forked from Archive/PX4-Autopilot
airmind/mindpx-v2: use hw description methods for timer configuration
This commit is contained in:
parent
6cdf368776
commit
366e2b9dc9
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@ -36,7 +36,7 @@ add_library(drivers_board
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init.c
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led.c
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spi.c
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timer_config.c
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timer_config.cpp
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usb.c
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)
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@ -190,63 +190,10 @@
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
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/* AUX PWMs
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*
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* 8 PWM outputs are configured.
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*
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* Pins:
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*
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* CH1 : PE9 : TIM1_CH1
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* CH2 : PE11 : TIM1_CH2
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* CH3 : PE13 : TIM1_CH3
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* CH4 : PE14 : TIM1_CH4
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* CH5 : PD12 : TIM4_CH1
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* CH6 : PD13 : TIM4_CH2
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* CH7 : PD14 : TIM4_CH3
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* CH8 : PD15 : TIM4_CH4
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*/
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#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_TIM4_CH1OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN12)
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#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_TIM4_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN15)
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
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#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
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#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
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#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
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#define GPIO_TIM4_CH1IN GPIO_TIM4_CH1IN_2
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#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
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#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
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#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_2
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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/* PWMs for main output */
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/* TODO: implement a new driver - /dev/pwm_output0 */
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#define GPIO_TIM2_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TIM2_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
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#define GPIO_TIM2_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
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#define GPIO_TIM2_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
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#define GPIO_TIM3_CH1OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN4)
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#define GPIO_TIM3_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
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#define GPIO_TIM3_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_TIM3_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
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#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_2
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#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
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#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
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#define GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_2
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#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_3
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#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
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#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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@ -265,7 +212,7 @@
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL 1
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#define GPIO_PWM_IN GPIO_TIM4_CH1IN
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#define GPIO_PWM_IN GPIO_TIM1_CH1IN_2
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#define RC_SERIAL_PORT "/dev/ttyS0"
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@ -73,6 +73,8 @@
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#include <px4_platform_common/init.h>
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#include <px4_platform/board_dma_alloc.h>
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#include <drivers/drv_pwm_output.h>
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#include <px4_arch/io_timer.h>
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/****************************************************************************
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* Pre-Processor Definitions
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@ -108,14 +110,9 @@ __END_DECLS
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__EXPORT void board_on_reset(int status)
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{
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/* configure the GPIO pins to outputs and keep them low */
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stm32_configgpio(GPIO_GPIO0_OUTPUT);
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stm32_configgpio(GPIO_GPIO1_OUTPUT);
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stm32_configgpio(GPIO_GPIO2_OUTPUT);
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stm32_configgpio(GPIO_GPIO3_OUTPUT);
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stm32_configgpio(GPIO_GPIO4_OUTPUT);
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stm32_configgpio(GPIO_GPIO5_OUTPUT);
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stm32_configgpio(GPIO_GPIO6_OUTPUT);
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stm32_configgpio(GPIO_GPIO7_OUTPUT);
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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
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px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
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}
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/**
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* On resets invoked from system (not boot) insure we establish a low
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@ -1,147 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015, 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file mindpx_timer_config.c
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*
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* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
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*
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* Note that these arrays must always be fully-sized.
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*/
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#include <stdint.h>
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#include <stm32.h>
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#include <stm32_gpio.h>
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#include <stm32_tim.h>
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#include <drivers/drv_pwm_output.h>
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#include <px4_arch/io_timer.h>
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#include "board_config.h"
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__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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{
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.base = STM32_TIM1_BASE,
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.clock_register = STM32_RCC_APB2ENR,
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.clock_bit = RCC_APB2ENR_TIM1EN,
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.clock_freq = STM32_APB2_TIM1_CLKIN,
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.vectorno = STM32_IRQ_TIM1CC,
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},
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{
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.base = STM32_TIM4_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM4EN,
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.clock_freq = STM32_APB1_TIM4_CLKIN,
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.vectorno = STM32_IRQ_TIM4
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}
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};
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__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = {
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.element = {
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{
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.first_channel_index = 0,
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.channel_count = 4,
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},
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{
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.first_channel_index = 4,
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.channel_count = 4,
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}
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}
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};
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__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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{
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.gpio_out = GPIO_TIM1_CH1OUT,
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.gpio_in = GPIO_TIM1_CH1IN,
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.timer_index = 0,
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.timer_channel = 1,
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.ccr_offset = STM32_GTIM_CCR1_OFFSET,
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.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
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},
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{
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.gpio_out = GPIO_TIM1_CH2OUT,
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.gpio_in = GPIO_TIM1_CH2IN,
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.timer_index = 0,
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.timer_channel = 2,
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.ccr_offset = STM32_GTIM_CCR2_OFFSET,
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
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},
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{
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.gpio_out = GPIO_TIM1_CH3OUT,
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.gpio_in = GPIO_TIM1_CH3IN,
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.timer_index = 0,
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.timer_channel = 3,
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.ccr_offset = STM32_GTIM_CCR3_OFFSET,
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
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},
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{
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.gpio_out = GPIO_TIM1_CH4OUT,
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.gpio_in = GPIO_TIM1_CH4IN,
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.timer_index = 0,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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},
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{
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.gpio_out = GPIO_TIM4_CH1OUT,
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.gpio_in = GPIO_TIM4_CH1IN,
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.timer_index = 1,
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.timer_channel = 1,
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.ccr_offset = STM32_GTIM_CCR1_OFFSET,
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.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
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},
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{
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.gpio_out = GPIO_TIM4_CH2OUT,
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.gpio_in = GPIO_TIM4_CH2IN,
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.timer_index = 1,
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.timer_channel = 2,
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.ccr_offset = STM32_GTIM_CCR2_OFFSET,
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
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},
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{
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.gpio_out = GPIO_TIM4_CH3OUT,
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.gpio_in = GPIO_TIM4_CH3IN,
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.timer_index = 1,
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.timer_channel = 3,
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.ccr_offset = STM32_GTIM_CCR3_OFFSET,
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
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},
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{
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.gpio_out = GPIO_TIM4_CH4OUT,
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.gpio_in = GPIO_TIM4_CH4IN,
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.timer_index = 1,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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}
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};
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@ -0,0 +1,54 @@
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/****************************************************************************
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*
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* Copyright (c) 2015, 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_arch/io_timer_hw_description.h>
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constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
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initIOTimer(Timer::Timer1),
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initIOTimer(Timer::Timer4),
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};
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
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initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
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};
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
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initIOTimerChannelMapping(io_timers, timer_io_channels);
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