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Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.

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This commit is contained in:
px4dev
2013-03-12 22:22:49 -07:00
parent 6b947a67d0
commit 6cf0758b24
6 changed files with 212 additions and 92 deletions
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apps/drivers/stm32/drv_pwm_servo.c
+34 -15
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@@ -68,10 +68,6 @@
#include <stm32_gpio.h>
#include <stm32_tim.h>
/* default rate (in Hz) of PWM updates */
static uint32_t pwm_update_rate = 50;
#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg))
#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET)
@@ -93,6 +89,10 @@ static uint32_t pwm_update_rate = 50;
#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET)
#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET)
static void pwm_timer_init(unsigned timer);
static void pwm_timer_set_rate(unsigned timer, unsigned rate);
static void pwm_channel_init(unsigned channel);
static void
pwm_timer_init(unsigned timer)
{
@@ -113,11 +113,8 @@ pwm_timer_init(unsigned timer)
/* configure the timer to free-run at 1MHz */
rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
/* and update at the desired rate */
rARR(timer) = (1000000 / pwm_update_rate) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
/* default to updating at 50Hz */
pwm_timer_set_rate(timer, 50);
/* note that the timer is left disabled - arming is performed separately */
}
@@ -272,19 +269,41 @@ up_pwm_servo_deinit(void)
}
int
up_pwm_servo_set_rate(unsigned rate)
up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
{
if ((rate < 50) || (rate > 400))
/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
if (rate < 1)
return -ERANGE;
if (rate > 10000)
return -ERANGE;
for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
if (pwm_timers[i].base != 0)
pwm_timer_set_rate(i, rate);
}
if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0))
return ERROR;
pwm_timer_set_rate(group, rate);
return OK;
}
int
up_pwm_servo_set_rate(unsigned rate)
{
for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++)
up_pwm_servo_set_rate_group_update(i, rate);
}
uint32_t
up_pwm_servo_get_rate_group(unsigned group)
{
unsigned channels = 0;
for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group))
channels |= (1 << i);
}
return channels;
}
void
up_pwm_servo_arm(bool armed)
{