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Merge pull request DotBots#310 from aabadie/timer_hf_api_rework
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bsp/timer_hf: extend api so all available timer peripherals can be used
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@aabadie
aabadie authored May 3, 2024
2 parents e8936eb + cea142b commit a58bf3a
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Showing 16 changed files with 252 additions and 180 deletions.
2 changes: 2 additions & 0 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,8 @@ endif

ifneq (,$(filter nrf52833dk,$(BUILD_TARGET)))
PROJECTS := $(filter-out 01crypto_%,$(PROJECTS))
# Bootloader not supported on nrf52833dk
BOOTLOADER :=
endif

# remove incompatible apps (nrf5340) for nrf52833dk/nrf52840dk build
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73 changes: 37 additions & 36 deletions bsp/nrf/lh2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@
#define LH2_MAX_DATA_VALID_TIME_US 2000000 //< Data older than this is considered outdate and should be erased (in microseconds)
#define LH2_SWEEP_PERIOD_US 20000 ///< time, in microseconds, between two full rotations of the LH2 motor
#define LH2_SWEEP_PERIOD_THRESHOLD_US 1000 ///< How close a LH2 pulse must arrive relative to LH2_SWEEP_PERIOD_US, to be considered the same type of sweep (first sweep or second second). (in microseconds)
#define LH2_TIMER_DEV 2 ///< Timer device used for LH2

#if defined(NRF5340_XXAA) && defined(NRF_APPLICATION)
#define NRF_SPIM NRF_SPIM4_S
Expand Down Expand Up @@ -967,7 +968,7 @@ void db_lh2_process_location(db_lh2_t *lh2) {
void _initialize_ts4231(const gpio_t *gpio_d, const gpio_t *gpio_e) {

// Configure the wait timer
db_timer_hf_init();
db_timer_hf_init(LH2_TIMER_DEV);

// Filip's code define these pins as inputs, and then changes them quickly to outputs. Not sure why, but it works.
_lh2_pin_set_input(gpio_d);
Expand All @@ -976,33 +977,33 @@ void _initialize_ts4231(const gpio_t *gpio_d, const gpio_t *gpio_e) {
// start the TS4231 initialization
// Wiggle the Envelope and Data pins
_lh2_pin_set_output(gpio_e);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin; // set pin HIGH
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin; // set pin LOW
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
_lh2_pin_set_output(gpio_d);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTSET = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
// Turn the pins back to inputs
_lh2_pin_set_input(gpio_d);
_lh2_pin_set_input(gpio_e);
// finally, wait 1 milisecond
db_timer_hf_delay_us(1000);
db_timer_hf_delay_us(LH2_TIMER_DEV, 1000);

// Send the configuration magic number/sequence
uint16_t config_val = 0x392B;
// Turn the Data and Envelope lines back to outputs and clear them.
_lh2_pin_set_output(gpio_e);
_lh2_pin_set_output(gpio_d);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTCLR = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
// Send the magic configuration value, MSB first.
for (uint8_t i = 0; i < 15; i++) {

Expand All @@ -1014,68 +1015,68 @@ void _initialize_ts4231(const gpio_t *gpio_d, const gpio_t *gpio_e) {
}

// Toggle the Envelope line as a clock.
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
}
// Finish send sequence and turn pins into inputs again.
nrf_port[gpio_d->port]->OUTCLR = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTSET = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
_lh2_pin_set_input(gpio_d);
_lh2_pin_set_input(gpio_e);
// Finish by waiting 10usec
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);

// Now read back the sequence that the TS4231 answers.
_lh2_pin_set_output(gpio_e);
_lh2_pin_set_output(gpio_d);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTCLR = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTSET = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
// Set Data pin as an input, to receive the data
_lh2_pin_set_input(gpio_d);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
// Use the Envelope pin to output a clock while the data arrives.
for (uint8_t i = 0; i < 14; i++) {
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
}

// Finish the configuration procedure
_lh2_pin_set_output(gpio_d);
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTSET = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);

nrf_port[gpio_e->port]->OUTCLR = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_d->port]->OUTCLR = 1 << gpio_d->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);
nrf_port[gpio_e->port]->OUTSET = 1 << gpio_e->pin;
db_timer_hf_delay_us(10);
db_timer_hf_delay_us(LH2_TIMER_DEV, 10);

_lh2_pin_set_input(gpio_d);
_lh2_pin_set_input(gpio_e);

db_timer_hf_delay_us(50000);
db_timer_hf_delay_us(LH2_TIMER_DEV, 50000);
}

uint64_t _demodulate_light(uint8_t *sample_buffer) { // bad input variable name!!
Expand Down Expand Up @@ -1701,7 +1702,7 @@ uint8_t _select_sweep(db_lh2_t *lh2, uint8_t polynomial, uint32_t timestamp) {
// TODO: check the exact, per-mode period of each polynomial instead of using a blanket 20ms

uint8_t basestation = polynomial >> 1; ///< each base station uses 2 polynomials. integer dividing by 2 maps the polynomial number to the basestation number.
uint32_t now = db_timer_hf_now();
uint32_t now = db_timer_hf_now(LH2_TIMER_DEV);
// check that current data stored is not too old.
for (size_t sweep = 0; sweep < 2; sweep++) {
if (now - lh2->timestamps[0][basestation] > LH2_MAX_DATA_VALID_TIME_US) {
Expand Down Expand Up @@ -1799,7 +1800,7 @@ void SPIM_IRQ_HANDLER(void) {
// Reenable the PPI channel
db_lh2_start();
// Read the current time.
uint32_t timestamp = db_timer_hf_now();
uint32_t timestamp = db_timer_hf_now(LH2_TIMER_DEV);
// Add new reading to the ring buffer
_add_to_spi_ring_buffer(&_lh2_vars.data, _lh2_vars.spi_rx_buffer, timestamp);
}
Expand Down
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