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boards: mro ctrl zero classic enable all pwm outs 

* enable all available pwm outs, cause io timer 15 is supported now
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achim 3 years ago committed by GitHub
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4 changed files with 5 additions and 390 deletions
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  1. 4
      boards/mro/ctrl-zero-classic/src/board_config.h
  2. 96
      boards/mro/ctrl-zero-classic/src/hw_description.h
  3. 289
      boards/mro/ctrl-zero-classic/src/io_timer_hw_description.h
  4. 6
      boards/mro/ctrl-zero-classic/src/timer_config.cpp

4
boards/mro/ctrl-zero-classic/src/board_config.h
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@ -80,7 +80,7 @@ @@ -80,7 +80,7 @@
#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 10
#define DIRECT_PWM_OUTPUT_CHANNELS 12
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@ -156,7 +156,7 @@ @@ -156,7 +156,7 @@
#define BOARD_HAS_STATIC_MANIFEST 1
#define BOARD_NUM_IO_TIMERS 4
#define BOARD_NUM_IO_TIMERS 5
#define BOARD_ENABLE_CONSOLE_BUFFER

96
boards/mro/ctrl-zero-classic/src/hw_description.h
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@ -1,96 +0,0 @@ @@ -1,96 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#pragma once
#include "hw_description_stm_common.h"
static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const DMA &dma)
{
uint32_t dma_map = 0;
switch (timer) {
case Timer::Timer1:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM1UP_0 : DMAMAP_DMA12_TIM1UP_1;
break;
case Timer::Timer2:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM2UP_0 : DMAMAP_DMA12_TIM2UP_1;
break;
case Timer::Timer3:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM3UP_0 : DMAMAP_DMA12_TIM3UP_1;
break;
case Timer::Timer4:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM4UP_0 : DMAMAP_DMA12_TIM4UP_1;
break;
case Timer::Timer5:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM5UP_0 : DMAMAP_DMA12_TIM5UP_1;
break;
case Timer::Timer6:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM6UP_0 : DMAMAP_DMA12_TIM6UP_1;
break;
case Timer::Timer7:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM7UP_0 : DMAMAP_DMA12_TIM7UP_1;
break;
case Timer::Timer8:
dma_map = (dma.index == DMA::Index1) ? DMAMAP_DMA12_TIM8UP_0 : DMAMAP_DMA12_TIM8UP_1;
break;
case Timer::Timer9:
case Timer::Timer10:
case Timer::Timer11:
case Timer::Timer12:
case Timer::Timer13:
case Timer::Timer14:
case Timer::Timer15:
// dma_map = (dma.index == DMA::Index2) ? DMAMAP_DMA12_TIM15UP_0 : DMAMAP_DMA12_TIM15UP_1;
break;
}
constexpr_assert(dma_map != 0, "Invalid DMA config for given timer");
return dma_map;
}

289
boards/mro/ctrl-zero-classic/src/io_timer_hw_description.h
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@ -1,289 +0,0 @@ @@ -1,289 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#pragma once
#include <px4_arch/io_timer.h>
#include <px4_arch/hw_description.h>
#include <px4_platform_common/constexpr_util.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform/io_timer_init.h>
#include <stm32_tim.h>
static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerChannel timer, GPIO::GPIOPin pin)
{
timer_io_channels_t ret{};
uint32_t gpio_af = 0;
switch (timer.timer) {
case Timer::Timer1:
case Timer::Timer2:
gpio_af = GPIO_AF1;
break;
case Timer::Timer3:
case Timer::Timer4:
case Timer::Timer5:
case Timer::Timer12:
gpio_af = GPIO_AF2;
break;
case Timer::Timer6:
case Timer::Timer7:
case Timer::Timer8:
case Timer::Timer9:
case Timer::Timer10:
case Timer::Timer11:
gpio_af = GPIO_AF3;
break;
case Timer::Timer15:
gpio_af = GPIO_AF4;
break;
case Timer::Timer13:
case Timer::Timer14:
gpio_af = GPIO_AF9;
break;
}
uint32_t pin_port = getGPIOPort(pin.port) | getGPIOPin(pin.pin);
ret.gpio_in = gpio_af | (GPIO_ALT | GPIO_SPEED_50MHz | GPIO_FLOAT) | pin_port;
ret.gpio_out = gpio_af | (GPIO_ALT | GPIO_SPEED_50MHz | GPIO_PUSHPULL) | pin_port;
return ret;
}
static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
Timer::TimerChannel timer, GPIO::GPIOPin pin)
{
timer_io_channels_t ret = initIOTimerGPIOInOut(timer, pin);
switch (timer.channel) {
case Timer::Channel1:
ret.ccr_offset = STM32_GTIM_CCR1_OFFSET;
ret.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF;
ret.timer_channel = 1;
break;
case Timer::Channel2:
ret.ccr_offset = STM32_GTIM_CCR2_OFFSET;
ret.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF;
ret.timer_channel = 2;
break;
case Timer::Channel3:
ret.ccr_offset = STM32_GTIM_CCR3_OFFSET;
ret.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF;
ret.timer_channel = 3;
break;
case Timer::Channel4:
ret.ccr_offset = STM32_GTIM_CCR4_OFFSET;
ret.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF;
ret.timer_channel = 4;
break;
}
// find timer index
ret.timer_index = 0xff;
const uint32_t timer_base = timerBaseRegister(timer.timer);
for (int i = 0; i < MAX_IO_TIMERS; ++i) {
if (io_timers_conf[i].base == timer_base) {
ret.timer_index = i;
break;
}
}
constexpr_assert(ret.timer_index != 0xff, "Timer not found");
return ret;
}
static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dma = {})
{
bool nuttx_config_timer_enabled = false;
io_timers_t ret{};
switch (timer) {
case Timer::Timer1:
ret.base = STM32_TIM1_BASE;
ret.clock_register = STM32_RCC_APB2ENR;
ret.clock_bit = RCC_APB2ENR_TIM1EN;
ret.clock_freq = STM32_APB2_TIM1_CLKIN;
ret.vectorno = STM32_IRQ_TIMCC;
#ifdef CONFIG_STM32_TIM1
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer2:
ret.base = STM32_TIM2_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM2EN;
ret.clock_freq = STM32_APB1_TIM2_CLKIN;
ret.vectorno = STM32_IRQ_TIM2;
#ifdef CONFIG_STM32_TIM2
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer3:
ret.base = STM32_TIM3_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM3EN;
ret.clock_freq = STM32_APB1_TIM3_CLKIN;
ret.vectorno = STM32_IRQ_TIM3;
#ifdef CONFIG_STM32_TIM3
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer4:
ret.base = STM32_TIM4_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM4EN;
ret.clock_freq = STM32_APB1_TIM4_CLKIN;
ret.vectorno = STM32_IRQ_TIM4;
#ifdef CONFIG_STM32_TIM4
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer5:
ret.base = STM32_TIM5_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM5EN;
ret.clock_freq = STM32_APB1_TIM5_CLKIN;
ret.vectorno = STM32_IRQ_TIM5;
#ifdef CONFIG_STM32_TIM5
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer6:
ret.base = STM32_TIM6_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM6EN;
ret.clock_freq = STM32_APB1_TIM6_CLKIN;
ret.vectorno = STM32_IRQ_TIM6;
#ifdef CONFIG_STM32_TIM6
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer7:
ret.base = STM32_TIM7_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM7EN;
ret.clock_freq = STM32_APB1_TIM7_CLKIN;
ret.vectorno = STM32_IRQ_TIM7;
#ifdef CONFIG_STM32_TIM7
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer8:
ret.base = STM32_TIM8_BASE;
ret.clock_register = STM32_RCC_APB2ENR;
ret.clock_bit = RCC_APB2ENR_TIM8EN;
ret.clock_freq = STM32_APB2_TIM8_CLKIN;
ret.vectorno = STM32_IRQ_TIM8CC;
#ifdef CONFIG_STM32_TIM8
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer9:
case Timer::Timer10:
case Timer::Timer11:
constexpr_assert(false, "Invalid Timer");
break;
case Timer::Timer12:
ret.base = STM32_TIM12_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM12EN;
ret.clock_freq = STM32_APB1_TIM12_CLKIN;
ret.vectorno = STM32_IRQ_TIM12;
#ifdef CONFIG_STM32_TIM12
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer13:
ret.base = STM32_TIM13_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM13EN;
ret.clock_freq = STM32_APB1_TIM13_CLKIN;
ret.vectorno = STM32_IRQ_TIM13;
#ifdef CONFIG_STM32_TIM13
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer14:
ret.base = STM32_TIM14_BASE;
ret.clock_register = STM32_RCC_APB1LENR;
ret.clock_bit = RCC_APB1LENR_TIM14EN;
ret.clock_freq = STM32_APB1_TIM14_CLKIN;
ret.vectorno = STM32_IRQ_TIM14;
#ifdef CONFIG_STM32_TIM14
nuttx_config_timer_enabled = true;
#endif
break;
case Timer::Timer15:
ret.base = STM32_TIM15_BASE;
ret.clock_register = STM32_RCC_APB2ENR;
ret.clock_bit = RCC_APB2ENR_TIM15EN;
ret.clock_freq = STM32_APB2_TIM15_CLKIN;
ret.vectorno = STM32_IRQ_TIM15;
#ifdef CONFIG_STM32_TIM15
nuttx_config_timer_enabled = true;
#endif
break;
}
// This is not strictly required, but for consistency let's make sure NuttX timers are disabled
constexpr_assert(!nuttx_config_timer_enabled, "IO Timer requires NuttX timer config to be disabled (STM32_TIMx)");
// DShot
if (dshot_dma.index != DMA::Invalid) {
ret.dshot.dma_base = getDMABaseRegister(dshot_dma);
ret.dshot.dmamap = getTimerUpdateDMAMap(timer, dshot_dma);
}
return ret;
}

6
boards/mro/ctrl-zero-classic/src/timer_config.cpp
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@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { @@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer15, DMA{DMA::Index2}),
initIOTimer(Timer::Timer15), //DMA{DMA::Index2}),
initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
};
@ -48,12 +48,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { @@ -48,12 +48,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

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