mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
fmu-v5: use hw description methods for timer configuration
This commit is contained in:
Beat Küng
David Sidrane
@@ -38,7 +38,7 @@ add_library(drivers_board
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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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@@ -357,86 +357,17 @@
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#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
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/* PWM
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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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* 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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* FMU_CH6 : PD14 : TIM4_CH3
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* FMU_CH7 : PH6 : TIM12_CH1
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* FMU_CH8 : PH9 : TIM12_CH2
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*
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*/
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#define GPIO_TIM12_CH2OUT /* PH9 T12C2 FMU8 */ GPIO_TIM12_CH2OUT_2
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#define GPIO_TIM12_CH1OUT /* PH6 T12C1 FMU7 */ GPIO_TIM12_CH1OUT_2
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#define GPIO_TIM4_CH3OUT /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3OUT_2
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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 8
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#define GPIO_TIM12_CH2IN /* PH9 T12C2 FMU8 */ GPIO_TIM12_CH2IN_2
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#define GPIO_TIM12_CH1IN /* PH6 T12C1 FMU7 */ GPIO_TIM12_CH1IN_2
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#define GPIO_TIM4_CH3IN /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3IN_2
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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 8
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#define BOARD_HAS_LED_PWM 1
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#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
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#define LED_TIM3_CH1OUT /* PC6 T3C1 GREEN */ GPIO_TIM3_CH1OUT_3
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#define LED_TIM3_CH2OUT /* PC7 T3C2 BLUE */ GPIO_TIM3_CH2OUT_3
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#define LED_TIM3_CH4OUT /* PB1 T3C4 RED */ GPIO_TIM3_CH4OUT_1
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#define BOARD_HAS_UI_LED_PWM 1
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#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
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#define UI_LED_TIM5_CH1OUT /* PH10 T5C1 RED */ GPIO_TIM5_CH1OUT_2
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#define UI_LED_TIM5_CH2OUT /* PH11 T5C2 GREEN */ GPIO_TIM5_CH2OUT_2
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#define UI_LED_TIM5_CH3OUT /* PH12 T5C3 BLUE */ GPIO_TIM5_CH3OUT_2
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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_GPIO7_INPUT /* PH9 T12C2 FMU8 */ _MK_GPIO_INPUT(GPIO_TIM12_CH2IN)
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#define GPIO_GPIO6_INPUT /* PH6 T12C1 FMU7 */ _MK_GPIO_INPUT(GPIO_TIM12_CH1IN)
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#define GPIO_GPIO5_INPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN)
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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_GPIO7_OUTPUT /* PH9 T12C2 FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH2OUT)
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#define GPIO_GPIO6_OUTPUT /* PH6 T12C1 FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH1OUT)
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#define GPIO_GPIO5_OUTPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT)
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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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@@ -515,7 +446,7 @@
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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/* Shared pins Both FMU and PX4IO control/monitor
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* FMU Initializes these pins to passive input until it is known
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@@ -623,19 +554,6 @@
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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_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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PX4_ADC_GPIO, \
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GPIO_HW_REV_DRIVE, \
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@@ -65,6 +65,7 @@
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#include <arch/board/board.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_board_led.h>
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#include <systemlib/px4_macros.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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@@ -1,320 +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 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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.dshot = {
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.dma_base = STM32_DMA2_BASE,
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.dmamap = DMAMAP_TIM1_UP,
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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_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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.base = STM32_TIM12_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM12EN,
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.clock_freq = STM32_APB1_TIM12_CLKIN,
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.vectorno = STM32_IRQ_TIM12,
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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_TIM9_BASE,
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.clock_register = STM32_RCC_APB2ENR,
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.clock_bit = RCC_APB2ENR_TIM9EN,
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.clock_freq = STM32_APB2_TIM9_CLKIN,
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.vectorno = STM32_IRQ_TIM9,
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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 = 2,
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},
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{
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.first_channel_index = 6,
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.channel_count = 2,
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},
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{
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.first_channel_index = 8,
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.channel_count = 3,
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},
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{
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.first_channel_index = 11,
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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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.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_TIM12_CH1OUT,
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.gpio_in = GPIO_TIM12_CH1IN,
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.timer_index = 2,
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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_TIM12_CH2OUT,
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.gpio_in = GPIO_TIM12_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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#if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
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__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
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# if defined(BOARD_HAS_UI_LED_PWM)
|
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{
|
||||
.base = STM32_TIM5_BASE,
|
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.clock_register = STM32_RCC_APB1ENR,
|
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.clock_bit = RCC_APB1ENR_TIM5EN,
|
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.clock_freq = STM32_APB1_TIM5_CLKIN,
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.vectorno = 0,
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},
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# endif
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# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
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{
|
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.base = STM32_TIM3_BASE,
|
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.clock_register = STM32_RCC_APB1ENR,
|
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.clock_bit = RCC_APB1ENR_TIM3EN,
|
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.clock_freq = STM32_APB1_TIM3_CLKIN,
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.vectorno = 0,
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},
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# endif
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};
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|
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/* Support driving active low (preferred) or active high LED
|
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* on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
|
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*
|
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* Use open drain to drive the LED. This will ensure that
|
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* if the LED has a 5 Volt supply that the LED will be
|
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* off when high.
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*/
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#define CCER_C1_NUM_BITS 4
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#define ACTIVE_LOW(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
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#define ACTIVE_HIGH(c) 0
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#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
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# define POLARITY(c) ACTIVE_LOW(c)
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# define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
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#else
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# define POLARITY(c) ACTIVE_HIGH((c))
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# define DRIVE_TYPE(p) (p)
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#endif
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#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
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# define UI_POLARITY(c) ACTIVE_LOW(c)
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# define UI_DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
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#else
|
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# define UI_POLARITY(c) ACTIVE_HIGH((c))
|
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# define UI_DRIVE_TYPE(p) (p)
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#endif
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||||
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__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
# if defined(BOARD_UI_LED_SWAP_RG)
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH2OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.masks = UI_POLARITY(2),
|
||||
},
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH1OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.masks = UI_POLARITY(1),
|
||||
},
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH3OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.masks = UI_POLARITY(3),
|
||||
},
|
||||
# else
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH1OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.masks = UI_POLARITY(1),
|
||||
},
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH2OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.masks = UI_POLARITY(2),
|
||||
},
|
||||
{
|
||||
.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH3OUT),
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.masks = UI_POLARITY(3),
|
||||
},
|
||||
# endif
|
||||
# endif
|
||||
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
||||
{
|
||||
.gpio_out = DRIVE_TYPE(LED_TIM3_CH4OUT),
|
||||
.gpio_in = 0,
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
.timer_index = 1,
|
||||
# else
|
||||
.timer_index = 0,
|
||||
# endif
|
||||
.timer_channel = 4,
|
||||
.masks = POLARITY(4),
|
||||
},
|
||||
{
|
||||
.gpio_out = DRIVE_TYPE(LED_TIM3_CH1OUT),
|
||||
.gpio_in = 0,
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
.timer_index = 1,
|
||||
# else
|
||||
.timer_index = 0,
|
||||
# endif
|
||||
.timer_channel = 1,
|
||||
.masks = POLARITY(1),
|
||||
},
|
||||
{
|
||||
.gpio_out = DRIVE_TYPE(LED_TIM3_CH2OUT),
|
||||
.gpio_in = 0,
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
.timer_index = 1,
|
||||
# else
|
||||
.timer_index = 0,
|
||||
# endif
|
||||
.timer_channel = 2,
|
||||
.masks = POLARITY(2),
|
||||
},
|
||||
# endif
|
||||
};
|
||||
#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
|
||||
@@ -0,0 +1,132 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
|
||||
initIOTimer(Timer::Timer4),
|
||||
initIOTimer(Timer::Timer12),
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer9),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
|
||||
#if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
|
||||
constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
initIOTimer(Timer::Timer5),
|
||||
# endif
|
||||
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
||||
initIOTimer(Timer::Timer3),
|
||||
# endif
|
||||
};
|
||||
|
||||
/* Support driving active low (preferred) or active high LED
|
||||
* on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
|
||||
*
|
||||
* Use open drain to drive the LED. This will ensure that
|
||||
* if the LED has a 5 Volt supply that the LED will be
|
||||
* off when high.
|
||||
*/
|
||||
#define CCER_C1_NUM_BITS 4
|
||||
#define ACTIVE_LOW(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
|
||||
#define ACTIVE_HIGH(c) 0
|
||||
|
||||
#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
|
||||
# define POLARITY(c) ACTIVE_LOW(c)
|
||||
# define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
|
||||
#else
|
||||
# define POLARITY(c) ACTIVE_HIGH((c))
|
||||
# define DRIVE_TYPE(p) (p)
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
|
||||
# define UI_POLARITY(c) ACTIVE_LOW(c)
|
||||
# define UI_DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
|
||||
#else
|
||||
# define UI_POLARITY(c) ACTIVE_HIGH((c))
|
||||
# define UI_DRIVE_TYPE(p) (p)
|
||||
#endif
|
||||
|
||||
static inline constexpr timer_io_channels_t initIOTimerChannelUILED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
|
||||
Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
|
||||
{
|
||||
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
|
||||
ret.gpio_out = UI_DRIVE_TYPE(ret.gpio_out);
|
||||
ret.masks = UI_POLARITY(ui_polarity);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr timer_io_channels_t initIOTimerChannelControlLED(const io_timers_t
|
||||
io_timers_conf[MAX_LED_TIMERS],
|
||||
Timer::TimerChannel timer, GPIO::GPIOPin pin, int polarity)
|
||||
{
|
||||
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
|
||||
ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
|
||||
ret.masks = POLARITY(polarity);
|
||||
return ret;
|
||||
}
|
||||
|
||||
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
# if defined(BOARD_UI_LED_SWAP_RG)
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}, 2),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}, 1),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}, 3),
|
||||
# else
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}, 1),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}, 2),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}, 3),
|
||||
# endif
|
||||
# endif
|
||||
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}, 4),
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}, 1),
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}, 2),
|
||||
# endif
|
||||
};
|
||||
#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
|
||||
Reference in New Issue
Block a user