diff --git a/src/drivers/kinetis/CMakeLists.txt b/src/drivers/kinetis/CMakeLists.txt index a28f4d7458..5aa10114f2 100644 --- a/src/drivers/kinetis/CMakeLists.txt +++ b/src/drivers/kinetis/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# Copyright (c) 2016-2017 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 @@ -37,6 +37,7 @@ px4_add_module( drv_hrt.c drv_io_timer.c drv_pwm_servo.c + drv_pwm_trigger.c drv_input_capture.c drv_led_pwm.cpp DEPENDS diff --git a/src/drivers/kinetis/drv_io_timer.h b/src/drivers/kinetis/drv_io_timer.h index 48b0bd9d65..6f19579d3f 100644 --- a/src/drivers/kinetis/drv_io_timer.h +++ b/src/drivers/kinetis/drv_io_timer.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012, 2017 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 @@ -48,8 +48,8 @@ __BEGIN_DECLS #define MAX_IO_TIMERS 4 #define MAX_TIMER_IO_CHANNELS 8 -#define MAX_LED_TIMERS 1 -#define MAX_TIMER_LED_CHANNELS 3 +#define MAX_LED_TIMERS 2 +#define MAX_TIMER_LED_CHANNELS 6 #define IO_TIMER_ALL_MODES_CHANNELS 0 @@ -59,6 +59,7 @@ typedef enum io_timer_channel_mode_t { IOTimerChanMode_PWMIn = 2, IOTimerChanMode_Capture = 3, IOTimerChanMode_OneShot = 4, + IOTimerChanMode_Trigger = 5, IOTimerChanModeSize } io_timer_channel_mode_t; @@ -107,10 +108,10 @@ __EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS]; __EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS]; __EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize]; -__EXPORT int io_timer_handler0(int irq, void *context, void *args); -__EXPORT int io_timer_handler1(int irq, void *context, void *args); -__EXPORT int io_timer_handler2(int irq, void *context, void *args); -__EXPORT int io_timer_handler3(int irq, void *context, void *args); +__EXPORT int io_timer_handler0(int irq, void *context, void *arg); +__EXPORT int io_timer_handler1(int irq, void *context, void *arg); +__EXPORT int io_timer_handler2(int irq, void *context, void *arg); +__EXPORT int io_timer_handler3(int irq, void *context, void *arg); __EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode, channel_handler_t channel_handler, void *context); diff --git a/src/drivers/kinetis/drv_pwm_trigger.c b/src/drivers/kinetis/drv_pwm_trigger.c new file mode 100644 index 0000000000..722e32d474 --- /dev/null +++ b/src/drivers/kinetis/drv_pwm_trigger.c @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2017 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. + * + ****************************************************************************/ + +/* + * @file drv_pwm_trigger.c + * + */ + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "drv_io_timer.h" +#include "drv_pwm_trigger.h" + +int up_pwm_trigger_set(unsigned channel, uint16_t value) +{ + return io_timer_set_ccr(channel, value); +} + +int up_pwm_trigger_init(uint32_t channel_mask) +{ + /* Init channels */ + for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) { + if (channel_mask & (1 << channel)) { + + // First free any that were not trigger mode before + if (-EBUSY == io_timer_is_channel_free(channel)) { + io_timer_free_channel(channel); + } + + io_timer_channel_init(channel, IOTimerChanMode_Trigger, NULL, NULL); + channel_mask &= ~(1 << channel); + } + } + + /* Enable the timers */ + up_pwm_trigger_arm(true); + + return OK; +} + +void up_pwm_trigger_deinit() +{ + /* Disable the timers */ + up_pwm_trigger_arm(false); + + /* Deinit channels */ + uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_Trigger); + + for (unsigned channel = 0; current != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) { + if (current & (1 << channel)) { + + io_timer_channel_init(channel, IOTimerChanMode_NotUsed, NULL, NULL); + current &= ~(1 << channel); + } + } +} + +void +up_pwm_trigger_arm(bool armed) +{ + io_timer_set_enable(armed, IOTimerChanMode_Trigger, IO_TIMER_ALL_MODES_CHANNELS); +} diff --git a/src/drivers/kinetis/drv_pwm_trigger.h b/src/drivers/kinetis/drv_pwm_trigger.h new file mode 100644 index 0000000000..e27902f514 --- /dev/null +++ b/src/drivers/kinetis/drv_pwm_trigger.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2017 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. + * + ****************************************************************************/ + +/** + * @file drv_pwm_trigger.h + * + * stm32-specific PWM output data. + */ + +#pragma once + +#include