From 1065118ebc963dbed75da5c7093b1863f0e099a6 Mon Sep 17 00:00:00 2001 From: px4dev Date: Wed, 24 Oct 2012 00:55:37 -0700 Subject: [PATCH] Separate config from implementation for the STM32 pwm servo driver. --- apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c | 91 +++++++++++++++++++ apps/drivers/stm32/drv_pwm_servo.c | 59 +----------- apps/drivers/stm32/drv_pwm_servo.h | 67 ++++++++++++++ 3 files changed, 160 insertions(+), 57 deletions(-) create mode 100644 apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c create mode 100644 apps/drivers/stm32/drv_pwm_servo.h diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c new file mode 100644 index 0000000000..d1ff8c112b --- /dev/null +++ b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c @@ -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 + +#include + +#include +#include + +#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, + } +}; diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c index be8934492f..e3801a4170 100644 --- a/apps/drivers/stm32/drv_pwm_servo.c +++ b/apps/drivers/stm32/drv_pwm_servo.c @@ -58,6 +58,8 @@ #include #include +#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) diff --git a/apps/drivers/stm32/drv_pwm_servo.h b/apps/drivers/stm32/drv_pwm_servo.h new file mode 100644 index 0000000000..667283424e --- /dev/null +++ b/apps/drivers/stm32/drv_pwm_servo.h @@ -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 + +/* 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];