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Renamed pwm_timers to more appropriate io timers for use in pwm in/out and capture

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This commit is contained in:
David Sidrane
2016-02-01 10:10:34 +01:00
committed by Lorenz Meier
parent 019e197714
commit 2949578832
20 changed files with 558 additions and 177 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/aerocore/aerocore_pwm_servo.c → src/drivers/boards/aerocore/aerocore_timer_config.c
+47 -23
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/*
* @file aerocore_pwm_servo.c
* @file aerocore_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
@@ -42,76 +42,100 @@
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_gpio_out.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/stm32/drv_io_timer.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__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
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN
.first_channel_index = 4,
.last_channel_index = 7,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM3,
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM1_CH1OUT,
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM1_CH2OUT,
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM1_CH3OUT,
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM1_CH4OUT,
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio = GPIO_TIM3_CH1OUT,
.gpio_out = GPIO_TIM3_CH1OUT,
.gpio_out = GPIO_TIM3_CH1IN,
.timer_index = 1,
.timer_channel = 1,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM3_CH2OUT,
.gpio_out = GPIO_TIM3_CH2OUT,
.gpio_out = GPIO_TIM3_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM3_CH3OUT,
.gpio_out = GPIO_TIM3_CH3OUT,
.gpio_out = GPIO_TIM3_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM3_CH4OUT,
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_out = GPIO_TIM3_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.default_value = 1500,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};
src/drivers/boards/aerocore/board_config.h
+10
View File
@@ -152,6 +152,16 @@ __BEGIN_DECLS
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
#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_TIM3_CH1IN GPIO_TIM3_CH1IN_3
#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_3
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_2
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_2
#define DIRECT_INPUT_TIMER_CHANNELS 8
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer 8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
src/drivers/boards/px4fmu-v1/CMakeLists.txt
+1 -1
View File
@@ -37,7 +37,7 @@ px4_add_module(
SRCS
px4fmu_can.c
px4fmu_init.c
px4fmu_pwm_servo.c
px4fmu_timer_config.c
px4fmu_spi.c
px4fmu_usb.c
px4fmu_led.c
src/drivers/boards/px4fmu-v1/board_config.h
+6
View File
@@ -184,6 +184,12 @@ __BEGIN_DECLS
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_1
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
#define DIRECT_INPUT_TIMER_CHANNELS 4
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v1/px4fmu_timer_config.c
+26 -14
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
* @file px4fmu_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
@@ -45,43 +45,55 @@
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
.clock_freq = STM32_APB1_TIM2_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM2,
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM2_CH2OUT,
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM2_CH3OUT,
.gpio_out = GPIO_TIM2_CH3OUT,
.gpio_in = GPIO_TIM2_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM2_CH4OUT,
.gpio_out = GPIO_TIM2_CH4OUT,
.gpio_in = GPIO_TIM2_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};
src/drivers/boards/px4fmu-v2/CMakeLists.txt
+1 -1
View File
@@ -37,7 +37,7 @@ px4_add_module(
SRCS
px4fmu_can.c
px4fmu2_init.c
px4fmu_pwm_servo.c
px4fmu_timer_config.c
px4fmu_spi.c
px4fmu_usb.c
px4fmu2_led.c
src/drivers/boards/px4fmu-v2/board_config.h
+8
View File
@@ -213,6 +213,14 @@ __BEGIN_DECLS
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
#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
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
src/drivers/boards/px4fmu-v2/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v2/px4fmu_timer_config.c
+40 -19
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
* @file px4fmu_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
@@ -45,61 +45,82 @@
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__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
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 5,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM1_CH4OUT,
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio = GPIO_TIM1_CH3OUT,
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM1_CH2OUT,
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM1_CH1OUT,
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM4_CH2OUT,
.gpio_out = GPIO_TIM4_CH2OUT,
.gpio_in = GPIO_TIM4_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM4_CH3OUT,
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};
src/drivers/boards/px4fmu-v4/CMakeLists.txt
+1 -1
View File
@@ -37,7 +37,7 @@ px4_add_module(
SRCS
px4fmu_can.c
px4fmu_init.c
px4fmu_pwm_servo.c
px4fmu_timer_config.c
px4fmu_spi.c
px4fmu_usb.c
px4fmu_led.c
src/drivers/boards/px4fmu-v4/board_config.h
+8
View File
@@ -210,6 +210,14 @@ __BEGIN_DECLS
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
#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
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
src/drivers/boards/px4fmu-v4/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v4/px4fmu_timer_config.c
+40 -19
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
* @file px4fmu_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
@@ -45,61 +45,82 @@
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__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
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 5,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM1_CH4OUT,
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio = GPIO_TIM1_CH3OUT,
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM1_CH2OUT,
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM1_CH1OUT,
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM4_CH2OUT,
.gpio_out = GPIO_TIM4_CH2OUT,
.gpio_in = GPIO_TIM4_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM4_CH3OUT,
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};
src/drivers/boards/px4io-v1/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@ px4_add_module(
-Os
SRCS
px4io_init.c
px4io_pwm_servo.c
px4io_timer_config.c
DEPENDS
platforms__common
)
src/drivers/boards/px4io-v1/px4io_pwm_servo.c → src/drivers/boards/px4io-v1/px4io_timer_config.c
+52 -24
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
* @file px4fmu_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
*
@@ -41,83 +41,111 @@
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
.clock_freq = STM32_APB1_TIM2_CLKIN,
.first_channel_index = 0,
.last_channel_index = 1,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM2,
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN
.clock_freq = STM32_APB1_TIM3_CLKIN,
.first_channel_index = 2,
.last_channel_index = 3,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM3,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 7,
.handler = io_timer_handler2,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM2_CH2OUT,
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM4_CH3OUT,
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 2,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM4_CH4OUT,
.gpio_out = GPIO_TIM4_CH4OUT,
.gpio_in = GPIO_TIM4_CH4IN,
.timer_index = 2,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio = GPIO_TIM3_CH1OUT,
.gpio_out = GPIO_TIM3_CH1OUT,
.gpio_in = GPIO_TIM3_CH1IN,
.timer_index = 1,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM3_CH2OUT,
.gpio_out = GPIO_TIM3_CH2OUT,
.gpio_in = GPIO_TIM3_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM3_CH3OUT,
.gpio_out = GPIO_TIM3_CH3OUT,
.gpio_in = GPIO_TIM3_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM3_CH4OUT,
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_in = GPIO_TIM3_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};
src/drivers/boards/px4io-v2/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@ px4_add_module(
-Os
SRCS
px4iov2_init.c
px4iov2_pwm_servo.c
px4iov2_timer_config.c
DEPENDS
platforms__common
)
src/drivers/boards/px4io-v2/px4io_pwm_servo.c → src/drivers/boards/px4io-v2/px4io_timer_config.c
+52 -24
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/*
* @file px4iov2_pwm_servo.c
* @file px4iov2_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
*
@@ -41,83 +41,111 @@
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
.clock_freq = STM32_APB1_TIM2_CLKIN,
.first_channel_index = 0,
.last_channel_index = 1,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM2,
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN
.clock_freq = STM32_APB1_TIM3_CLKIN,
.first_channel_index = 2,
.last_channel_index = 3,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM3,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 7,
.handler = io_timer_handler2,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM2_CH2OUT,
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM4_CH3OUT,
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 2,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM4_CH4OUT,
.gpio_out = GPIO_TIM4_CH4OUT,
.gpio_in = GPIO_TIM4_CH4IN,
.timer_index = 2,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio = GPIO_TIM3_CH1OUT,
.gpio_out = GPIO_TIM3_CH1OUT,
.gpio_in = GPIO_TIM3_CH1IN,
.timer_index = 1,
.timer_channel = 1,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio = GPIO_TIM3_CH2OUT,
.gpio_out = GPIO_TIM3_CH2OUT,
.gpio_in = GPIO_TIM3_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio = GPIO_TIM3_CH3OUT,
.gpio_out = GPIO_TIM3_CH3OUT,
.gpio_in = GPIO_TIM3_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio = GPIO_TIM3_CH4OUT,
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_in = GPIO_TIM3_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.default_value = 0,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};