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[WIP] uavcan use HRT as monotonic source

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This commit is contained in:
Daniel Agar 2022-07-07 21:29:42 -04:00
parent 2f486c37fc
commit 72f7f0d787
No known key found for this signature in database
GPG Key ID: FD3CBA98017A69DE
22 changed files with 42 additions and 271 deletions
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1
boards/cuav/nora/default.px4board
View File

@ -40,7 +40,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y

1
boards/cuav/x7pro/default.px4board
View File

@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -36,7 +36,6 @@ CONFIG_DRIVERS_RPM=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_CAMERA_FEEDBACK=y

1
boards/px4/fmu-v5/cyphal.px4board
View File

@ -1,4 +1,3 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_UAVCAN=n

1
boards/px4/fmu-v5/debug.px4board
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@ -1,4 +1,3 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_COMMON_BAROMETERS=n
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_COMMON_MAGNETOMETER=n

1
boards/px4/fmu-v5/default.px4board
View File

@ -43,7 +43,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
CONFIG_MODULES_BATTERY_STATUS=y

1
boards/px4/fmu-v5/protected.px4board
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@ -1,4 +1,3 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_COMMON_BAROMETERS=n
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_COMMON_DISTANCE_SENSOR=n

1
boards/px4/fmu-v5/stackcheck.px4board
View File

@ -1,4 +1,3 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_COMMON_HYGROMETERS=n
CONFIG_COMMON_TELEMETRY=n
CONFIG_DRIVERS_BATT_SMBUS=n

1
boards/px4/fmu-v5/uavcanv0periph.px4board
View File

@ -1,4 +1,3 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_COMMON_BAROMETERS=n
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
CONFIG_COMMON_HYGROMETERS=n

1
boards/px4/fmu-v6c/default.px4board
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@ -29,7 +29,6 @@ CONFIG_DRIVERS_PX4IO=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y

1
boards/px4/fmu-v6x/default.px4board
View File

@ -36,7 +36,6 @@ CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y

4
cmake/kconfig.cmake
View File

@ -298,10 +298,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
endif()
if(UAVCAN_TIMER_OVERRIDE)
set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
endif()
# OPTIONS
if(CONSTRAINED_FLASH)

10
src/drivers/uavcan/CMakeLists.txt
View File

@ -42,19 +42,10 @@ set(UAVCAN_PLATFORM "generic")
if(CONFIG_ARCH_CHIP)
if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
set(UAVCAN_DRIVER "kinetis")
set(UAVCAN_TIMER 1)
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
set(UAVCAN_DRIVER "stm32h7")
set(UAVCAN_TIMER 5) # The default timer is TIM5
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 6) # The default timer is TIM6
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
endif()
endif()
@ -71,7 +62,6 @@ string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions(
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1

5
src/drivers/uavcan/Kconfig
View File

@ -17,8 +17,3 @@ depends on DRIVERS_UAVCAN
string "UAVCAN peripheral firmware"
help
list of UAVCAN peripheral firmware to build and embed
menuconfig BOARD_UAVCAN_TIMER_OVERRIDE
depends on DRIVERS_UAVCAN
int "UAVCAN timer override"
default 0

1
src/drivers/uavcan/uavcan_drivers/kinetis/README.md
View File

@ -15,7 +15,6 @@ and the following commandline defines:
| Setting | Description |
|-------------------|-----------------------------------------------------------------------------------|
|UAVCAN_KINETIS_NUM_IFACES | - {1..2} Sets the number of CAN interfaces the SW will support |
|UAVCAN_KINETIS_TIMER_NUMBER | - {0..3} Sets the Periodic Interrupt Timer (PITn) channel |
Things that could be improved:
1. Build time command line configuartion of Mailbox/FIFO and filters

9
src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis/build_config.hpp
View File

@ -18,12 +18,3 @@
#if !defined(UAVCAN_KINETIS_NUM_IFACES) || (UAVCAN_KINETIS_NUM_IFACES != 1 && UAVCAN_KINETIS_NUM_IFACES != 2)
# error "UAVCAN_KINETIS_NUM_IFACES must be set to either 1 or 2"
#endif
/**
* Any PIT timer channel (PIT0-PIT3)
* e.g. -DUAVCAN_KINETIS_TIMER_NUMBER=2
*/
#ifndef UAVCAN_KINETIS_TIMER_NUMBER
// In this case the clock driver should be implemented by the application
# define UAVCAN_KINETIS_TIMER_NUMBER 0
#endif

23
src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/uc_kinetis_clock.cpp
View File

@ -7,30 +7,9 @@
#include <uavcan_kinetis/thread.hpp>
#include "internal.hpp"
#if UAVCAN_KINETIS_TIMER_NUMBER
# include <cassert>
# include <math.h>
/*
* Timer instance
* todo:Consider using Lifetime Timer support
*/
# define TIMX_IRQHandler UAVCAN_KINETIS_GLUE3(PIT, UAVCAN_KINETIS_TIMER_NUMBER, _IRQHandler)
# define TIMX (KINETIS_PIT_BASE + (UAVCAN_KINETIS_TIMER_NUMBER << 4))
# define TMR_REG(o) (TIMX + (o))
# define TIMX_INPUT_CLOCK BOARD_BUS_FREQ
# define TIMX_INTERRUPT_FREQ 16
# define TIMX_IRQn UAVCAN_KINETIS_GLUE2(KINETIS_IRQ_PITCH, UAVCAN_KINETIS_TIMER_NUMBER)
# if UAVCAN_KINETIS_TIMER_NUMBER >= 0 && UAVCAN_KINETIS_TIMER_NUMBER <= 3
# define KINETIS_PIT_LDVAL_OFFSET KINETIS_PIT_LDVAL0_OFFSET
# define KINETIS_PIT_CVAL_OFFSET KINETIS_PIT_CVAL0_OFFSET
# define KINETIS_PIT_TCTRL_OFFSET KINETIS_PIT_TCTRL0_OFFSET
# define KINETIS_PIT_TFLG_OFFSET KINETIS_PIT_TFLG0_OFFSET
# else
# error "This UAVCAN_KINETIS_TIMER_NUMBER is not supported yet"
# endif
extern "C" UAVCAN_KINETIS_IRQ_HANDLER(TIMX_IRQHandler);
namespace uavcan_kinetis
@ -361,5 +340,3 @@ UAVCAN_KINETIS_IRQ_HANDLER(TIMX_IRQHandler)
return 0;
}
#endif

9
src/drivers/uavcan/uavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp
View File

@ -17,12 +17,3 @@
#if !defined(UAVCAN_STM32_NUM_IFACES) || (UAVCAN_STM32_NUM_IFACES != 1 && UAVCAN_STM32_NUM_IFACES != 2)
# error "UAVCAN_STM32_NUM_IFACES must be set to either 1 or 2"
#endif
/**
* Any General-Purpose timer (TIM2, TIM3, TIM4, TIM5)
* e.g. -DUAVCAN_STM32_TIMER_NUMBER=2
*/
#ifndef UAVCAN_STM32_TIMER_NUMBER
// In this case the clock driver should be implemented by the application
# define UAVCAN_STM32_TIMER_NUMBER 0
#endif

198
src/drivers/uavcan/uavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
View File

@ -6,50 +6,11 @@
#include <uavcan_stm32/thread.hpp>
#include "internal.hpp"
#if UAVCAN_STM32_TIMER_NUMBER
#include <drivers/drv_hrt.h>
#include <cassert>
#include <math.h>
/*
* Timer instance
*/
# if UAVCAN_STM32_NUTTX
# define TIMX UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _BASE)
# define TMR_REG(o) (TIMX + (o))
# define TIMX_INPUT_CLOCK UAVCAN_STM32_GLUE3(STM32_APB1_TIM, UAVCAN_STM32_TIMER_NUMBER, _CLKIN)
# define TIMX_IRQn UAVCAN_STM32_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32_TIMER_NUMBER)
# endif
# if UAVCAN_STM32_TIMER_NUMBER >= 2 && UAVCAN_STM32_TIMER_NUMBER <= 7
# define TIMX_RCC_ENR RCC->APB1ENR
# define TIMX_RCC_RSTR RCC->APB1RSTR
# define TIMX_RCC_ENR_MASK UAVCAN_STM32_GLUE3(RCC_APB1ENR_TIM, UAVCAN_STM32_TIMER_NUMBER, EN)
# define TIMX_RCC_RSTR_MASK UAVCAN_STM32_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32_TIMER_NUMBER, RST)
# else
# error "This UAVCAN_STM32_TIMER_NUMBER is not supported yet"
# endif
/**
* UAVCAN_STM32_TIMX_INPUT_CLOCK can be used to manually override the auto-detected timer clock speed.
* This is useful at least with certain versions of ChibiOS which do not support the bit
* RCC_DKCFGR.TIMPRE that is available in newer models of STM32. In that case, if TIMPRE is active,
* the auto-detected value of TIMX_INPUT_CLOCK will be twice lower than the actual clock speed.
* Read this for additional context: http://www.chibios.com/forum/viewtopic.php?f=35&t=3870
* A normal way to use the override feature is to provide an alternative macro, e.g.:
*
* -DUAVCAN_STM32_TIMX_INPUT_CLOCK=STM32_HCLK
*
* Alternatively, the new clock rate can be specified directly.
*/
# ifdef UAVCAN_STM32_TIMX_INPUT_CLOCK
# undef TIMX_INPUT_CLOCK
# define TIMX_INPUT_CLOCK UAVCAN_STM32_TIMX_INPUT_CLOCK
# endif
extern "C" UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler);
namespace uavcan_stm32
{
namespace clock
@ -77,8 +38,46 @@ uavcan::MonotonicTime prev_utc_adj_at;
uavcan::uint64_t time_mono = 0;
uavcan::uint64_t time_utc = 0;
int32_t hrt_to_utc_offset = 0;
}
/**
* Timer interrupt handler
*/
static void timer_callback(void *arg)
{
using namespace uavcan_stm32::clock;
UAVCAN_ASSERT(initialized);
time_mono += USecPerOverflow;
if (utc_set) {
time_utc += USecPerOverflow;
utc_accumulated_correction_nsec += utc_correction_nsec_per_overflow;
if (std::abs(utc_accumulated_correction_nsec) >= 1000) {
time_utc = uavcan::uint64_t(uavcan::int64_t(time_utc) + utc_accumulated_correction_nsec / 1000);
utc_accumulated_correction_nsec %= 1000;
}
hrt_to_utc_offset = (int64_t)time_mono - (int64_t)time_utc;
// Correction decay - 1 nsec per 65536 usec
if (utc_correction_nsec_per_overflow > 0) {
utc_correction_nsec_per_overflow--;
} else if (utc_correction_nsec_per_overflow < 0) {
utc_correction_nsec_per_overflow++;
} else {
; // Zero
}
}
}
static struct hrt_call timer_call {};
void init()
{
@ -90,34 +89,7 @@ void init()
initialized = true;
# if UAVCAN_STM32_NUTTX
// Attach IRQ
irq_attach(TIMX_IRQn, &TIMX_IRQHandler, NULL);
// Power-on and reset
modifyreg32(STM32_RCC_APB1ENR, 0, TIMX_RCC_ENR_MASK);
modifyreg32(STM32_RCC_APB1RSTR, 0, TIMX_RCC_RSTR_MASK);
modifyreg32(STM32_RCC_APB1RSTR, TIMX_RCC_RSTR_MASK, 0);
// Start the timer
putreg32(0xFFFF, TMR_REG(STM32_BTIM_ARR_OFFSET));
putreg16(((TIMX_INPUT_CLOCK / 1000000) - 1), TMR_REG(STM32_BTIM_PSC_OFFSET));
putreg16(BTIM_CR1_URS, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg16(0, TMR_REG(STM32_BTIM_SR_OFFSET));
putreg16(BTIM_EGR_UG, TMR_REG(STM32_BTIM_EGR_OFFSET)); // Reload immediately
putreg16(BTIM_DIER_UIE, TMR_REG(STM32_BTIM_DIER_OFFSET));
putreg16(BTIM_CR1_CEN, TMR_REG(STM32_BTIM_CR1_OFFSET)); // Start
// Prioritize and Enable IRQ
// todo: Currently changing the NVIC_SYSH_HIGH_PRIORITY is HARD faulting
// need to investigate
// up_prioritize_irq(TIMX_IRQn, NVIC_SYSH_HIGH_PRIORITY);
up_enable_irq(TIMX_IRQn);
# endif
hrt_call_every(&timer_call, USecPerOverflow, USecPerOverflow, timer_callback, nullptr);
}
void setUtc(uavcan::UtcTime time)
@ -139,23 +111,9 @@ void setUtc(uavcan::UtcTime time)
static uavcan::uint64_t sampleUtcFromCriticalSection()
{
# if UAVCAN_STM32_NUTTX
UAVCAN_ASSERT(initialized);
UAVCAN_ASSERT(getreg16(TMR_REG(STM32_BTIM_DIER_OFFSET)) & BTIM_DIER_UIE);
volatile uavcan::uint64_t time = time_utc;
volatile uavcan::uint32_t cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
if (getreg16(TMR_REG(STM32_BTIM_SR_OFFSET)) & BTIM_SR_UIF) {
cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
const uavcan::int32_t add = uavcan::int32_t(USecPerOverflow) +
(utc_accumulated_correction_nsec + utc_correction_nsec_per_overflow) / 1000;
time = uavcan::uint64_t(uavcan::int64_t(time) + add);
}
return time + cnt;
# endif
return hrt_absolute_time() - hrt_to_utc_offset;
}
uavcan::uint64_t getUtcUSecFromCanInterrupt()
@ -165,34 +123,7 @@ uavcan::uint64_t getUtcUSecFromCanInterrupt()
uavcan::MonotonicTime getMonotonic()
{
uavcan::uint64_t usec = 0;
// Scope Critical section
{
CriticalSectionLocker locker;
volatile uavcan::uint64_t time = time_mono;
# if UAVCAN_STM32_NUTTX
volatile uavcan::uint32_t cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
if (getreg16(TMR_REG(STM32_BTIM_SR_OFFSET)) & BTIM_SR_UIF) {
cnt = getreg16(TMR_REG(STM32_BTIM_CNT_OFFSET));
# endif
time += USecPerOverflow;
}
usec = time + cnt;
# ifndef NDEBUG
static uavcan::uint64_t prev_usec = 0; // Self-test
UAVCAN_ASSERT(prev_usec <= usec);
(void)prev_usec;
prev_usec = usec;
# endif
} // End Scope Critical section
return uavcan::MonotonicTime::fromUSec(usec);
return uavcan::MonotonicTime::fromUSec(hrt_absolute_time());
}
uavcan::UtcTime getUtc()
@ -353,48 +284,3 @@ SystemClock &SystemClock::instance()
}
} // namespace uavcan_stm32
/**
* Timer interrupt handler
*/
extern "C"
UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
# if UAVCAN_STM32_NUTTX
putreg16(0, TMR_REG(STM32_BTIM_SR_OFFSET));
# endif
using namespace uavcan_stm32::clock;
UAVCAN_ASSERT(initialized);
time_mono += USecPerOverflow;
if (utc_set) {
time_utc += USecPerOverflow;
utc_accumulated_correction_nsec += utc_correction_nsec_per_overflow;
if (std::abs(utc_accumulated_correction_nsec) >= 1000) {
time_utc = uavcan::uint64_t(uavcan::int64_t(time_utc) + utc_accumulated_correction_nsec / 1000);
utc_accumulated_correction_nsec %= 1000;
}
// Correction decay - 1 nsec per 65536 usec
if (utc_correction_nsec_per_overflow > 0) {
utc_correction_nsec_per_overflow--;
} else if (utc_correction_nsec_per_overflow < 0) {
utc_correction_nsec_per_overflow++;
} else {
; // Zero
}
}
UAVCAN_STM32_IRQ_EPILOGUE();
}
#endif

9
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/build_config.hpp
View File

@ -17,12 +17,3 @@
#if !defined(UAVCAN_STM32H7_NUM_IFACES) || (UAVCAN_STM32H7_NUM_IFACES != 1 && UAVCAN_STM32H7_NUM_IFACES != 2)
# error "UAVCAN_STM32H7_NUM_IFACES must be set to either 1 or 2"
#endif
/**
* Any General-Purpose timer (TIM2, TIM3, TIM4, TIM5)
* e.g. -DUAVCAN_STM32H7_TIMER_NUMBER=2
*/
#ifndef UAVCAN_STM32H7_TIMER_NUMBER
// In this case the clock driver should be implemented by the application
# define UAVCAN_STM32H7_TIMER_NUMBER 0
#endif

24
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_clock.cpp
View File

@ -6,31 +6,9 @@
#include <uavcan_stm32h7/thread.hpp>
#include "internal.hpp"
#if UAVCAN_STM32H7_TIMER_NUMBER
#include <cassert>
#include <math.h>
/*
* Timer instance
*/
# if UAVCAN_STM32H7_NUTTX
# define TIMX UAVCAN_STM32H7_GLUE3(STM32_TIM, UAVCAN_STM32H7_TIMER_NUMBER, _BASE)
# define TMR_REG(o) (TIMX + (o))
# define TIMX_INPUT_CLOCK UAVCAN_STM32H7_GLUE3(STM32_APB1_TIM, UAVCAN_STM32H7_TIMER_NUMBER, _CLKIN)
# define TIMX_IRQn UAVCAN_STM32H7_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32H7_TIMER_NUMBER)
# endif
# if UAVCAN_STM32H7_TIMER_NUMBER >= 2 && UAVCAN_STM32H7_TIMER_NUMBER <= 7
# define TIMX_RCC_ENR RCC->APB1ENR
# define TIMX_RCC_RSTR RCC->APB1RSTR
# define TIMX_RCC_ENR_MASK UAVCAN_STM32H7_GLUE3(RCC_APB1ENR_TIM, UAVCAN_STM32H7_TIMER_NUMBER, EN)
# define TIMX_RCC_RSTR_MASK UAVCAN_STM32H7_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32H7_TIMER_NUMBER, RST)
# else
# error "This UAVCAN_STM32H7_TIMER_NUMBER is not supported yet"
# endif
/**
* UAVCAN_STM32H7_TIMX_INPUT_CLOCK can be used to manually override the auto-detected timer clock speed.
* This is useful at least with certain versions of ChibiOS which do not support the bit
@ -396,5 +374,3 @@ UAVCAN_STM32H7_IRQ_HANDLER(TIMX_IRQHandler)
UAVCAN_STM32H7_IRQ_EPILOGUE();
}
#endif

10
src/drivers/uavcannode/CMakeLists.txt
View File

@ -42,19 +42,10 @@ set(UAVCAN_PLATFORM "generic")
if(CONFIG_ARCH_CHIP)
if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
set(UAVCAN_DRIVER "kinetis")
set(UAVCAN_TIMER 1)
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
set(UAVCAN_DRIVER "stm32h7")
set(UAVCAN_TIMER 5) # The default timer is TIM5
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer is TIM5
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
endif()
endif()
@ -71,7 +62,6 @@ string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions(
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1