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drv_pwm_servo provide the simplified interface for OneShot

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1) Validate timer paramater before using it.
  2) Allow rate of 0 to enter Oneshot mode
     At first blush this seamed like a hack, but at Mark
     pointed out to me, Onshot PWM does not have a rate
     So this is a realy a clever and beautiful simplification
     on his part!
  3) Exposes up_pwm_update that runs io_timer_trigger
     Which trigger all timer's channels in Oneshot mode to
     fire the oneshots with updated values.
This commit is contained in:
David Sidrane 2017-03-02 16:28:24 -10:00 committed by Lorenz Meier
parent 938824500c
commit 30c8e6efac
1 changed files with 20 additions and 28 deletions
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48
src/drivers/stm32/drv_pwm_servo.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012, 2017 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
@ -76,9 +76,7 @@ servo_position_t up_pwm_servo_get(unsigned channel)
int up_pwm_servo_init(uint32_t channel_mask)
{
/* Init channels */
io_timer_channel_mode_t chmode = IOTimerChanMode_PWMOut;
uint32_t current = io_timer_get_mode_channels(chmode);
uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut);
// First free the current set of PWMs
@ -100,13 +98,8 @@ int up_pwm_servo_init(uint32_t channel_mask)
io_timer_free_channel(channel);
}
if (io_timer_get_freq(timer_io_channels[channel].timer_index) == 8) {
chmode = IOTimerChanMode_OneShot;
}
io_timer_channel_init(channel, chmode, NULL, NULL);
io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
channel_mask &= ~(1 << channel);
}
}
@ -121,33 +114,32 @@ void up_pwm_servo_deinit(void)
int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
{
if (rate == 0) {
/* configure this group for OneShot125 PWM */
io_timer_set_oneshot_mode(group);
return OK;
}
/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
if (rate < 1) {
return -ERANGE;
}
if (rate > 10000) {
return -ERANGE;
}
if ((group >= MAX_IO_TIMERS) || (io_timers[group].base == 0)) {
return ERROR;
}
io_timer_set_rate(group, rate);
/* Allow a rate of 0 to enter onshot mode */
if (rate != 0) {
/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
if (rate < 1) {
return -ERANGE;
}
if (rate > 10000) {
return -ERANGE;
}
}
io_timer_set_rate(group, rate);
return OK;
}
void up_pwm_force_update(void)
void up_pwm_update(void)
{
io_timer_force_update();
io_timer_trigger();
}
int up_pwm_servo_set_rate(unsigned rate)