ardupilot/libraries/AP_HAL_AVR/RCOutput_APM2.cpp

224 lines
7.0 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <avr/interrupt.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include "RCOutput.h"
using namespace AP_HAL_AVR;
extern const AP_HAL::HAL& hal;
/* No init argument required */
void APM2RCOutput::init(void* machtnichts) {
// --------------------- TIMER1: CH_1 and CH_2 -----------------------
hal.gpio->pinMode(12,GPIO_OUTPUT); // CH_1 (PB6/OC1B)
hal.gpio->pinMode(11,GPIO_OUTPUT); // CH_2 (PB5/OC1A)
// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR1.
// CS11: prescale by 8 => 0.5us tick
TCCR1A =((1<<WGM11));
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
ICR1 = 40000; // 0.5us tick => 50hz freq
OCR1A = 0xFFFF; // Init OCR registers to nil output signal
OCR1B = 0xFFFF;
// --------------- TIMER4: CH_3, CH_4, and CH_5 ---------------------
hal.gpio->pinMode(8,GPIO_OUTPUT); // CH_3 (PH5/OC4C)
hal.gpio->pinMode(7,GPIO_OUTPUT); // CH_4 (PH4/OC4B)
hal.gpio->pinMode(6,GPIO_OUTPUT); // CH_5 (PH3/OC4A)
// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR4.
// CS41: prescale by 8 => 0.5us tick
TCCR4A =((1<<WGM41));
TCCR4B = (1<<WGM43)|(1<<WGM42)|(1<<CS41);
OCR4A = 0xFFFF; // Init OCR registers to nil output signal
OCR4B = 0xFFFF;
OCR4C = 0xFFFF;
ICR4 = 40000; // 0.5us tick => 50hz freq
//--------------- TIMER3: CH_6, CH_7, and CH_8 ----------------------
hal.gpio->pinMode(3,GPIO_OUTPUT); // CH_6 (PE5/OC3C)
hal.gpio->pinMode(2,GPIO_OUTPUT); // CH_7 (PE4/OC3B)
hal.gpio->pinMode(5,GPIO_OUTPUT); // CH_8 (PE3/OC3A)
// WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR3
// CS31: prescale by 8 => 0.5us tick
TCCR3A =((1<<WGM31));
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
OCR3A = 0xFFFF; // Init OCR registers to nil output signal
OCR3B = 0xFFFF;
OCR3C = 0xFFFF;
ICR3 = 40000; // 0.5us tick => 50hz freq
//--------------- TIMER5: CH_10, and CH_11 ---------------
// NB TIMER5 is shared with PPM input from RCInput_APM2.cpp
// The TIMER5 registers are assumed to be setup already.
hal.gpio->pinMode(45, GPIO_OUTPUT); // CH_10 (PL4/OC5B)
hal.gpio->pinMode(44, GPIO_OUTPUT); // CH_11 (PL5/OC5C)
}
/* Output freq (1/period) control */
void APM2RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {
uint16_t icr = _timer_period(freq_hz);
if ((chmask & ( _BV(CH_1) | _BV(CH_2))) != 0) {
ICR1 = icr;
}
if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_5))) != 0) {
ICR4 = icr;
}
if ((chmask & ( _BV(CH_6) | _BV(CH_7) | _BV(CH_8))) != 0) {
ICR3 = icr;
}
}
uint16_t APM2RCOutput::get_freq(uint8_t ch) {
uint16_t icr;
switch (ch) {
case CH_1:
case CH_2:
icr = ICR1;
break;
case CH_3:
case CH_4:
case CH_5:
icr = ICR4;
break;
case CH_6:
case CH_7:
case CH_8:
icr = ICR3;
break;
/* CH_10 and CH_11 share TIMER5 with input capture.
* The period is specified in OCR5A rater than the ICR. */
case CH_10:
case CH_11:
icr = OCR5A;
break;
default:
return 0;
}
/* transform to period by inverse of _time_period(icr). */
return (2000000UL / icr);
}
/* Output active/highZ control, either by single channel at a time
* or a mask of channels */
void APM2RCOutput::enable_ch(uint8_t ch) {
switch(ch) {
case 0: TCCR1A |= (1<<COM1B1); break; // CH_1 : OC1B
case 1: TCCR1A |= (1<<COM1A1); break; // CH_2 : OC1A
case 2: TCCR4A |= (1<<COM4C1); break; // CH_3 : OC4C
case 3: TCCR4A |= (1<<COM4B1); break; // CH_4 : OC4B
case 4: TCCR4A |= (1<<COM4A1); break; // CH_5 : OC4A
case 5: TCCR3A |= (1<<COM3C1); break; // CH_6 : OC3C
case 6: TCCR3A |= (1<<COM3B1); break; // CH_7 : OC3B
case 7: TCCR3A |= (1<<COM3A1); break; // CH_8 : OC3A
case 9: TCCR5A |= (1<<COM5B1); break; // CH_10 : OC5B
case 10: TCCR5A |= (1<<COM5C1); break; // CH_11 : OC5C
}
}
void APM2RCOutput::enable_mask(uint32_t chmask) {
for (int i = 0; i < 32; i++) {
uint32_t c = chmask >> i;
if (c & 1) {
enable_ch(i);
}
}
}
void APM2RCOutput::disable_ch(uint8_t ch) {
switch(ch) {
case 0: TCCR1A &= ~(1<<COM1B1); break; // CH_1 : OC1B
case 1: TCCR1A &= ~(1<<COM1A1); break; // CH_2 : OC1A
case 2: TCCR4A &= ~(1<<COM4C1); break; // CH_3 : OC4C
case 3: TCCR4A &= ~(1<<COM4B1); break; // CH_4 : OC4B
case 4: TCCR4A &= ~(1<<COM4A1); break; // CH_5 : OC4A
case 5: TCCR3A &= ~(1<<COM3C1); break; // CH_6 : OC3C
case 6: TCCR3A &= ~(1<<COM3B1); break; // CH_7 : OC3B
case 7: TCCR3A &= ~(1<<COM3A1); break; // CH_8 : OC3A
case 9: TCCR5A &= ~(1<<COM5B1); break; // CH_10 : OC5B
case 10: TCCR5A &= ~(1<<COM5C1); break; // CH_11 : OC5C
}
}
void APM2RCOutput::disable_mask(uint32_t chmask) {
for (int i = 0; i < 32; i++) {
if ((chmask >> i) & 1) {
disable_ch(i);
}
}
}
/* constrain pwm to be between min and max pulsewidth. */
static inline uint16_t constrain_period(uint16_t p) {
if (p > RC_INPUT_MAX_PULSEWIDTH) return RC_INPUT_MAX_PULSEWIDTH;
if (p < RC_INPUT_MIN_PULSEWIDTH) return RC_INPUT_MIN_PULSEWIDTH;
return p;
}
/* Output, either single channel or bulk array of channels */
void APM2RCOutput::write(uint8_t ch, uint16_t period_us) {
/* constrain, then scale from 1us resolution (input units)
* to 0.5us (timer units) */
uint16_t pwm = constrain_period(period_us) << 1;
switch(ch)
{
case 0: OCR1B=pwm; break; // out1
case 1: OCR1A=pwm; break; // out2
case 2: OCR4C=pwm; break; // out3
case 3: OCR4B=pwm; break; // out4
case 4: OCR4A=pwm; break; // out5
case 5: OCR3C=pwm; break; // out6
case 6: OCR3B=pwm; break; // out7
case 7: OCR3A=pwm; break; // out8
case 9: OCR5B=pwm; break; // out10
case 10: OCR5C=pwm; break; // out11
}
}
void APM2RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len) {
for (int i = 0; i < len; i++) {
write(i + ch, period_us[i]);
}
}
/* Read back current output state, as either single channel or
* array of channels. */
uint16_t APM2RCOutput::read(uint8_t ch) {
uint16_t pwm=0;
switch(ch) {
case 0: pwm=OCR1B; break; // out1
case 1: pwm=OCR1A; break; // out2
case 2: pwm=OCR4C; break; // out3
case 3: pwm=OCR4B; break; // out4
case 4: pwm=OCR4A; break; // out5
case 5: pwm=OCR3C; break; // out6
case 6: pwm=OCR3B; break; // out7
case 7: pwm=OCR3A; break; // out8
case 9: pwm=OCR5B; break; // out10
case 10: pwm=OCR5C; break; // out11
}
/* scale from 0.5us resolution (timer units) to 1us units */
return pwm>>1;
}
void APM2RCOutput::read(uint16_t* period_us, uint8_t len) {
for (int i = 0; i < len; i++) {
period_us[i] = read(i);
}
}
uint16_t APM2RCOutput::_timer_period(uint16_t speed_hz) {
return 2000000UL / speed_hz;
}
#endif