4 changed files with 160 additions and 8 deletions
@ -0,0 +1,108 @@
@@ -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); |
||||
} |
@ -0,0 +1,42 @@
@@ -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> |
Loading…
Reference in new issue