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airmind/mindpx-v2: use hw description methods for timer configuration

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This commit is contained in:
Beat Küng
2020-01-28 19:25:55 +01:00
committed by David Sidrane
parent 6cdf368776
commit 366e2b9dc9
5 changed files with 61 additions and 210 deletions
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2
boards/airmind/mindpx-v2/src/CMakeLists.txt
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@@ -36,7 +36,7 @@ add_library(drivers_board
init.c init.c
led.c led.c
spi.c spi.c
timer_config.c timer_config.cpp
usb.c usb.c
) )

55
boards/airmind/mindpx-v2/src/board_config.h
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@@ -190,63 +190,10 @@
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7) #define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
/* AUX PWMs /* AUX PWMs
*
* 8 PWM outputs are configured.
*
* Pins:
*
* CH1 : PE9 : TIM1_CH1
* CH2 : PE11 : TIM1_CH2
* CH3 : PE13 : TIM1_CH3
* CH4 : PE14 : TIM1_CH4
* CH5 : PD12 : TIM4_CH1
* CH6 : PD13 : TIM4_CH2
* CH7 : PD14 : TIM4_CH3
* CH8 : PD15 : TIM4_CH4
*/ */
#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_CH1OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN12)
#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 GPIO_TIM4_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN15)
#define DIRECT_PWM_OUTPUT_CHANNELS 8 #define DIRECT_PWM_OUTPUT_CHANNELS 8
#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_CH1IN GPIO_TIM4_CH1IN_2
#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_2
#define DIRECT_INPUT_TIMER_CHANNELS 8 #define DIRECT_INPUT_TIMER_CHANNELS 8
/* PWMs for main output */
/* TODO: implement a new driver - /dev/pwm_output0 */
#define GPIO_TIM2_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TIM2_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
#define GPIO_TIM2_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TIM2_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
#define GPIO_TIM3_CH1OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN4)
#define GPIO_TIM3_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
#define GPIO_TIM3_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN0)
#define GPIO_TIM3_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN1)
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_2
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
#define GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_2
#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_3
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
/* USB OTG FS /* USB OTG FS
* *
* PA9 OTG_FS_VBUS VBUS sensing * PA9 OTG_FS_VBUS VBUS sensing
@@ -265,7 +212,7 @@
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */ /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
#define PWMIN_TIMER 4 #define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 1 #define PWMIN_TIMER_CHANNEL 1
#define GPIO_PWM_IN GPIO_TIM4_CH1IN #define GPIO_PWM_IN GPIO_TIM1_CH1IN_2
#define RC_SERIAL_PORT "/dev/ttyS0" #define RC_SERIAL_PORT "/dev/ttyS0"

13
boards/airmind/mindpx-v2/src/init.c
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@@ -73,6 +73,8 @@
#include <px4_platform_common/init.h> #include <px4_platform_common/init.h>
#include <px4_platform/board_dma_alloc.h> #include <px4_platform/board_dma_alloc.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
/**************************************************************************** /****************************************************************************
* Pre-Processor Definitions * Pre-Processor Definitions
@@ -108,14 +110,9 @@ __END_DECLS
__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);
stm32_configgpio(GPIO_GPIO6_OUTPUT);
stm32_configgpio(GPIO_GPIO7_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

147
boards/airmind/mindpx-v2/src/timer_config.c
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@@ -1,147 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 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 mindpx_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 <stm32.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 = 4,
}
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.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_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_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_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_TIM4_CH1OUT,
.gpio_in = GPIO_TIM4_CH1IN,
.timer_index = 1,
.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
},
{
.gpio_out = GPIO_TIM4_CH4OUT,
.gpio_in = GPIO_TIM4_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};

54
boards/airmind/mindpx-v2/src/timer_config.cpp Normal file
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@@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 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::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);