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Enable ARK CANnode pwm outputs 7 and 8

This commit is contained in:
alexklimaj 2023-01-24 11:36:06 -07:00 committed by Daniel Agar
parent ac7dc030c3
commit 0776c47d88
3 changed files with 13 additions and 6 deletions
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6
boards/ark/cannode/nuttx-config/include/board_dma_map.h
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@ -42,3 +42,9 @@
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
// Assigned in timer_config.cpp
// Timer 2 /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
// Timer 3 /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP */
// Timer 4 /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP */

3
boards/ark/cannode/src/board_config.h
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@ -62,7 +62,8 @@
#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
/* PWM Outputs */
#define DIRECT_PWM_OUTPUT_CHANNELS 6 // Actually 8
#define BOARD_NUM_IO_TIMERS 3
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define GPIO_TIM2_CH1_RESET /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_TIM2_CH2_RESET /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)

10
boards/ark/cannode/src/timer_config.cpp
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@ -34,9 +34,9 @@
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer2),
initIOTimer(Timer::Timer3),
//initIOTimer(Timer::Timer4),
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =