forked from Archive/PX4-Autopilot
av/x-v1: use hw description methods for timer configuration
This commit is contained in:
Beat Küng
David Sidrane
parent
366e2b9dc9
commit
ebbcc01f12
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@ -35,7 +35,7 @@ add_library(drivers_board
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init.c
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init.c
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sdio.c
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sdio.c
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spi.cpp
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spi.cpp
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timer_config.c
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timer_config.cpp
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)
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)
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target_link_libraries(drivers_board
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target_link_libraries(drivers_board
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@ -193,74 +193,9 @@
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* PWM
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/* PWM
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*
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* 9 PWM outputs are configured.
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*
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* Pins:
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*
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* FMU_CH1 : PA8 : TIM1_CH1
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* FMU_CH2 : PA9 : TIM1_CH2
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* FMU_CH3 : PA10 : TIM1_CH3
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* FMU_CH4 : PA11 : TIM1_CH4
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* FMU_CH5 : PA3 : TIM2_CH4
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* FMU_CH6 : PI6 : TIM8_CH2
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* FMU_CH7 : PF7 : TIM11_CH1
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* FMU_CH8 : PF6 : TIM10_CH1
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* FMU_CH9 : PF6 : TIM4_CH3
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*
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*/
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*/
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#define GPIO_TIM1_CH1OUT /* PA8 T1C1 FMU1 */ GPIO_TIM1_CH1OUT_1
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#define DIRECT_PWM_OUTPUT_CHANNELS 9
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#define GPIO_TIM1_CH2OUT /* PA9 T1C2 FMU2 */ GPIO_TIM1_CH2OUT_1
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#define DIRECT_INPUT_TIMER_CHANNELS 9
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#define GPIO_TIM1_CH3OUT /* PA10 T1C3 FMU3 */ GPIO_TIM1_CH3OUT_1
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#define GPIO_TIM1_CH4OUT /* PA11 T1C4 FMU4 */ GPIO_TIM1_CH4OUT_1
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#define GPIO_TIM2_CH4OUT /* PA3 T2C4 FMU5 */ GPIO_TIM2_CH4OUT_1
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#define GPIO_TIM8_CH2OUT /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
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#define GPIO_TIM11_CH1OUT /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1OUT_2
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#define GPIO_TIM10_CH1OUT /* PF6 T10C1 FMU8 */ GPIO_TIM10_CH1OUT_2
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#define GPIO_TIM4_CH3OUT /* PD14 T4C3 FMU9 */ GPIO_TIM4_CH3OUT_1
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_TIM1_CH1IN /* PA8 T1C1 FMU1 */ GPIO_TIM1_CH1IN_1
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#define GPIO_TIM1_CH2IN /* PA9 T1C2 FMU2 */ GPIO_TIM1_CH2IN_1
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#define GPIO_TIM1_CH3IN /* PA10 T1C3 FMU3 */ GPIO_TIM1_CH3IN_1
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#define GPIO_TIM1_CH4IN /* PA11 T1C4 FMU4 */ GPIO_TIM1_CH4IN_1
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#define GPIO_TIM2_CH4IN /* PA3 T2C4 FMU5 */ GPIO_TIM2_CH4IN_1
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#define GPIO_TIM8_CH2IN /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
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#define GPIO_TIM11_CH1IN /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1IN_2
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#define GPIO_TIM10_CH1IN /* PF6 T10C1 FMU8 */ GPIO_TIM10_CH1IN_2
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#define GPIO_TIM4_CH3IN /* PD14 T4C3 FMU9 */ GPIO_TIM4_CH3IN_1
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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/* User GPIOs
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*
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* GPIO0-5 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_GPIO0_INPUT /* PA8 T1C1 FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
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#define GPIO_GPIO1_INPUT /* PA9 T1C2 FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
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#define GPIO_GPIO2_INPUT /* PA10 T1C3 FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
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#define GPIO_GPIO3_INPUT /* PA11 T1C4 FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)
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#define GPIO_GPIO4_INPUT /* PA3 T2C4 FMU5 */ _MK_GPIO_INPUT(GPIO_TIM2_CH4IN_1)
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#define GPIO_GPIO5_INPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM8_CH2IN_2)
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#define GPIO_GPIO6_INPUT /* PF7 T11C1 FMU7 */ _MK_GPIO_INPUT(GPIO_TIM11_CH1IN_2)
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#define GPIO_GPIO7_INPUT /* PF6 T10C1 FMU8 */ _MK_GPIO_INPUT(GPIO_TIM10_CH1IN_2)
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#define GPIO_GPIO8_INPUT /* PD14 T4C3 FMU9 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN_2)
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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_GPIO0_OUTPUT /* PA8 T1C1 FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
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#define GPIO_GPIO1_OUTPUT /* PA9 T1C2 FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
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#define GPIO_GPIO2_OUTPUT /* PA10 T1C3 FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
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#define GPIO_GPIO3_OUTPUT /* PA11 T1C4 FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)
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#define GPIO_GPIO4_OUTPUT /* PA3 T2C4 FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT_1)
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#define GPIO_GPIO5_OUTPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM8_CH2OUT_2)
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#define GPIO_GPIO6_OUTPUT /* PF7 T11C1 FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM11_CH1OUT_2)
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#define GPIO_GPIO7_OUTPUT /* PF6 T10C1 FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM10_CH1OUT_2)
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#define GPIO_GPIO8_OUTPUT /* PF6 T10C1 FMU9 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT_2)
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/* High-resolution timer */
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/* High-resolution timer */
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#define HRT_TIMER 5 /* use timer5 for the HRT */
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#define HRT_TIMER 5 /* use timer5 for the HRT */
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@ -306,20 +241,6 @@
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#define BOARD_HAS_ON_RESET 1
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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_GPIO8_INPUT, \
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GPIO_GPIO7_INPUT, \
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GPIO_GPIO6_INPUT, \
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GPIO_GPIO5_INPUT, \
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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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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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PX4_ADC_GPIO, \
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GPIO_CAN1_RX, \
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GPIO_CAN1_RX, \
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@ -328,7 +249,7 @@
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 5
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#define BOARD_NUM_IO_TIMERS 6
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__BEGIN_DECLS
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__BEGIN_DECLS
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@ -66,6 +66,7 @@
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#include <arch/board/board.h>
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#include <arch/board/board.h>
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#include "up_internal.h"
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#include "up_internal.h"
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#include <px4_arch/io_timer.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_board_led.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 <systemlib/px4_macros.h>
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@ -88,10 +89,9 @@ static int configure_switch(void);
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************************************************************************************/
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************************************************************************************/
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__EXPORT void board_on_reset(int status)
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__EXPORT void board_on_reset(int status)
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{
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{
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/* configure the GPIO pins to outputs and keep them low */
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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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const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
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}
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px4_gpio_init(gpio, arraySize(gpio));
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if (status >= 0) {
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if (status >= 0) {
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up_mdelay(6);
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up_mdelay(6);
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@ -1,196 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2018 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_TIM1CC,
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},
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{
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.base = STM32_TIM2_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM2EN,
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.clock_freq = STM32_APB1_TIM2_CLKIN,
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.vectorno = STM32_IRQ_TIM2,
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},
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{
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.base = STM32_TIM8_BASE,
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.clock_register = STM32_RCC_APB2ENR,
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.clock_bit = RCC_APB2ENR_TIM8EN,
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.clock_freq = STM32_APB2_TIM8_CLKIN,
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.vectorno = STM32_IRQ_TIM8CC,
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},
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{
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.base = STM32_TIM11_BASE,
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.clock_register = STM32_RCC_APB2ENR,
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.clock_bit = RCC_APB2ENR_TIM11EN,
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.clock_freq = STM32_APB2_TIM11_CLKIN,
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.vectorno = STM32_IRQ_TIM11,
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},
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{
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.base = STM32_TIM10_BASE,
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.clock_register = STM32_RCC_APB2ENR,
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.clock_bit = RCC_APB2ENR_TIM10EN,
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.clock_freq = STM32_APB2_TIM10_CLKIN,
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.vectorno = STM32_IRQ_TIM10,
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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 = 1,
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},
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{
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.first_channel_index = 5,
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.channel_count = 1,
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},
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{
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.first_channel_index = 6,
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.channel_count = 1,
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},
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{
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.first_channel_index = 7,
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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_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_TIM2_CH4OUT,
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.gpio_in = GPIO_TIM2_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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.gpio_out = GPIO_TIM8_CH2OUT,
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.gpio_in = GPIO_TIM8_CH2IN,
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.timer_index = 2,
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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_TIM11_CH1OUT,
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.gpio_in = GPIO_TIM11_CH1IN,
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.timer_index = 3,
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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_TIM10_CH1OUT,
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||||||
.gpio_in = GPIO_TIM10_CH1IN,
|
|
||||||
.timer_index = 4,
|
|
||||||
.timer_channel = 1,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
|
||||||
},
|
|
||||||
// {
|
|
||||||
// .gpio_out = GPIO_TIM4_CH3OUT,
|
|
||||||
// .gpio_in = GPIO_TIM4_CH3IN,
|
|
||||||
// .timer_index = 5,
|
|
||||||
// .timer_channel = 3,
|
|
||||||
// .ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
|
||||||
// .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
|
||||||
// }
|
|
||||||
};
|
|
||||||
|
|
@ -0,0 +1,59 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2018 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <px4_arch/io_timer_hw_description.h>
|
||||||
|
|
||||||
|
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||||
|
initIOTimer(Timer::Timer1),
|
||||||
|
initIOTimer(Timer::Timer2),
|
||||||
|
initIOTimer(Timer::Timer8),
|
||||||
|
initIOTimer(Timer::Timer11),
|
||||||
|
initIOTimer(Timer::Timer10),
|
||||||
|
initIOTimer(Timer::Timer4),
|
||||||
|
};
|
||||||
|
|
||||||
|
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortA, GPIO::Pin9}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortA, GPIO::Pin11}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer11, Timer::Channel1}, {GPIO::PortF, GPIO::Pin7}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer10, Timer::Channel1}, {GPIO::PortF, GPIO::Pin6}),
|
||||||
|
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||||
|
};
|
||||||
|
|
||||||
|
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||||
|
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||||
|
|
||||||
Loading…
Reference in New Issue