yemai/bizhang_-obav
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support up to PWM 14

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- generate PWM_MAIN 1-14
 - generate PWM_AUX 1-8
 - generate PWM_EXTRA 1-8
 - px4io and pwm_out directly read configuration parameters
    - only available and active physical outputs are actually shown for configuration
 - overall saves flash despite adding many new parameters
This commit is contained in:
Daniel Agar
2021-01-21 20:18:29 -05:00
committed by Lorenz Meier
parent cdd6df4e27
commit 318c7e83b3
28 changed files with 869 additions and 2812 deletions
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4
boards/cuav/nora/init/rc.board_defaults
View File

@@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

3
boards/cuav/nora/src/board_config.h
View File

@@ -107,7 +107,8 @@
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 14
#define BOARD_NUM_IO_TIMERS 4
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2

1
boards/cuav/nora/src/spi.cpp
View File

@@ -55,7 +55,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
//initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};

20
boards/cuav/nora/src/timer_config.cpp
View File

@@ -36,12 +36,11 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer12, DMA{DMA::Index1}),
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
// MAIN
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
@@ -50,14 +49,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
// AUX
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -81,7 +78,6 @@ static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timer
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),

4
boards/cuav/x7pro/init/rc.board_defaults
View File

@@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

3
boards/cuav/x7pro/src/board_config.h
View File

@@ -107,7 +107,8 @@
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 14
#define BOARD_NUM_IO_TIMERS 4
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2

1
boards/cuav/x7pro/src/spi.cpp
View File

@@ -56,7 +56,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
//initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};

20
boards/cuav/x7pro/src/timer_config.cpp
View File

@@ -36,12 +36,11 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer12, DMA{DMA::Index1}),
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
// MAIN
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
@@ -50,14 +49,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
// AUX
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -81,7 +78,6 @@ static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timer
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),