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px4/fmu-v6x: add capture pins to list of pwm pins

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This commit is contained in:
Beat Küng 2021-09-17 14:51:27 +02:00 committed by Daniel Agar
parent 4e0e2dec57
commit 2b039b2af8
2 changed files with 3 additions and 16 deletions
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18
boards/px4/fmu-v6x/src/board_config.h
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@ -229,20 +229,6 @@
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
/* PWM Capture
*
* 1 PWM Capture inputs are configured.
*
* Pins:
*
* FMU_CAP1 : PE11 : TIM1_CH2
*/
#define GPIO_TIM1_CH2IN /* PE11 T1C2 FMU_CAP1 */ GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH2OUT /* PE11 T1C2 FMU_CAP1 */ GPIO_TIM1_CH2OUT_2
#define DIRECT_PWM_CAPTURE_CHANNELS 1
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
@ -256,9 +242,9 @@
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 9
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};
/* Power supply control and monitoring GPIOs */

1
boards/px4/fmu-v6x/src/timer_config.cpp
View File

@ -73,6 +73,7 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =