forked from Archive/PX4-Autopilot
Separate config from implementation for the STM32 pwm servo driver.
This commit is contained in:
parent
2fc1032069
commit
1065118ebc
|
@ -0,0 +1,91 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file px4fmu_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <drivers/stm32/drv_pwm_servo.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "stm32_internal.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_tim.h"
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
|
@ -58,6 +58,8 @@
|
|||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "drv_pwm_servo.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
@ -66,67 +68,10 @@
|
|||
#include "stm32_gpio.h"
|
||||
#include "stm32_tim.h"
|
||||
|
||||
/* configuration limits */
|
||||
#define PWM_SERVO_MAX_TIMERS 2
|
||||
#define PWM_SERVO_MAX_CHANNELS 8
|
||||
|
||||
/* default rate (in Hz) of PWM updates */
|
||||
static uint32_t pwm_update_rate = 50;
|
||||
|
||||
/*
|
||||
* Servo configuration for all of the pins that can be used as
|
||||
* PWM outputs on FMU.
|
||||
*/
|
||||
|
||||
/* array of timers dedicated to PWM servo use */
|
||||
static const struct pwm_servo_timer {
|
||||
uint32_t base;
|
||||
uint32_t clock_register;
|
||||
uint32_t clock_bit;
|
||||
uint32_t clock_freq;
|
||||
} pwm_timers[] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
/* array of channels in logical order */
|
||||
static const struct pwm_servo_channel {
|
||||
uint32_t gpio;
|
||||
uint8_t timer_index;
|
||||
uint8_t timer_channel;
|
||||
servo_position_t default_value;
|
||||
} pwm_channels[] = {
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg))
|
||||
|
||||
#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET)
|
||||
|
|
|
@ -0,0 +1,67 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_pwm_servo.h
|
||||
*
|
||||
* stm32-specific PWM output data.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
/* configuration limits */
|
||||
#define PWM_SERVO_MAX_TIMERS 2
|
||||
#define PWM_SERVO_MAX_CHANNELS 8
|
||||
|
||||
/* array of timers dedicated to PWM servo use */
|
||||
struct pwm_servo_timer {
|
||||
uint32_t base;
|
||||
uint32_t clock_register;
|
||||
uint32_t clock_bit;
|
||||
uint32_t clock_freq;
|
||||
};
|
||||
|
||||
/* supplied by board-specific code */
|
||||
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
|
||||
|
||||
/* array of channels in logical order */
|
||||
struct pwm_servo_channel {
|
||||
uint32_t gpio;
|
||||
uint8_t timer_index;
|
||||
uint8_t timer_channel;
|
||||
servo_position_t default_value;
|
||||
};
|
||||
|
||||
__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS];
|
Loading…
Reference in New Issue