Merge branch 'Firmware_V3_HW' of github.com:lcav/crazyflie-audio into…

… Firmware_V3_HW

firmware/audio_shield_firmware/Core/Inc/led.h

@@ -0,0 +1,73 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2012 Bitcraze AB
+ *
+ * This program 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, in version 3.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Motors.h - Motor driver header file
+ *
+ * The motors PWM ratio is a value on 16 bits (from 0 to 0xFFFF)
+ * the functions of the driver will make the conversions to the actual PWM
+ * precision (ie. if the precision is 8bits 0xFFFF and 0xFF00 are equivalents).
+ *
+ * The precision is set in number of bits by the define MOTORS_PWM_BITS
+ * The timer prescaler is set by MOTORS_PWM_PRESCALE
+ */
+#ifndef __led_H__
+#define __led_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "stm32f4xx_hal.h"
+#include "main.h"
+
+
+/******** Defines ********/
+
+extern TIM_HandleTypeDef htim1;
+
+/*** Public interface ***/
+
+/**
+ * led Initialization. Configures two output compare channels in PWM mode
+ * with one of them inverted to increase power output.
+ */
+void ledInit();
+
+
+/**
+ * Test of the motor modules. The test will spin each motor very short in
+ * the sequence M1 to M4.
+ */
+bool ledTest(void);
+
+/**
+ * Set led ratio/power.
+ */
+void ledSetRatio(uint16_t ratio, uint8_t led);
+
+void ledSetMaxCount(uint16_t max);
+
+/**
+ * Set led frequency in hertz.
+ */
+void ledSetPSC(uint16_t freq);
+
+#endif /* __MOTORS_H__ */

firmware/audio_shield_firmware/Core/Src/led.c

@@ -0,0 +1,142 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2012 Bitcraze AB
+ *
+ * This program 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, in version 3.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * led.c - led/Buzzer driver
+ *
+ * This code mainly interfacing the PWM peripheral lib of ST.
+ *
+ *
+ * Modified by Adrien Hoffet to embed led buzzer into the audiodeck V3
+ *
+ */
+
+#include <stdbool.h>
+
+#include "led.h"
+
+// HW defines
+//#define led_TIM_PERIF       			RCC_APB1Periph_TIM5
+#define LED_TIM             			TIM1
+#define LED_hTIM             			htim1
+#define LED_TIM_DBG         			DBGMCU_TIM1_STOP
+#define LED_TIM_SETCOMPARE_1(VAL) 		LED_TIM->CCR3  = VAL;
+#define LED_TIM_SETCOMPARE_2(VAL) 		LED_TIM->CCR1  = VAL;
+#define LED_TIM_SETCOMPARE_3(VAL) 		LED_TIM->CCR2  = VAL;
+#define LED_TIM_SETCOMPARE_4(VAL) 		LED_TIM->CCR4  = VAL;
+#define LED_TIM_SETARR(VAL) 			LED_TIM->ARR  = VAL;
+#define LED_TIM_GETCOMPARE 			LED_TIM->CCR3;
+#define LED_TIM_SETPSC(VAL)			LED_TIM->PSC = VAL;
+
+/*
+ Removed since init is done by cubeMX
+ #define LED_GPIO_POS_PERIF         	RCC_AHB1Periph_GPIOA
+ #define LED_GPIO_POS_PORT          	GPIOA
+ #define LED_GPIO_POS_PIN           	GPIO_Pin_2 // TIM5_CH3
+ #define LED_GPIO_AF_POS_PIN        	GPIO_PinSource2
+ #define LED_GPIO_AF_POS            	GPIO_AF_TIM5
+
+ #define LED_GPIO_NEG_PERIF         	RCC_AHB1Periph_GPIOA
+ #define LED_GPIO_NEG_PORT          	GPIOA
+ #define LED_GPIO_NEG_PIN           	GPIO_Pin_3 // TIM5_CH4
+ #define LED_GPIO_AF_NEG_PIN        	GPIO_PinSource3
+ #define LED_GPIO_AF_NEG            	GPIO_AF_TIM5
+ */
+
+#define LED_PWM_BITS      			(8)
+#define LED_PWM_PERIOD    			((1<<LED_PWM_BITS) - 1)
+#define LED_PWM_PRESCALE  			(0)
+
+/* This should be calculated.. */
+#define LED_BASE_FREQ (84000000)
+
+static bool isInit = false;
+
+/* Public functions */
+
+void ledInit() {
+	if (isInit)
+		return;
+
+	// PWM default configuration
+	TIM_OC_InitTypeDef sConfigOC = { 0 };
+
+	sConfigOC.OCMode = TIM_OCMODE_PWM1;
+	sConfigOC.Pulse = 0x0;
+	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+
+	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1)
+			!= HAL_OK) {
+		//return -1;
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2)
+			!= HAL_OK) {
+		//return -1;
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3)
+			!= HAL_OK) {
+		//return -1;
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4)
+			!= HAL_OK) {
+		//return -1;
+	}
+
+	// Restart the PWM since it is automatically disabled when modified
+	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
+
+	isInit = true;
+}
+
+bool ledTest(void) {
+	return isInit;
+}
+
+void ledSetMaxCount(uint16_t max) {
+	LED_TIM_SETARR(max);
+}
+
+void ledSetRatio(uint16_t ratio, uint8_t led) {
+	switch (led) {
+	case 1:
+		LED_TIM_SETCOMPARE_1(ratio);
+		break;
+	case 2:
+		LED_TIM_SETCOMPARE_2(ratio);
+		break;
+	case 3:
+		LED_TIM_SETCOMPARE_3(ratio);
+		break;
+	case 4:
+		LED_TIM_SETCOMPARE_4(ratio);
+		break;
+	}
+
+}
+
+void ledSetPSC(uint16_t psc) {
+	LED_TIM->PSC = psc;
+}