Added pwm_trigger from master

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

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_LED_TIMERS			2
-#define MAX_TIMER_LED_CHANNELS	3
+#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_handler0(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler1(int irq, void *context, void *args);
+__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler2(int irq, void *context, void *args);
+__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler3(int irq, void *context, void *args);
+__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);

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 <px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_trigger.h>
+
+#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);
+}

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 <drivers/drv_pwm_trigger.h>