forked from Archive/PX4-Autopilot
px4/fmu-v5: add capture pins to list of pwm pins
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@ -212,22 +212,6 @@
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#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
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/* PWM Capture
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*
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* 3 PWM Capture inputs are configured.
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*
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* Pins:
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*
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* FMU_CAP1 : PA5 : TIM2_CH1
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* FMU_CAP2 : PB3 : TIM2_CH2
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* FMU_CAP3 : PB11 : TIM2_CH4
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*/
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#define GPIO_TIM2_CH1_IN /* PA5 T22C1 FMU_CAP1 */ GPIO_TIM2_CH1IN_3
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#define GPIO_TIM2_CH2_IN /* PB3 T22C2 FMU_CAP2 */ GPIO_TIM2_CH2IN_2
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#define GPIO_TIM2_CH4_IN /* PB11 T22C4 FMU_CAP3 */ GPIO_TIM2_CH4IN_2
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#define DIRECT_PWM_CAPTURE_CHANNELS 3
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/* PI0 is nARMED
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* The GPIO will be set as input while not armed HW will have external HW Pull UP.
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* While armed it shall be configured at a GPIO OUT set LOW
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@ -239,7 +223,7 @@
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define DIRECT_PWM_OUTPUT_CHANNELS 11
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#define BOARD_HAS_LED_PWM 1
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#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
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@ -310,19 +294,6 @@
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#define RC_SERIAL_SINGLEWIRE
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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/* Input Capture Channels. */
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#define INPUT_CAP1_TIMER 2
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#define INPUT_CAP1_CHANNEL /* T4C1 */ 1
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#define GPIO_INPUT_CAP1 /* PA5 */ GPIO_TIM2_CH1_IN
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#define INPUT_CAP2_TIMER 2
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#define INPUT_CAP2_CHANNEL /* T4C2 */ 2
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#define GPIO_INPUT_CAP2 /* PB3 */ GPIO_TIM2_CH2_IN
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#define INPUT_CAP3_TIMER 2
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#define INPUT_CAP3_CHANNEL /* T4C4 */ 4
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#define GPIO_INPUT_CAP3 /* PB11 */ GPIO_TIM2_CH4_IN
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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@ -470,7 +441,7 @@
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#define BOARD_NUM_IO_TIMERS 5
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};
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__BEGIN_DECLS
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@ -50,6 +50,9 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
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initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
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initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
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initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
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initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
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};
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
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@ -43,6 +43,7 @@
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static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerChannel timer, GPIO::GPIOPin pin);
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#define initIOTimerChannelCapture initIOTimerChannel // alias, used for param metadata generation
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static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
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Timer::TimerChannel timer, GPIO::GPIOPin pin)
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