zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

mro/x21-777: use hw description methods for timer configuration

sbg
Beat Küng 5 years ago committed by David Sidrane
parent
b3fe4a6691
commit
bd3fe62fcf
5 changed files with 57 additions and 180 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      boards/mro/x21-777/src/CMakeLists.txt
  2. 41
      boards/mro/x21-777/src/board_config.h
  3. 10
      boards/mro/x21-777/src/init.c
  4. 132
      boards/mro/x21-777/src/timer_config.c
  5. 52
      boards/mro/x21-777/src/timer_config.cpp

2
boards/mro/x21-777/src/CMakeLists.txt
Unescape View File

@ -36,7 +36,7 @@ add_library(drivers_board
led.c led.c
sdio.c sdio.c
spi.cpp spi.cpp
timer_config.c timer_config.cpp
usb.c usb.c
) )
add_dependencies(drivers_board arch_board_hw_info) add_dependencies(drivers_board arch_board_hw_info)

41
boards/mro/x21-777/src/board_config.h
Unescape View File

@ -131,23 +131,6 @@
#define ADC_5V_RAIL_SENSE 4 #define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* Power supply control and monitoring GPIOs */ /* Power supply control and monitoring GPIOs */
// Signal is not connected // Signal is not connected
#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) #define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
@ -162,32 +145,8 @@
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) #define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/* PWM /* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/ */
#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
#define DIRECT_PWM_OUTPUT_CHANNELS 6 #define DIRECT_PWM_OUTPUT_CHANNELS 6
#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
#define DIRECT_INPUT_TIMER_CHANNELS 6 #define DIRECT_INPUT_TIMER_CHANNELS 6
/* USB OTG FS /* USB OTG FS

10
boards/mro/x21-777/src/init.c
Unescape View File

@ -68,6 +68,7 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h> #include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h> #include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h> #include <px4_platform_common/init.h>
#include <px4_platform/gpio.h> #include <px4_platform/gpio.h>
#include <px4_platform/board_dma_alloc.h> #include <px4_platform/board_dma_alloc.h>
@ -173,12 +174,9 @@ __EXPORT void board_peripheral_reset(int ms)
__EXPORT void board_on_reset(int status) __EXPORT void board_on_reset(int status)
{ {
// Configure the GPIO pins to outputs and keep them low. // Configure the GPIO pins to outputs and keep them low.
stm32_configgpio(GPIO_GPIO0_OUTPUT); for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
stm32_configgpio(GPIO_GPIO1_OUTPUT); px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
stm32_configgpio(GPIO_GPIO2_OUTPUT); }
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/** /**
* On resets invoked from system (not boot) insure we establish a low * On resets invoked from system (not boot) insure we establish a low

132
boards/mro/x21-777/src/timer_config.c
Unescape View File

@ -1,132 +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.
*
****************************************************************************/
/*
* @file timer_config.c
*
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN,
.vectorno = STM32_IRQ_TIM4
}
};
__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = {
.element = {
{
.first_channel_index = 0,
.channel_count = 4,
},
{
.first_channel_index = 4,
.channel_count = 2,
}
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM4_CH2OUT,
.gpio_in = GPIO_TIM4_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};

52
boards/mro/x21-777/src/timer_config.cpp
Unescape View File

@ -0,0 +1,52 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1),
initIOTimer(Timer::Timer4),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
Write Preview
Loading…
Cancel
Save