mirror of
https://github.com/Next-Flip/Momentum-Firmware.git
synced 2026-05-26 05:54:46 -07:00
628 lines
20 KiB
C
628 lines
20 KiB
C
#include "digital_signal.h"
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#include <furi.h>
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#include <furi_hal.h>
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#include <furi_hal_resources.h>
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#include <math.h>
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#include <stm32wbxx_ll_dma.h>
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#include <stm32wbxx_ll_tim.h>
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struct ReloadBuffers {
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uint32_t** buffers; /* pointers to the shadow buffers, either one or two. NULL if none */
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uint32_t count; /* number of allocated buffers, 0, 1 or 2 */
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uint32_t size; /* maximum entry count of a single buffer */
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uint32_t current; /* current buffer index, the other one is most likely being used */
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uint32_t entries; /* entries in the current buffer */
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};
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struct DigitalSequence {
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uint8_t signals_size;
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bool bake;
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uint32_t sequence_used;
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uint32_t sequence_size;
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DigitalSignal** signals;
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uint8_t* sequence;
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const GpioPin* gpio;
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uint32_t send_time;
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bool send_time_active;
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struct ReloadBuffers* reload;
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};
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struct DigitalSignalInternals {
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uint32_t reload_reg_entries;
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uint32_t reload_reg_remainder;
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uint32_t gpio_buff[2];
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const GpioPin* gpio;
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LL_DMA_InitTypeDef dma_config_gpio;
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LL_DMA_InitTypeDef dma_config_timer;
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struct ReloadBuffers* reload;
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};
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#define TAG "DigitalSignal"
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#define F_TIM (64000000.0)
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#define T_TIM 1562 /* 15.625 ns *100 */
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#define T_TIM_DIV2 781 /* 15.625 ns / 2 *100 */
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DigitalSignal* digital_signal_alloc(uint32_t max_edges_cnt) {
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DigitalSignal* signal = malloc(sizeof(DigitalSignal));
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signal->start_level = true;
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signal->edges_max_cnt = max_edges_cnt;
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signal->edge_timings = malloc(signal->edges_max_cnt * sizeof(uint32_t));
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signal->edge_cnt = 0;
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signal->reload_reg_buff = malloc(signal->edges_max_cnt * sizeof(uint32_t));
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signal->internals = malloc(sizeof(DigitalSignalInternals));
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DigitalSignalInternals* internals = signal->internals;
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internals->reload = NULL;
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internals->reload_reg_entries = 0;
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internals->reload_reg_remainder = 0;
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internals->dma_config_gpio.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
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internals->dma_config_gpio.Mode = LL_DMA_MODE_CIRCULAR;
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internals->dma_config_gpio.PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT;
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internals->dma_config_gpio.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;
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internals->dma_config_gpio.PeriphOrM2MSrcDataSize = LL_DMA_PDATAALIGN_WORD;
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internals->dma_config_gpio.MemoryOrM2MDstDataSize = LL_DMA_MDATAALIGN_WORD;
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internals->dma_config_gpio.NbData = 2;
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internals->dma_config_gpio.PeriphRequest = LL_DMAMUX_REQ_TIM2_UP;
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internals->dma_config_gpio.Priority = LL_DMA_PRIORITY_VERYHIGH;
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internals->dma_config_timer.PeriphOrM2MSrcAddress = (uint32_t) & (TIM2->ARR);
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internals->dma_config_timer.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
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internals->dma_config_timer.Mode = LL_DMA_MODE_NORMAL;
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internals->dma_config_timer.PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT;
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internals->dma_config_timer.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;
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internals->dma_config_timer.PeriphOrM2MSrcDataSize = LL_DMA_PDATAALIGN_WORD;
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internals->dma_config_timer.MemoryOrM2MDstDataSize = LL_DMA_MDATAALIGN_WORD;
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internals->dma_config_timer.PeriphRequest = LL_DMAMUX_REQ_TIM2_UP;
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internals->dma_config_timer.Priority = LL_DMA_PRIORITY_HIGH;
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return signal;
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}
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void digital_signal_free(DigitalSignal* signal) {
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furi_assert(signal);
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if(!signal) {
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return;
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}
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free(signal->edge_timings);
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free(signal->reload_reg_buff);
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if(signal->internals->reload) {
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if(signal->internals->reload->buffers) {
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free(signal->internals->reload->buffers);
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}
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free(signal->internals->reload);
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}
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free(signal->internals);
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free(signal);
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}
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bool digital_signal_append(DigitalSignal* signal_a, DigitalSignal* signal_b) {
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furi_assert(signal_a);
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furi_assert(signal_b);
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if(signal_a->edges_max_cnt < signal_a->edge_cnt + signal_b->edge_cnt) {
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return false;
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}
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/* in case there are no edges in our target signal, the signal to append makes the rules */
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if(!signal_a->edge_cnt) {
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signal_a->start_level = signal_b->start_level;
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}
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bool end_level = signal_a->start_level;
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if(signal_a->edge_cnt) {
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end_level = signal_a->start_level ^ !(signal_a->edge_cnt % 2);
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}
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uint8_t start_copy = 0;
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if(end_level == signal_b->start_level) {
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if(signal_a->edge_cnt) {
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signal_a->edge_timings[signal_a->edge_cnt - 1] += signal_b->edge_timings[0];
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start_copy += 1;
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} else {
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signal_a->edge_timings[signal_a->edge_cnt] += signal_b->edge_timings[0];
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}
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}
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for(size_t i = 0; i < signal_b->edge_cnt - start_copy; i++) {
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signal_a->edge_timings[signal_a->edge_cnt + i] = signal_b->edge_timings[start_copy + i];
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}
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signal_a->edge_cnt += signal_b->edge_cnt - start_copy;
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return true;
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}
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bool digital_signal_get_start_level(DigitalSignal* signal) {
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furi_assert(signal);
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return signal->start_level;
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}
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uint32_t digital_signal_get_edges_cnt(DigitalSignal* signal) {
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furi_assert(signal);
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return signal->edge_cnt;
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}
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void digital_signal_add(DigitalSignal* signal, uint32_t ticks) {
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furi_assert(signal);
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furi_assert(signal->edge_cnt < signal->edges_max_cnt);
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signal->edge_timings[signal->edge_cnt++] = ticks;
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}
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void digital_signal_add_pulse(DigitalSignal* signal, uint32_t ticks, bool level) {
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furi_assert(signal);
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furi_assert(signal->edge_cnt < signal->edges_max_cnt);
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/* virgin signal? add it as the only level */
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if(signal->edge_cnt == 0) {
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signal->start_level = level;
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signal->edge_timings[signal->edge_cnt++] = ticks;
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} else {
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bool end_level = signal->start_level ^ !(signal->edge_cnt % 2);
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if(level != end_level) {
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signal->edge_timings[signal->edge_cnt++] = ticks;
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} else {
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signal->edge_timings[signal->edge_cnt - 1] += ticks;
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}
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}
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}
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uint32_t digital_signal_get_edge(DigitalSignal* signal, uint32_t edge_num) {
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furi_assert(signal);
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furi_assert(edge_num < signal->edge_cnt);
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return signal->edge_timings[edge_num];
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}
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void digital_signal_prepare_arr(DigitalSignal* signal) {
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furi_assert(signal);
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DigitalSignalInternals* internals = signal->internals;
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/* set up signal polarities */
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if(internals->gpio) {
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uint32_t bit_set = internals->gpio->pin;
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uint32_t bit_reset = internals->gpio->pin << 16;
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#ifdef DEBUG_OUTPUT
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bit_set |= gpio_ext_pb3.pin;
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bit_reset |= gpio_ext_pb3.pin << 16;
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#endif
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if(signal->start_level) {
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internals->gpio_buff[0] = bit_set;
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internals->gpio_buff[1] = bit_reset;
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} else {
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internals->gpio_buff[0] = bit_reset;
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internals->gpio_buff[1] = bit_set;
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}
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}
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/* set up edge timings */
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internals->reload_reg_entries = 0;
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for(size_t pos = 0; pos < signal->edge_cnt; pos++) {
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uint32_t pulse_duration = signal->edge_timings[pos] + internals->reload_reg_remainder;
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uint32_t pulse_ticks = (pulse_duration + T_TIM_DIV2) / T_TIM;
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internals->reload_reg_remainder = pulse_duration - (pulse_ticks * T_TIM);
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if(pulse_ticks > 1) {
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signal->reload_reg_buff[internals->reload_reg_entries++] = pulse_ticks - 1;
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}
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}
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/* in case there are no shadow buffers defined, allocate and use the precalced data */
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if(!internals->reload || !internals->reload->count) {
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if(internals->reload) {
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free(internals->reload);
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}
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internals->reload = malloc(sizeof(struct ReloadBuffers));
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internals->reload->count = 1;
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internals->reload->size = signal->edges_max_cnt;
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internals->reload->buffers = malloc(sizeof(uint32_t*));
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internals->reload->buffers[0] = malloc(internals->reload->size * sizeof(uint32_t));
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memcpy(
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internals->reload->buffers[0],
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signal->reload_reg_buff,
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internals->reload_reg_entries * sizeof(uint32_t));
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}
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}
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static void digital_signal_stop_dma() {
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LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_1);
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LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_2);
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LL_DMA_ClearFlag_TC1(DMA1);
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LL_DMA_ClearFlag_TC2(DMA1);
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}
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static void digital_signal_stop_timer() {
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LL_TIM_DisableCounter(TIM2);
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LL_TIM_DisableUpdateEvent(TIM2);
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LL_TIM_DisableDMAReq_UPDATE(TIM2);
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}
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static void digital_signal_setup_timer() {
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digital_signal_stop_timer();
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LL_TIM_SetCounterMode(TIM2, LL_TIM_COUNTERMODE_UP);
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LL_TIM_SetClockDivision(TIM2, LL_TIM_CLOCKDIVISION_DIV1);
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LL_TIM_SetPrescaler(TIM2, 0);
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LL_TIM_SetAutoReload(TIM2, 0xFFFFFFFF);
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LL_TIM_SetCounter(TIM2, 0);
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}
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static void digital_signal_start_timer() {
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LL_TIM_EnableCounter(TIM2);
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LL_TIM_EnableUpdateEvent(TIM2);
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LL_TIM_EnableDMAReq_UPDATE(TIM2);
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LL_TIM_GenerateEvent_UPDATE(TIM2);
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}
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static bool digital_signal_setup_dma(DigitalSignal* signal) {
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furi_assert(signal);
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DigitalSignalInternals* internals = signal->internals;
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uint32_t buffer_entries = internals->reload->entries;
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if(!buffer_entries || !internals->reload || !internals->reload->buffers) {
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return false;
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}
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digital_signal_stop_dma();
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internals->dma_config_gpio.MemoryOrM2MDstAddress = (uint32_t)internals->gpio_buff;
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internals->dma_config_gpio.PeriphOrM2MSrcAddress = (uint32_t) & (internals->gpio->port->BSRR);
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internals->dma_config_timer.MemoryOrM2MDstAddress =
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(uint32_t)internals->reload->buffers[internals->reload->current];
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internals->dma_config_timer.NbData = buffer_entries;
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/* set up DMA channel 1 and 2 for GPIO and timer copy operations */
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LL_DMA_Init(DMA1, LL_DMA_CHANNEL_1, &internals->dma_config_gpio);
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LL_DMA_Init(DMA1, LL_DMA_CHANNEL_2, &internals->dma_config_timer);
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/* enable both DMA channels */
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LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_1);
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LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_2);
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/* buffer is used now by DMA, skip to next */
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internals->reload->current = (internals->reload->current + 1) % internals->reload->count;
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return true;
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}
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void digital_signal_send(DigitalSignal* signal, const GpioPin* gpio) {
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furi_assert(signal);
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if(!signal->edge_cnt) {
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return;
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}
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/* Configure gpio as output */
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signal->internals->gpio = gpio;
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furi_hal_gpio_init(
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signal->internals->gpio, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
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/* single signal, add a temporary, terminating edge at the end */
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signal->edge_timings[signal->edge_cnt++] = 10;
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digital_signal_prepare_arr(signal);
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digital_signal_setup_dma(signal);
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digital_signal_setup_timer();
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digital_signal_start_timer();
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while(!LL_DMA_IsActiveFlag_TC2(DMA1)) {
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}
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digital_signal_stop_timer();
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digital_signal_stop_dma();
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signal->edge_cnt--;
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}
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void digital_sequence_alloc_signals(DigitalSequence* sequence, uint32_t size) {
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sequence->signals_size = size;
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sequence->signals = malloc(sequence->signals_size * sizeof(DigitalSignal*));
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}
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void digital_sequence_alloc_sequence(DigitalSequence* sequence, uint32_t size) {
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sequence->sequence_used = 0;
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sequence->sequence_size = size;
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sequence->sequence = malloc(sequence->sequence_size);
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sequence->send_time = 0;
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sequence->send_time_active = false;
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}
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DigitalSequence* digital_sequence_alloc(uint32_t size, const GpioPin* gpio) {
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furi_assert(gpio);
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DigitalSequence* sequence = malloc(sizeof(DigitalSequence));
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sequence->gpio = gpio;
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sequence->bake = false;
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sequence->reload = malloc(sizeof(struct ReloadBuffers));
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sequence->reload->count = 2;
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sequence->reload->size = 512;
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sequence->reload->buffers = malloc(sizeof(uint32_t*));
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sequence->reload->buffers[0] = malloc(sequence->reload->size * sizeof(uint32_t));
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sequence->reload->buffers[1] = malloc(sequence->reload->size * sizeof(uint32_t));
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digital_sequence_alloc_signals(sequence, 32);
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digital_sequence_alloc_sequence(sequence, size);
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return sequence;
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}
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void digital_sequence_free(DigitalSequence* sequence) {
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furi_assert(sequence);
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if(!sequence) {
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return;
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}
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/* de-assign the shared reload buffer */
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for(int pos = 0; pos < sequence->signals_size; pos++) {
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if(sequence->signals[pos]) {
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sequence->signals[pos]->internals->reload = NULL;
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}
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}
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free(sequence->signals);
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free(sequence->sequence);
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free(sequence->reload->buffers);
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free(sequence->reload);
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free(sequence);
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}
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void digital_sequence_set_signal(
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DigitalSequence* sequence,
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uint8_t signal_index,
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DigitalSignal* signal) {
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furi_assert(sequence);
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furi_assert(signal);
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furi_assert(signal_index < sequence->signals_size);
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/* if there is already a signal, unassign the shared reload buffer */
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if(sequence->signals[signal_index]) {
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sequence->signals[signal_index]->internals->reload = NULL;
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}
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sequence->signals[signal_index] = signal;
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signal->internals->gpio = sequence->gpio;
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signal->internals->reload_reg_remainder = 0;
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/* free the original reload buffer */
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if(signal->internals->reload) {
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if(signal->internals->reload->buffers) {
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for(uint32_t pos = 0; pos < signal->internals->reload->count; pos++) {
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free(signal->internals->reload->buffers[pos]);
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}
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free(signal->internals->reload->buffers);
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}
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free(signal->internals->reload);
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}
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/* assign the sequence's shared reload buffer */
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signal->internals->reload = sequence->reload;
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/* ensure it is big enough and reallocate if not */
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if(sequence->reload->size < signal->edges_max_cnt) {
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free(sequence->reload->buffers);
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sequence->reload->size = signal->edges_max_cnt;
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sequence->reload->buffers[0] = malloc(sequence->reload->size * sizeof(uint32_t));
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sequence->reload->buffers[1] = malloc(sequence->reload->size * sizeof(uint32_t));
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}
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digital_signal_prepare_arr(signal);
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}
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void digital_sequence_set_sendtime(DigitalSequence* sequence, uint32_t send_time) {
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furi_assert(sequence);
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sequence->send_time = send_time;
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sequence->send_time_active = true;
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}
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void digital_sequence_add(DigitalSequence* sequence, uint8_t signal_index) {
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furi_assert(sequence);
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furi_assert(signal_index < sequence->signals_size);
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if(sequence->sequence_used >= sequence->sequence_size) {
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sequence->sequence_size += 256;
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sequence->sequence = realloc(sequence->sequence, sequence->sequence_size);
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}
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sequence->sequence[sequence->sequence_used++] = signal_index;
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}
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static void digital_signal_update_dma(DigitalSignal* signal) {
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struct ReloadBuffers* reload = signal->internals->reload;
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/* keep them prepared in registers so there is less delay when writing */
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register bool restart_needed = false;
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register volatile uint16_t len = reload->entries;
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register volatile uint32_t addr = (uint32_t)reload->buffers[reload->current];
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/* first make sure it will still count down, else we will risk waiting infinitely */
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const uint32_t wait_ms = 10;
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const uint32_t wait_ticks = wait_ms * 1000 * furi_hal_cortex_instructions_per_microsecond();
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uint16_t prev_remain = LL_DMA_GetDataLength(DMA1, LL_DMA_CHANNEL_2);
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uint32_t prev_timer = DWT->CYCCNT;
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while(prev_remain == LL_DMA_GetDataLength(DMA1, LL_DMA_CHANNEL_2)) {
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if(DWT->CYCCNT - prev_timer > wait_ticks) {
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restart_needed = true;
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break;
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}
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}
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if(!restart_needed) {
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/* if transfer was already active, wait till DMA is done and the last timer ticks are running */
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while(LL_DMA_GetDataLength(DMA1, LL_DMA_CHANNEL_2)) {
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}
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} else {
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FURI_LOG_D(TAG, "digital_sequence_send_signal: DMA hung, restart needed");
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}
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LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_2);
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LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_2, len);
|
|
LL_DMA_SetMemoryAddress(DMA1, LL_DMA_CHANNEL_2, addr);
|
|
LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_2);
|
|
|
|
if(restart_needed) {
|
|
LL_TIM_GenerateEvent_UPDATE(TIM2);
|
|
}
|
|
|
|
reload->current = (reload->current + 1) % reload->count;
|
|
}
|
|
|
|
static bool digital_sequence_send_signal(DigitalSequence* sequence, DigitalSignal* signal) {
|
|
/* the first iteration has to set up the whole machinery */
|
|
if(!LL_DMA_IsEnabledChannel(DMA1, LL_DMA_CHANNEL_1)) {
|
|
if(!digital_signal_setup_dma(signal)) {
|
|
FURI_LOG_D(TAG, "digital_sequence_send_signal: Signal has no entries, aborting");
|
|
return false;
|
|
}
|
|
digital_signal_setup_timer();
|
|
|
|
/* if the send time is specified, wait till the core timer passed beyond that time */
|
|
if(sequence->send_time_active) {
|
|
sequence->send_time_active = false;
|
|
while(sequence->send_time - DWT->CYCCNT < 0x80000000) {
|
|
}
|
|
}
|
|
digital_signal_start_timer();
|
|
} else {
|
|
/* configure next polarities and timings */
|
|
digital_signal_update_dma(signal);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
DigitalSignal* digital_sequence_bake(DigitalSequence* sequence) {
|
|
furi_assert(sequence);
|
|
|
|
uint32_t edges = 0;
|
|
|
|
for(uint32_t pos = 0; pos < sequence->sequence_used; pos++) {
|
|
uint8_t signal_index = sequence->sequence[pos];
|
|
DigitalSignal* sig = sequence->signals[signal_index];
|
|
|
|
edges += sig->edge_cnt;
|
|
}
|
|
|
|
DigitalSignal* ret = digital_signal_alloc(edges);
|
|
|
|
for(uint32_t pos = 0; pos < sequence->sequence_used; pos++) {
|
|
uint8_t signal_index = sequence->sequence[pos];
|
|
DigitalSignal* sig = sequence->signals[signal_index];
|
|
|
|
digital_signal_append(ret, sig);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
bool digital_sequence_send(DigitalSequence* sequence) {
|
|
furi_assert(sequence);
|
|
|
|
struct ReloadBuffers* reload = sequence->reload;
|
|
|
|
furi_hal_gpio_init(sequence->gpio, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
|
|
#ifdef DEBUG_OUTPUT
|
|
furi_hal_gpio_init(&gpio_ext_pb3, GpioModeOutputPushPull, GpioPullNo, GpioSpeedVeryHigh);
|
|
#endif
|
|
|
|
if(sequence->bake) {
|
|
DigitalSignal* sig = digital_sequence_bake(sequence);
|
|
|
|
digital_signal_send(sig, sequence->gpio);
|
|
digital_signal_free(sig);
|
|
return true;
|
|
}
|
|
|
|
int32_t remainder = 0;
|
|
FURI_CRITICAL_ENTER();
|
|
|
|
bool traded_first = false;
|
|
|
|
for(uint32_t pos = 0; pos < sequence->sequence_used; pos++) {
|
|
uint8_t signal_index = sequence->sequence[pos];
|
|
DigitalSignal* sig = sequence->signals[signal_index];
|
|
DigitalSignal* sig_next = NULL;
|
|
|
|
if(pos + 1 < sequence->sequence_used) {
|
|
sig_next = sequence->signals[sequence->sequence[pos + 1]];
|
|
}
|
|
|
|
if(!sig) {
|
|
FURI_LOG_D(
|
|
TAG,
|
|
"digital_sequence_send: Signal at index %u, used at pos %lu is NULL, aborting",
|
|
signal_index,
|
|
pos);
|
|
break;
|
|
}
|
|
|
|
/* if the first edge is handled by prolonging the last pulse of the previous signal, skip it here */
|
|
reload->entries = sig->edge_cnt - (traded_first ? 1 : 0);
|
|
|
|
memcpy(
|
|
reload->buffers[reload->current],
|
|
&sig->reload_reg_buff[traded_first ? 1 : 0],
|
|
reload->entries * sizeof(uint32_t));
|
|
traded_first = false;
|
|
|
|
/* when we are too late more than half a tick, make the first edge temporarily longer */
|
|
if(remainder >= T_TIM_DIV2) {
|
|
remainder -= T_TIM;
|
|
reload->buffers[reload->current][0] += 1;
|
|
}
|
|
|
|
/* update the total remainder */
|
|
remainder += sig->internals->reload_reg_remainder;
|
|
|
|
/* when a signal ends with the same level as the next signal begins, let the fist signal generate the whole pulse */
|
|
if(sig_next) {
|
|
/* beware, we do not want the level after the last edge, but the last level before that edge */
|
|
bool end_level = sig->start_level ^ ((sig->edge_cnt % 2) == 0);
|
|
|
|
/* take from the next, add it to the first */
|
|
if(end_level == sig_next->start_level) {
|
|
/* add the traded prolongation to the last pulse */
|
|
reload->buffers[reload->current][reload->entries - 1] +=
|
|
sig_next->reload_reg_buff[0];
|
|
traded_first = true;
|
|
}
|
|
}
|
|
|
|
/* transmit */
|
|
bool success = digital_sequence_send_signal(sequence, sig);
|
|
|
|
if(!success) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* wait until last dma transaction was finished */
|
|
while(LL_DMA_GetDataLength(DMA1, LL_DMA_CHANNEL_2)) {
|
|
}
|
|
|
|
digital_signal_stop_timer();
|
|
digital_signal_stop_dma();
|
|
FURI_CRITICAL_EXIT();
|
|
|
|
return true;
|
|
}
|
|
|
|
void digital_sequence_clear(DigitalSequence* sequence) {
|
|
furi_assert(sequence);
|
|
|
|
sequence->sequence_used = 0;
|
|
}
|