src/platform/STM32/camera_control_stm32.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(TIM6), CAMERA_CONTROL_PWM_RESOLUTION, 0, inverted);
  40 }
  41 #endif
  42
  43 #ifdef CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE
  44 void TIM6_DAC_IRQHandler(void)
  45 {
  46     cameraControlHi();
  47     TIM6->SR = 0;
  48 }
  49
  50 void TIM7_IRQHandler(void)
  51 {
  52     cameraControlLo();
  53     TIM7->SR = 0;
  54 }
  55
  56 void cameraControlSoftwarePwmInit(void)
  57 {
  58     NVIC_InitTypeDef nvicTIM6 = {
  59         TIM6_DAC_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
  60     };
  61     NVIC_Init(&nvicTIM6);
  62
  63     NVIC_InitTypeDef nvicTIM7 = {
  64         TIM7_IRQn, NVIC_PRIORITY_BASE(NVIC_PRIO_TIMER), NVIC_PRIORITY_SUB(NVIC_PRIO_TIMER), ENABLE
  65     };
  66     NVIC_Init(&nvicTIM7);
  67
  68     RCC->APB1ENR |= RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7;
  69     TIM6->PSC = 0;
  70     TIM7->PSC = 0;
  71 }
  72
  73 void cameraControlSoftwarePwmEnable(uint32_t hiTime, uint32_t period)
  74 {
  75     TIM6->CNT = hiTime;
  76     TIM6->ARR = period;
  77
  78     TIM7->CNT = 0;
  79     TIM7->ARR = period;
  80
  81     // Start two timers as simultaneously as possible
  82     ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
  83         TIM6->CR1 = TIM_CR1_CEN;
  84         TIM7->CR1 = TIM_CR1_CEN;
  85     }
  86
  87     // Enable interrupt generation
  88     TIM6->DIER = TIM_IT_Update;
  89     TIM7->DIER = TIM_IT_Update;
  90 }
  91
  92 void cameraControlSoftwarePwmDisable(void)
  93 {
  94     TIM6->CR1 &= ~TIM_CR1_CEN;
  95     TIM7->CR1 &= ~TIM_CR1_CEN;
  96     TIM6->DIER = 0;
  97     TIM7->DIER = 0;
  98 }
  99 #endif
 100
 101 #endif // USE_CAMERA_CONTROL