servo through DMA

F0-nolib/Servo/effects.c

@@ -20,8 +20,10 @@
 #include "hardware.h"
 #include "usart.h"
 
-static effect_t current_ef[3] = {EFF_NONE, EFF_NONE, EFF_NONE};
+uint8_t dma_eff = 0;
 
+static effect_t current_ef[3] = {EFF_NONE, EFF_NONE, EFF_NONE};
+static int8_t cntr[3] = {0,0,0}, dir[3] = {1,1,1};
 #define SPD_STP   (25)
 
 static void eff_madwipe(int n){
@@ -35,14 +37,13 @@ static void eff_madwipe(int n){
 }
 
 static void eff_wipe(int n){
-    static uint8_t cntr = 0;
     if(onposition(n)){ // move back
         int val = 0;
         if(getPWM(n) < SG90_MIDPULSE) val = 1;
-        if(++cntr < 4){ // stay a little in outermost positions
+        if(++cntr[n] < 4){ // stay a little in outermost positions
             setPWM(n, getPWM(n), SG90_STEP/2);
         }else{
-            cntr = 0;
+            cntr[n] = 0;
             setPWM(n, val, SG90_STEP/2);
         }
     }
@@ -52,36 +53,68 @@ static void eff_pendulum(int n){
     const uint16_t steps[41] = {0, 10, 21, 33, 47, 62, 79, 97, 117, 140, 165, 193, 224, 258, 295, 337, 383, 434,
                              490, 552, 621, 697, 766, 828, 884, 935, 981, 1023, 1060, 1094, 1125, 1153, 1178,
                              1201, 1221, 1239, 1256, 1271, 1285, 1297, 1308};
-    static int8_t cntr = 0, dir = 1;
     if(onposition(n)){
-        setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
+        setPWM(n, SG90_MINPULSE + steps[cntr[n]], SG90_STEP);
-        cntr += dir;
+        cntr[n] += dir[n];
-        if(cntr == -1){ // min position
+        if(cntr[n] == -1){ // min position
-            dir = 1;
+            dir[n] = 1;
-            cntr = 0; // repeat zero position one time
+            cntr[n] = 0; // repeat zero position one time
-        }else if(cntr == 41){ // max position
+        }else if(cntr[n] == 41){ // max position
-            dir = -1;
+            dir[n] = -1;
-            cntr = 40; // and this position needs to repeat too
+            cntr[n] = 40; // and this position needs to repeat too
         }
     }
 }
 
 static void eff_pendsm(int n){
     const uint16_t steps[19] = {0, 6, 10, 15, 22, 30, 40, 52, 66, 82, 101, 123, 148, 177, 210, 247, 289, 336, 389};
-    static int8_t cntr = 0, dir = 1;
     if(onposition(n)){
-        setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
+        setPWM(n, SG90_MINPULSE + steps[cntr[n]], SG90_STEP);
-        cntr += dir;
+        cntr[n] += dir[n];
-        if(cntr == -1){ // min position
+        if(cntr[n] == -1){ // min position
-            dir = 1;
+            dir[n] = 1;
-            cntr = 1;
+            cntr[n] = 1;
-        }else if(cntr == 19){ // max position
+        }else if(cntr[n] == 19){ // max position
-            dir = -1;
+            dir[n] = -1;
-            cntr = 18;
+            cntr[n] = 18;
         }
     }
 }
 
+// buffers for different DMA effects, by pairs: 1st number is CCR1, 2nd is CCR2
+static const uint16_t dmabufsmall[] = { 1400,800,1400,800,
+                                        1400,1000,1400,1000,
+                                        1600,1000,1600,1000,
+                                        1600,800,1600,800,};
+
+static const uint16_t dmabufmed[] = {   1400,800,1400,800,1400,800,1400,800,
+                                        1400,1000,1400,1000,1400,1000,1400,1000,
+                                        1600,1000,1600,1000,1600,1000,1600,1000,
+                                        1600,800,1600,800,1600,800,1600,800};
+
+static const uint16_t dmabufbig[] = {   1400,800,1400,800,1400,800,1400,800,1400,800,1400,800,
+                                        1400,1000,1400,1000,1400,1000,1400,1000,1400,1000,1400,1000,
+                                        1600,1000,1600,1000,1600,1000,1600,1000,1600,1000,1600,1000,
+                                        1600,800,1600,800,1600,800,1600,800,1600,800,1600,800};
+
+static const uint16_t dmabuftest[] = {  1400,800,1400,840,1400,880,1400,920,1400,960,1400,1000,
+                                        1400,1000,1440,1000,1480,1000,1520,1000,1560,1000,1600,1000,
+                                        1600,1000,1600,960,1600,920,1600,880,1600,840,1600,800,
+                                        1600,800,1560,800,1520,800,1480,800,1440,800,1400,800};
+
+static const uint16_t dmabufstar[] = {  1300,930,1300,930,1300,930,1300,930,1300,930,1300,930,
+                                        1500,930,1500,930,1500,930,1500,930,1500,930,1500,930,
+                                        1330,800,1330,800,1330,800,1330,800,1330,800,1330,800,
+                                        1400,1000,1400,1000,1400,1000,1400,1000,1400,1000,1400,1000,
+                                        1470,800,1470,800,1470,800,1470,800,1470,800,1470,800};
+
+static void DMA_eff(const void* buff, uint8_t len){
+    DMA1_Channel3->CMAR = (uint32_t)(buff);
+    DMA1_Channel3->CNDTR = len;
+    DMA1_Channel3->CCR |= DMA_CCR_EN;
+    TIM3->DIER |= TIM_DIER_UDE;
+}
+
 void proc_effect(){
     for(int i = 0; i < 3; ++i){
         switch(current_ef[i]){
@@ -105,7 +138,42 @@ void proc_effect(){
 }
 
 effect_t set_effect(int n, effect_t eff){
-    if(n < 0 || n > 3) return EFF_NONE;
+    if(n < 0 || n > 2) return EFF_NONE;
-    current_ef[n] = eff;
+    cntr[n] = 0;
+    dir[n] = 1;
+    if(dma_eff){
+        TIM3->DIER &= ~TIM_DIER_UDE; // turn off DMA requests from UE
+        DMA1_Channel3->CCR &= ~DMA_CCR_EN; // turn off DMA if current was with it
+        dma_eff = 0;
+        TIM3->CCR1 = SG90_MIDPULSE;
+        TIM3->CCR2 = SG90_MIDPULSE;
+    }
+    switch(eff){
+        case EFF_DMASMALL:
+            DMA_eff(dmabufsmall, sizeof(dmabufsmall)/sizeof(uint16_t));
+            dma_eff = 1;
+        break;
+        case EFF_DMAMED:
+            DMA_eff(dmabufmed, sizeof(dmabufmed)/sizeof(uint16_t));
+            dma_eff = 1;
+        break;
+        case EFF_DMABIG:
+            DMA_eff(dmabufbig, sizeof(dmabufbig)/sizeof(uint16_t));
+            dma_eff = 1;
+        break;
+        case EFF_DMATEST:
+            DMA_eff(dmabuftest, sizeof(dmabuftest)/sizeof(uint16_t));
+            dma_eff = 1;
+        break;
+        case EFF_DMASTAR:
+            DMA_eff(dmabufstar, sizeof(dmabufstar)/sizeof(uint16_t));
+            dma_eff = 1;
+        break;
+        default:
+        break;
+    }
+    if(dma_eff){
+        current_ef[0] = current_ef[1] = eff;
+    }else current_ef[n] = eff;
     return eff;
 }

F0-nolib/Servo/effects.h

@@ -27,9 +27,15 @@ typedef enum{
     EFF_WIPE,
     EFF_MADWIPE,
     EFF_PENDULUM,
-    EFF_SMPENDULUM
+    EFF_SMPENDULUM,
+    EFF_DMASMALL,
+    EFF_DMAMED,
+    EFF_DMABIG,
+    EFF_DMATEST,
+    EFF_DMASTAR
 } effect_t;
 
+extern uint8_t dma_eff;
 void proc_effect();
 effect_t set_effect(int n, effect_t eff);
 

F0-nolib/Servo/hardware.c

@@ -168,6 +168,14 @@ static inline void timers_setup(){
     TIM3->DIER = TIM_DIER_UIE; //TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC4IE;
     // enable timer & ARR buffering
     TIM3->CR1 |= TIM_CR1_CEN | TIM_CR1_ARPE;
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    // DMA for more effects (channel 3 -> TIM3_UP)
+    DMA1_Channel3->CPAR = (uint32_t)(&(TIM3->DMAR)); // each writing to DMAR will change next register
+    // memsiz 16bit, psiz 32bit, memincrement, from memory, circulate
+    DMA1_Channel3->CCR |=  DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_1
+                       | DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_CIRC;
+    TIM3->DCR = (1 << 8) | // DBL=1 -- two transfers
+                 (((uint32_t)&TIM3->CCR1 - (uint32_t)&TIM3->CR1) >> 2); // reg = (DBA + TIM3->CR1)/4
     NVIC_EnableIRQ(TIM3_IRQn);
 }
 
@@ -241,10 +249,12 @@ void tim3_isr(){
         chkPWM(2);
     }*/
     if(TIM3->SR & TIM_SR_UIF){
+        if(!dma_eff){
             chkPWM(0);
             chkPWM(1);
             chkPWM(2);
         }
+    }
     TIM3->SR = 0;
 }
 

F0-nolib/Servo/protocol.c

@@ -84,7 +84,8 @@ static void chPWM(const char *command){
         if(*command++ == ','){
             getnum(command, &speed);
         }
-        CCR = setPWM(n, CCR, speed);
+        //CCR =
+                setPWM(n, CCR, speed);
     }
     put_string("pulse");
     put_char('1' + n);
@@ -115,6 +116,36 @@ static void chk_effect(const char *cmd, effect_t eff, const char *name){
     }else put_string("err\n");
 }
 
+static void DMA_effect(const char *cmd){
+    int n = *cmd - '1';
+    if(n < 0 || n > 4){
+        put_string("Wrong DMA eff. number\n");
+        return;
+    }
+    put_string("DMA effect ");
+    put_char(*cmd);
+    put_string(" enabled\n");
+    switch(n){
+        case 0:
+            set_effect(0, EFF_DMASMALL);
+        break;
+        case 1:
+            set_effect(0, EFF_DMAMED);
+        break;
+        case 2:
+            set_effect(0, EFF_DMABIG);
+        break;
+        case 3:
+            set_effect(0, EFF_DMATEST);
+        break;
+        case 4:
+            set_effect(0, EFF_DMASTAR);
+        break;
+        default:
+        break;
+    }
+}
+
 /**
  * @brief process_command - command parser
  * @param command - command text (all inside [] without spaces)
@@ -127,7 +158,8 @@ char *process_command(const char *command){
         case '?': // help
             SEND_BLK(
                 "1-3[pos[,speed]]- set/get xth pulse length (us) (0,1,2 - min, max, mid)\n"
-                "fx - servo period (us)"
+                "fx - servo period (us)\n"
+                "Dx - DMA effect x\n"
                 "Mn - set Mad Wipe effect\n"
                 "Pn - set Pendulum effect\n"
                 "R  - reset\n"
@@ -151,6 +183,9 @@ char *process_command(const char *command){
         case 'f':
             set_servoT(++command);
         break;
+        case 'D':
+            DMA_effect(++command);
+        break;
         case 'M':
             chk_effect(command, EFF_MADWIPE, "mad wipe");
         break;

F0-nolib/morze/morse.c

@@ -53,7 +53,7 @@ uint16_t mbuff[3*MAXPINGS];
  55 (0x37) - 7   87 (0x57) - W  119 (0x77) - w  151 (0x97) - —  183 (0xb7) - ·  215 (0xd7) - ×  247 (0xf7) - ÷
  56 (0x38) - 8   88 (0x58) - X  120 (0x78) - x  152 (0x98) - ˜  184 (0xb8) - ¸  216 (0xd8) - Ø  248 (0xf8) - ø
  57 (0x39) - 9   89 (0x59) - Y  121 (0x79) - y  153 (0x99) - ™  185 (0xb9) - ¹  217 (0xd9) - Ù  249 (0xf9) - ù
- 58 (0x3a) - :   90 (0x5a) - Z  122 (0x7a) - z  154 (0x9a) - š  186 (0xba) - º  218 (0xda) - Ú  250 (0xfa) - ú
+ 58 (0x3a) - :   90 (0x5a) - Z  122 (0x7a) - z  154 (0x9a) -    186 (0xba) - º  218 (0xda) - Ú  250 (0xfa) - ú
  59 (0x3b) - ;   91 (0x5b) - [  123 (0x7b) - {  155 (0x9b) - ›  187 (0xbb) - »  219 (0xdb) - Û  251 (0xfb) - û
  60 (0x3c) - <   92 (0x5c) - \  124 (0x7c) - |  156 (0x9c) - œ  188 (0xbc) - ¼  220 (0xdc) - Ü  252 (0xfc) - ü
  61 (0x3d) - =   93 (0x5d) - ]  125 (0x7d) - }  157 (0x9d) - <EFBFBD>  189 (0xbd) - ½  221 (0xdd) - Ý  253 (0xfd) - ý
@@ -61,7 +61,7 @@ uint16_t mbuff[3*MAXPINGS];
  63 (0x3f) - ?   95 (0x5f) - _  127 (0x7f) -    159 (0x9f) - Ÿ  191 (0xbf) - ¿  223 (0xdf) - ß  255 (0xff) - ÿ
 */
 // 1 - len in pings, 2 - pings (0 - dot, 1 - dash), reverse order
-static const uint8_t ascii[] = { // sarting from space+1
+static const uint8_t ascii[] = { // starting from space+1
     6, 53, // ! -*-*--
     6, 18, // " *-**-*
     5, 29, // # [no] -*---