forked from Archive/PX4-Autopilot
imxrt: flexpwm remove 1:1 mapping requirement
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62d611b25b
commit
096dc306be
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@ -34,24 +34,23 @@ def extract_timer(line):
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if search:
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return search.group(1), 'generic'
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# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
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search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
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# NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
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search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
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if search:
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return search.group(1), 'imxrt'
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return (search.group(1) + '_' + search.group(2)), 'imxrt'
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return None, 'unknown'
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def extract_timer_from_channel(line, num_channels_already_found):
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def extract_timer_from_channel(line, timer_names):
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# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
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search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
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if search:
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return search.group(1)
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# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
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search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
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# NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
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search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
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if search:
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# imxrt uses a 1:1 timer group to channel association
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return str(num_channels_already_found)
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return str(timer_names.index((search.group(1) + '_' + search.group(2))))
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return None
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@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
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open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
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timers_str = timer_config[open_idx:close_idx]
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timers = []
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timer_names = []
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for line in timers_str.splitlines():
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line = line.strip()
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if len(line) == 0 or line.startswith('//'):
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@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):
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if timer_type == 'imxrt':
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if verbose: print('imxrt timer found')
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max_num_channels = 16 # Just add a fixed number of timers
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timers = [str(i) for i in range(max_num_channels)]
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dshot_support = {str(i): False for i in range(max_num_channels)}
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timer_names.append(timer)
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timers.append(str(len(timers)))
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dshot_support = {str(i): False for i in range(16)}
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for i in range(8): # First 8 channels support dshot
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dshot_support[str(i)] = True
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break
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if timer:
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elif timer:
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if verbose: print('found timer def: {:}'.format(timer))
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dshot_support[timer] = 'DMA' in line
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timers.append(timer)
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@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
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continue
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if verbose: print('--'+line+'--')
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timer = extract_timer_from_channel(line, len(channel_timers))
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timer = extract_timer_from_channel(line, timer_names)
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if timer:
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if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
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@ -255,6 +255,34 @@ static inline int channels_timer(unsigned channel)
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return timer_io_channels[channel].timer_index;
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}
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static uint32_t get_timer_channels(unsigned timer)
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{
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uint32_t channels = 0;
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static uint32_t channels_cache[MAX_IO_TIMERS] = {0};
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if (validate_timer_index(timer) < 0) {
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return channels;
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} else {
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if (channels_cache[timer] == 0) {
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/* Gather the channel bits that belong to the timer */
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uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
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uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
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for (unsigned chan_index = first_channel_index; chan_index < last_channel_index; chan_index++) {
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channels |= 1 << chan_index;
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}
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/* cache them */
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channels_cache[timer] = channels;
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}
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}
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return channels_cache[timer];
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}
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static uint32_t get_channel_mask(unsigned channel)
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{
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return io_timer_validate_channel_index(channel) == 0 ? 1 << channel : 0;
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@ -391,41 +419,60 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
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return rv;
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}
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static int timer_set_rate(unsigned channel, unsigned rate)
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static int timer_set_rate(unsigned timer, unsigned rate)
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{
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int channels = get_timer_channels(timer);
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irqstate_t flags = px4_enter_critical_section();
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
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if ((1 << channel) & channels) {
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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}
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}
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px4_leave_critical_section(flags);
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return 0;
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}
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static inline void io_timer_set_oneshot_mode(unsigned channel)
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static inline void io_timer_set_oneshot_mode(unsigned timer)
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{
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int channels = get_timer_channels(timer);
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irqstate_t flags = px4_enter_critical_section();
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uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
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rvalue &= ~SMCTRL_PRSC_MASK;
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rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
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if ((1 << channel) & channels) {
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uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
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rvalue &= ~SMCTRL_PRSC_MASK;
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rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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}
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}
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px4_leave_critical_section(flags);
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}
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static inline void io_timer_set_PWM_mode(unsigned channel)
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static inline void io_timer_set_PWM_mode(unsigned timer)
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{
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int channels = get_timer_channels(timer);
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irqstate_t flags = px4_enter_critical_section();
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uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
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rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
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rvalue |= SMCTRL_PRSC_DIV16;
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
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if ((1 << channel) & channels) {
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uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
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rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
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rvalue |= SMCTRL_PRSC_DIV16;
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rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
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;
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rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module) = rvalue;
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rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
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}
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}
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px4_leave_critical_section(flags);
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}
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@ -530,33 +577,35 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
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break;
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}
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uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
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uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
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int channels = get_timer_channels(timer);
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for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {
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for (uint32_t chan = 0; chan < DIRECT_PWM_OUTPUT_CHANNELS; ++chan) {
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if ((1 << chan) & channels) {
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/* Clear all Faults */
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rFSTS0(timer) = FSTS_FFLAG_MASK;
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/* Clear all Faults */
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rFSTS0(timer) = FSTS_FFLAG_MASK;
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rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
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rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
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/* Edge aligned at 0 */
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rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
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rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
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rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
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rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
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: OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
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rDTSRCSEL(timer) = 0;
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rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
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rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
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io_timer_set_PWM_mode(chan);
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timer_set_rate(chan, 50);
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rCTRL2(timer, timer_io_channels[chan].sub_module) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
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rCTRL(timer, timer_io_channels[chan].sub_module) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
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/* Edge aligned at 0 */
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rINIT(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL0(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL2(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rVAL4(channels_timer(chan), timer_io_channels[chan].sub_module) = 0;
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rFFILT0(timer) &= ~FFILT_FILT_PER_MASK;
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rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
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rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
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rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
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: OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
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rDTSRCSEL(timer) = 0;
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rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
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rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;
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}
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}
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io_timer_set_PWM_mode(timer);
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timer_set_rate(timer, 50);
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px4_leave_critical_section(flags);
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}
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@ -818,8 +867,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
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return value;
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}
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// The rt has 1:1 group to channel
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uint32_t io_timer_get_group(unsigned group)
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uint32_t io_timer_get_group(unsigned timer)
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{
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return get_channel_mask(group);
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return get_timer_channels(timer);
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}
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