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214 lines
7.1 KiB
214 lines
7.1 KiB
#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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#include <avr/interrupt.h> |
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#include <AP_HAL.h> |
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#include <AP_HAL_AVR.h> |
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#include "RCOutput.h" |
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using namespace AP_HAL_AVR; |
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extern const AP_HAL::HAL& hal; |
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/* No init argument required */ |
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void APM1RCOutput::init(void* machtnichts) { |
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// --------------------- TIMER1: CH_3, CH_4, and CH_10 --------------- |
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hal.gpio->pinMode(11,GPIO_OUTPUT); // CH_10 (PB5/OC1A) |
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hal.gpio->pinMode(12,GPIO_OUTPUT); // CH_3 (PB6/OC1B) |
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hal.gpio->pinMode(13,GPIO_OUTPUT); // CH_4 (PB7/OC1C) |
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// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR1. |
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// CS11: prescale by 8 => 0.5us tick |
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TCCR1A =((1<<WGM11)); |
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TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); |
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ICR1 = 40000; // 0.5us tick => 50hz freq |
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OCR1A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR1B = 0xFFFF; |
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OCR1C = 0xFFFF; |
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//--------------- TIMER3: CH_7, CH_8, and CH_11 --------------------- |
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hal.gpio->pinMode(5,GPIO_OUTPUT); // CH_11 (PE3/OC3A) |
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hal.gpio->pinMode(2,GPIO_OUTPUT); // CH_8 (PE4/OC3B) |
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hal.gpio->pinMode(3,GPIO_OUTPUT); // CH_7 (PE5/OC3C) |
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// WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR3 |
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// CS31: prescale by 8 => 0.5us tick |
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TCCR3A =((1<<WGM31)); |
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TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31); |
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OCR3A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR3B = 0xFFFF; |
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OCR3C = 0xFFFF; |
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ICR3 = 40000; // 0.5us tick => 50hz freq |
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//--------------- TIMER4: CH_6 and CH_5 ---------------------------- |
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// NB TIMER4 is shared with PPM input from RCInput_APM1.cpp |
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// The TIMER4 registers are assumed to be setup already. |
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hal.gpio->pinMode(7,GPIO_OUTPUT); // CH_5 (PH4/OC4B) |
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hal.gpio->pinMode(8,GPIO_OUTPUT); // CH_6 (PH5/OC4C) |
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//--------------- TIMER5: CH_1, CH_2 and CH_9 ----------------------- |
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hal.gpio->pinMode(46, GPIO_OUTPUT); // CH_9 (PL3/OC5A) |
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hal.gpio->pinMode(45, GPIO_OUTPUT); // CH_1 (PL4/OC5B) |
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hal.gpio->pinMode(44, GPIO_OUTPUT); // CH_2 (PL5/OC5C) |
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// WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR5 |
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// CS51: prescale by 8 => 0.5us tick |
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TCCR5A =((1<<WGM51)); |
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TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51); |
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OCR5A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR5B = 0xFFFF; |
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OCR5C = 0xFFFF; |
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ICR5 = 40000; // 0.5us tick => 50hz freq |
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} |
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/* Output freq (1/period) control */ |
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void APM1RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) { |
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uint16_t icr = _timer_period(freq_hz); |
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if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) { |
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ICR5 = icr; |
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} |
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if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) { |
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ICR1 = icr; |
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} |
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if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 0) { |
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ICR3 = icr; |
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} |
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/* No change permitted for CH_5 and CH_6 - that ICR register is |
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* shared with the input capture for RCInput */ |
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} |
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uint16_t APM1RCOutput::get_freq(uint8_t ch) { |
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uint16_t icr; |
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switch (ch) { |
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case CH_3: |
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case CH_4: |
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case CH_10: |
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icr = ICR1; |
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break; |
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/* CH_5 and CH_6 share TIMER4 with input capture. |
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* The period is specified in OCR4A rather than the ICR. */ |
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case CH_5: |
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case CH_6: |
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icr = OCR4A; |
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break; |
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case CH_7: |
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case CH_8: |
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case CH_11: |
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icr = ICR3; |
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break; |
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case CH_1: |
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case CH_2: |
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case CH_9: |
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icr = ICR5; |
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break; |
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default: |
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return 0; |
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} |
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/* transform to period by inverse of _time_period(icr). */ |
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return (2000000UL / icr); |
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} |
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/* Output active/highZ control, either by single channel at a time |
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* or a mask of channels */ |
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void APM1RCOutput::enable_ch(uint8_t ch) { |
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switch(ch) { |
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case 0: TCCR5A |= (1<<COM5B1); break; // CH_1 : OC5B |
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case 1: TCCR5A |= (1<<COM5C1); break; // CH_2 : OC5C |
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case 2: TCCR1A |= (1<<COM1B1); break; // CH_3 : OC1B |
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case 3: TCCR1A |= (1<<COM1C1); break; // CH_4 : OC1C |
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case 4: TCCR4A |= (1<<COM4C1); break; // CH_5 : OC4C |
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case 5: TCCR4A |= (1<<COM4B1); break; // CH_6 : OC4B |
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case 6: TCCR3A |= (1<<COM3C1); break; // CH_7 : OC3C |
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case 7: TCCR3A |= (1<<COM3B1); break; // CH_8 : OC3B |
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case 8: TCCR5A |= (1<<COM5A1); break; // CH_9 : OC5A |
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case 9: TCCR1A |= (1<<COM1A1); break; // CH_10: OC1A |
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case 10: TCCR3A |= (1<<COM3A1); break; // CH_11: OC3A |
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} |
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} |
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void APM1RCOutput::disable_ch(uint8_t ch) { |
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switch(ch) { |
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case 0: TCCR5A &= ~(1<<COM5B1); break; // CH_1 : OC5B |
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case 1: TCCR5A &= ~(1<<COM5C1); break; // CH_2 : OC5C |
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case 2: TCCR1A &= ~(1<<COM1B1); break; // CH_3 : OC1B |
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case 3: TCCR1A &= ~(1<<COM1C1); break; // CH_4 : OC1C |
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case 4: TCCR4A &= ~(1<<COM4C1); break; // CH_5 : OC4C |
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case 5: TCCR4A &= ~(1<<COM4B1); break; // CH_6 : OC4B |
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case 6: TCCR3A &= ~(1<<COM3C1); break; // CH_7 : OC3C |
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case 7: TCCR3A &= ~(1<<COM3B1); break; // CH_8 : OC3B |
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case 8: TCCR5A &= ~(1<<COM5A1); break; // CH_9 : OC5A |
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case 9: TCCR1A &= ~(1<<COM1A1); break; // CH_10: OC1A |
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case 10: TCCR3A &= ~(1<<COM3A1); break; // CH_11: OC3A |
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} |
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} |
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/* constrain pwm to be between min and max pulsewidth. */ |
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static inline uint16_t constrain_period(uint16_t p) { |
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if (p > RC_INPUT_MAX_PULSEWIDTH) return RC_INPUT_MAX_PULSEWIDTH; |
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if (p < RC_INPUT_MIN_PULSEWIDTH) return RC_INPUT_MIN_PULSEWIDTH; |
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return p; |
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} |
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/* Output, either single channel or bulk array of channels */ |
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void APM1RCOutput::write(uint8_t ch, uint16_t period_us) { |
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/* constrain, then scale from 1us resolution (input units) |
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* to 0.5us (timer units) */ |
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uint16_t pwm = constrain_period(period_us) << 1; |
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switch(ch) |
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{ |
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case 0: OCR5B=pwm; break; //ch1 |
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case 1: OCR5C=pwm; break; //ch2 |
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case 2: OCR1B=pwm; break; //ch3 |
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case 3: OCR1C=pwm; break; //ch4 |
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case 4: OCR4C=pwm; break; //ch5 |
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case 5: OCR4B=pwm; break; //ch6 |
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case 6: OCR3C=pwm; break; //ch7 |
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case 7: OCR3B=pwm; break; //ch8 |
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case 8: OCR5A=pwm; break; //ch9, PL3 |
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case 9: OCR1A=pwm; break; //ch10, PB5 |
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case 10: OCR3A=pwm; break; //ch11, PE3 |
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} |
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} |
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void APM1RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len) { |
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for (int i = 0; i < len; i++) { |
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write(i + ch, period_us[i]); |
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} |
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} |
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/* Read back current output state, as either single channel or |
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* array of channels. */ |
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uint16_t APM1RCOutput::read(uint8_t ch) { |
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uint16_t pwm=0; |
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switch(ch) { |
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case 0: pwm=OCR5B; break; //ch1 |
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case 1: pwm=OCR5C; break; //ch2 |
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case 2: pwm=OCR1B; break; //ch3 |
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case 3: pwm=OCR1C; break; //ch4 |
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case 4: pwm=OCR4C; break; //ch5 |
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case 5: pwm=OCR4B; break; //ch6 |
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case 6: pwm=OCR3C; break; //ch7 |
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case 7: pwm=OCR3B; break; //ch8 |
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case 8: pwm=OCR5A; break; //ch9, PL3 |
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case 9: pwm=OCR1A; break; //ch10, PB5 |
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case 10: pwm=OCR3A; break; //ch11, PE3 |
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} |
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/* scale from 0.5us resolution (timer units) to 1us units */ |
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return pwm>>1; |
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} |
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void APM1RCOutput::read(uint16_t* period_us, uint8_t len) { |
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for (int i = 0; i < len; i++) { |
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period_us[i] = read(i); |
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} |
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} |
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uint16_t APM1RCOutput::_timer_period(uint16_t speed_hz) { |
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return 2000000UL / speed_hz; |
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} |
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#endif
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