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crazyflie: use hw description methods for timer configuration

This commit is contained in:
Beat Küng 2020-01-03 10:23:53 +01:00 committed by David Sidrane
parent 3217b539c6
commit 4fd431b5e5
3 changed files with 20 additions and 105 deletions
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2
boards/bitcraze/crazyflie/src/CMakeLists.txt
View File

@ -35,7 +35,7 @@ add_library(drivers_board
init.c
led.c
spi.c
timer_config.c
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board

19
boards/bitcraze/crazyflie/src/board_config.h
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@ -161,29 +161,10 @@
#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
/* PWM
*
* Four PWM motor outputs are configured.
*
* Pins:
*
* CH1 : PA1 : TIM2_CH2
* CH2 : PB11 : TIM2_CH4
* CH3 : PA15 : TIM2_CH1
* CH4 : PB9 : TIM4_CH4
*/
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_2
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_1
/* This board overrides the defaults by providing
* PX4_PWM_ALTERNATE_RANGES and a replacement set of
* constants

104
boards/bitcraze/crazyflie/src/timer_config.c → boards/bitcraze/crazyflie/src/timer_config.cpp
View File

@ -31,98 +31,32 @@
*
****************************************************************************/
/*
* @file crazyflie_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include "board_config.h"
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include <px4_arch/io_timer_hw_description.h>
/* IO Timers normally free-run at 1MHz
* Here we make adjustments to the Frequency that sets the timer's prescale
* so that the prescale is set to 0
*/
#define TIMx_CLKIN 1000000
#define TIM2_CLKIN 1000000
#define TIM4_CLKIN 1000000
static inline constexpr io_timers_t initIOTimerOverrideClockFreq(Timer::Timer timer)
{
io_timers_t ret = initIOTimer(timer);
ret.clock_freq = TIMx_CLKIN;
return ret;
}
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = TIM2_CLKIN,
.vectorno = STM32_IRQ_TIM2,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = TIM4_CLKIN,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = {
.element = {
{
.first_channel_index = 0,
.channel_count = 3,
},
{
.first_channel_index = 3,
.channel_count = 1,
}
}
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimerOverrideClockFreq(Timer::Timer2),
initIOTimerOverrideClockFreq(Timer::Timer4),
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
// M1
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
// M2
.gpio_out = GPIO_TIM2_CH4OUT,
.gpio_in = GPIO_TIM2_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
// M3
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
// M4
.gpio_out = GPIO_TIM4_CH4OUT,
.gpio_in = GPIO_TIM4_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);