forked from Archive/PX4-Autopilot
durandal-v1: use hw description methods for timer configuration
This commit is contained in:
Beat Küng
David Sidrane
parent
4fd431b5e5
commit
5319a98fec
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@ -51,7 +51,7 @@ else()
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manifest.c
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sdio.c
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spi.cpp
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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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add_dependencies(drivers_board arch_board_hw_info)
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@ -312,58 +312,12 @@
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#define DIRECT_PWM_CAPTURE_CHANNELS 6
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/* PWM
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*
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* 5 PWM outputs are configured.
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*
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* Pins:
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*
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* FMU_CH1 : PE14 : TIM1_CH4
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* FMU_CH2 : PA10 : TIM1_CH3
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* FMU_CH3 : PE11 : TIM1_CH2
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* FMU_CH4 : PE9 : TIM1_CH1
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* FMU_CH5 : PD13 : TIM4_CH2
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*
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*/
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#define GPIO_TIM4_CH2OUT /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2OUT_2
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#define GPIO_TIM1_CH1OUT /* PE9 T1C1 FMU4 */ GPIO_TIM1_CH1OUT_2
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#define GPIO_TIM1_CH2OUT /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2OUT_2
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#define GPIO_TIM1_CH3OUT /* PA10 T1C3 FMU2 */ GPIO_TIM1_CH3OUT_1
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#define GPIO_TIM1_CH4OUT /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4OUT_2
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#define DIRECT_PWM_OUTPUT_CHANNELS 5
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#define GPIO_TIM4_CH2IN /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2IN_2
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#define GPIO_TIM1_CH1IN /* PE9 T1C1 FMU4 */ GPIO_TIM1_CH1IN_2
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#define GPIO_TIM1_CH2IN /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2IN_2
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#define GPIO_TIM1_CH3IN /* PA10 T1C3 FMU2 */ GPIO_TIM1_CH3IN_1
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#define GPIO_TIM1_CH4IN /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4IN_2
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#define DIRECT_INPUT_TIMER_CHANNELS 5
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
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/* User GPIOs
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*
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* GPIO0-4 are the PWM servo outputs.
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*/
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#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
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#define GPIO_GPIO4_INPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_INPUT(GPIO_TIM4_CH2IN)
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#define GPIO_GPIO3_INPUT /* PE9 T1C1 FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
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#define GPIO_GPIO2_INPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
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#define GPIO_GPIO1_INPUT /* PA10 T1C3 FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
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#define GPIO_GPIO0_INPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)
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#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
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#define GPIO_GPIO4_OUTPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT)
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#define GPIO_GPIO3_OUTPUT /* PE9 T1C1 FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
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#define GPIO_GPIO2_OUTPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
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#define GPIO_GPIO1_OUTPUT /* PA10 T1C3 FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
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#define GPIO_GPIO0_OUTPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
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@ -502,16 +456,6 @@
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#define BOARD_HAS_ON_RESET 1
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/* The list of GPIO that will be initialized */
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#define PX4_GPIO_PWM_INIT_LIST { \
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GPIO_GPIO4_INPUT, \
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GPIO_GPIO3_INPUT, \
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GPIO_GPIO2_INPUT, \
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GPIO_GPIO1_INPUT, \
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GPIO_GPIO0_INPUT, \
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}
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_HW_REV_DRIVE, \
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@ -68,6 +68,7 @@
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_board_led.h>
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#include <systemlib/px4_macros.h>
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#include <px4_arch/io_timer.h>
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#include <px4_platform_common/init.h>
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#include <px4_platform/gpio.h>
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#include <px4_platform/board_determine_hw_info.h>
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@ -136,10 +137,9 @@ __EXPORT void board_peripheral_reset(int ms)
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************************************************************************************/
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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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const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
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px4_gpio_init(gpio, arraySize(gpio));
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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
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px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
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}
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if (status >= 0) {
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up_mdelay(6);
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@ -1,132 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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 px4fmu_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 <chip.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_TIMCC,
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.dshot = {
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.dma_base = STM32_DMA1_BASE,
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.dmamap = DMAMAP_DMA12_TIM1UP_0,
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}
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},
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{
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.base = STM32_TIM4_BASE,
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.clock_register = STM32_RCC_APB1LENR,
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.clock_bit = RCC_APB1LENR_TIM4EN,
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.clock_freq = STM32_APB1_TIM4_CLKIN,
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.vectorno = STM32_IRQ_TIM4,
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.dshot = {
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.dma_base = STM32_DMA1_BASE,
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.dmamap = DMAMAP_DMA12_TIM4UP_0,
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}
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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 = 1,
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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_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_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_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_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_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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@ -0,0 +1,51 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
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};
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
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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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