetCounter(TMR6, hiTime);
  73     DDL_TMR_SetAutoReload(TMR6, period);
  74
  75     DDL_TMR_SetCounter(TMR7, 0);
  76     DDL_TMR_SetAutoReload(TMR7, period);
  77
  78     // Start two timers as simultaneously as possible
  79     ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
  80         DDL_TMR_EnableCounter(TMR6);
  81         DDL_TMR_EnableCounter(TMR7);
  82     }
  83
  84     // Enable interrupt generation
  85     DDL_TMR_EnableIT_UPDATE(TMR6);
  86     DDL_TMR_EnableIT_UPDATE(TMR7);
  87 }
  88
  89 void cameraControlSoftwarePwmDisable(void)
  90 {
  91     DDL_TMR_DisableCounter(TMR6);
  92     DDL_TMR_DisableCounter(TMR7);
  93
  94     TMR6->DIEN = 0;
  95     TMR7->DIEN = 0;
  96 }
  97 #endif
  98
  99 #endif // USE_CAMERA_CONTROL