[paparazzi-commits] [4365] Update pwm_input to support Timer0 CR0 and CR3 (to read two sensors)

[Allen Ibara]

Revision: 4365
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4365
Author:   aibara
Date:     2009-12-08 07:08:19 +0000 (Tue, 08 Dec 2009)
Log Message:
-----------
Update pwm_input to support Timer0 CR0 and CR3 (to read two sensors)

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/arm7/pwm_input.c
    paparazzi3/trunk/sw/airborne/arm7/pwm_input.h
    paparazzi3/trunk/sw/airborne/arm7/sys_time_hw.c

Modified: paparazzi3/trunk/sw/airborne/arm7/pwm_input.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/pwm_input.c       2009-12-08 07:07:17 UTC 
(rev 4364)
+++ paparazzi3/trunk/sw/airborne/arm7/pwm_input.c       2009-12-08 07:08:19 UTC 
(rev 4365)
@@ -4,19 +4,35 @@
 
 #include "interrupt_hw.h"
 
-volatile uint32_t pwm_input_duration;
-volatile uint8_t pwm_input_valid;
+volatile uint32_t pwm_input_duration[PWM_INPUT_NB];
+volatile uint8_t pwm_input_valid[PWM_INPUT_NB];
 
+#ifdef USE_PWM_INPUT1
 /* INPUT CAPTURE CAP0.3 on P0.29 */
-#define PWM_INPUT_PINSEL     PINSEL1
-#define PWM_INPUT_PINSEL_BIT 26
-#define PWM_INPUT_PINSEL_VAL (0x2 << PWM_INPUT_PINSEL_BIT)
-#define PWM_INPUT_PINSEL_MASK (0x3 <<PWM_INPUT_PINSEL_BIT)
+#define PWM_INPUT1_PINSEL     PINSEL1
+#define PWM_INPUT1_PINSEL_BIT 26
+#define PWM_INPUT1_PINSEL_VAL (0x2 << PWM_INPUT1_PINSEL_BIT)
+#define PWM_INPUT1_PINSEL_MASK (0x3 <<PWM_INPUT1_PINSEL_BIT)
+#endif
+#ifdef USE_PWM_INPUT2
+/* INPUT CAPTURE CAP0.0 on P0.30 */
+#define PWM_INPUT2_PINSEL     PINSEL1
+#define PWM_INPUT2_PINSEL_BIT 28
+#define PWM_INPUT2_PINSEL_VAL (0x3 << PWM_INPUT2_PINSEL_BIT)
+#define PWM_INPUT2_PINSEL_MASK (0x3 <<PWM_INPUT2_PINSEL_BIT)
+#endif
 
 void pwm_input_init ( void )
 {
   /* select pin for capture */
-  PWM_INPUT_PINSEL = (PWM_INPUT_PINSEL & ~PWM_INPUT_PINSEL_MASK) | 
PWM_INPUT_PINSEL_VAL;
+#ifdef USE_PWM_INPUT1
+  PWM_INPUT1_PINSEL = (PWM_INPUT1_PINSEL & ~PWM_INPUT1_PINSEL_MASK) | 
PWM_INPUT1_PINSEL_VAL;
   /* enable capture 0.3 on falling edge + trigger interrupt */
   T0CCR |= TCCR_CR3_R | TCCR_CR3_I;
+#endif
+#ifdef USE_PWM_INPUT2
+  PWM_INPUT2_PINSEL = (PWM_INPUT2_PINSEL & ~PWM_INPUT2_PINSEL_MASK) | 
PWM_INPUT2_PINSEL_VAL;
+  /* enable capture 0.0 on falling edge + trigger interrupt */
+  T0CCR |= TCCR_CR0_R | TCCR_CR0_I;
+#endif
 }

Modified: paparazzi3/trunk/sw/airborne/arm7/pwm_input.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/pwm_input.h       2009-12-08 07:07:17 UTC 
(rev 4364)
+++ paparazzi3/trunk/sw/airborne/arm7/pwm_input.h       2009-12-08 07:08:19 UTC 
(rev 4365)
@@ -5,13 +5,15 @@
 #include "LPC21xx.h"
 #include "interrupt_hw.h"
 
+#define PWM_INPUT_NB 2
+
 void pwm_input_init ( void );
 
 /* tracks of length of positive pulse duration */
-extern volatile uint32_t pwm_input_duration;
-extern volatile uint8_t pwm_input_valid;
+extern volatile uint32_t pwm_input_duration[PWM_INPUT_NB];
+extern volatile uint8_t pwm_input_valid[PWM_INPUT_NB];
 
-static inline void pwm_input_isr()
+static inline void pwm_input_isr1()
 {
   static uint32_t t_rise;
   static uint32_t t_fall;
@@ -20,16 +22,36 @@
     t_fall = T0CR3;
     T0CCR |= TCCR_CR3_R;
     T0CCR &= ~TCCR_CR3_F;
-    pwm_input_duration = t_fall - t_rise;
-    pwm_input_valid = TRUE;
-  } else {
+    pwm_input_duration[0] = t_fall - t_rise;
+    pwm_input_valid[0] = TRUE;
+  } else if (T0CCR & TCCR_CR3_R) {
     t_rise = T0CR3;
     T0CCR |= TCCR_CR3_F;
     T0CCR &= ~TCCR_CR3_R;
   }
 }
 
-#define PWM_INPUT_IT TIR_CR3I
-#define PWM_INPUT_ISR()        pwm_input_isr()
+static inline void pwm_input_isr2()
+{
+  static uint32_t t_rise;
+  static uint32_t t_fall;
 
+  if (T0CCR & TCCR_CR0_F) {
+    t_fall = T0CR0;
+    T0CCR |= TCCR_CR0_R;
+    T0CCR &= ~TCCR_CR0_F;
+    pwm_input_duration[1] = t_fall - t_rise;
+    pwm_input_valid[1] = TRUE;
+  } else if (T0CCR & TCCR_CR0_R) {
+    t_rise = T0CR0;
+    T0CCR |= TCCR_CR0_F;
+    T0CCR &= ~TCCR_CR0_R;
+  }
+}
+
+#define PWM_INPUT_IT1 TIR_CR3I
+#define PWM_INPUT_IT2 TIR_CR0I
+#define PWM_INPUT_ISR_1()      pwm_input_isr1()
+#define PWM_INPUT_ISR_2()      pwm_input_isr2()
+
 #endif /* PWM_INPUT_H */

Modified: paparazzi3/trunk/sw/airborne/arm7/sys_time_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/sys_time_hw.c     2009-12-08 07:07:17 UTC 
(rev 4364)
+++ paparazzi3/trunk/sw/airborne/arm7/sys_time_hw.c     2009-12-08 07:08:19 UTC 
(rev 4365)
@@ -40,7 +40,8 @@
 #ifdef USE_PWM_INPUT
 #include "pwm_input.h"
 #else
-#define PWM_INPUT_IT 0x00
+#define PWM_INPUT_IT1 0x00
+#define PWM_INPUT_IT2 0x00
 #endif
 
 #ifdef USE_AMI601
@@ -55,7 +56,8 @@
                         RADIO_CONTROL_PPM_IT |\
                         MB_SCALE_IT          |\
                         MB_TACHO_IT          |\
-                        PWM_INPUT_IT         |\
+                        PWM_INPUT_IT1        |\
+                        PWM_INPUT_IT2        |\
                         AMI601_IT)
 
 void TIMER0_ISR ( void ) {
@@ -101,12 +103,18 @@
       T0IR = MB_TACHO_IT;
     }
 #endif
-#ifdef USE_PWM_INPUT
-    if (T0IR&PWM_INPUT_IT) {
-      PWM_INPUT_ISR();
-      T0IR = PWM_INPUT_IT; 
+#ifdef USE_PWM_INPUT1
+    if (T0IR&PWM_INPUT_IT1) {
+      PWM_INPUT_ISR_1();
+      T0IR = PWM_INPUT_IT1; 
     }
 #endif
+#ifdef USE_PWM_INPUT2
+    if (T0IR&PWM_INPUT_IT2) {
+      PWM_INPUT_ISR_2();
+      T0IR = PWM_INPUT_IT2; 
+    }
+#endif
 #ifdef USE_AMI601
     if (T0IR&AMI601_IT) {
       AMI601_ISR();