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stm32 : add new interface for PWM-based camera_trigger

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This commit is contained in:
Mohammed Kabir
2017-04-13 20:21:40 +02:00
committed by Lorenz Meier
parent 2b838f5704
commit 82a1bd83bc
8 changed files with 249 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/stm32/CMakeLists.txt
+1
View File
@@ -37,6 +37,7 @@ px4_add_module(
drv_hrt.c
drv_io_timer.c
drv_pwm_servo.c
drv_pwm_trigger.c
drv_input_capture.c
drv_led_pwm.cpp
DEPENDS
src/drivers/stm32/drv_io_timer.c
+7 -4
View File
@@ -578,6 +578,7 @@ int io_timer_set_rate(unsigned timer, unsigned rate)
/* Check that all channels are either in PWM or Oneshot */
if ((channels & (channel_allocations[IOTimerChanMode_PWMOut] |
channel_allocations[IOTimerChanMode_Trigger] |
channel_allocations[IOTimerChanMode_OneShot] |
channel_allocations[IOTimerChanMode_NotUsed])) ==
channels) {
@@ -637,6 +638,7 @@ int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
// intentional fallthrough
case IOTimerChanMode_OneShot:
case IOTimerChanMode_PWMOut:
case IOTimerChanMode_Trigger:
ccer_setbits = 0;
dier_setbits = 0;
setbits = CCMR_C1_PWMOUT_INIT;
@@ -744,8 +746,9 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
switch (mode) {
case IOTimerChanMode_NotUsed:
case IOTimerChanMode_PWMOut:
case IOTimerChanMode_OneShot:
case IOTimerChanMode_PWMOut:
case IOTimerChanMode_Trigger:
dier_bit = 0;
break;
@@ -788,7 +791,7 @@ int io_timer_set_enable(bool state, io_timer_channel_mode_t mode, io_timer_chann
action_cache[timer].dier_clearbits |= GTIM_DIER_CC1IE << shifts;
action_cache[timer].dier_setbits |= dier_bit << shifts;
if ((state && (mode == IOTimerChanMode_PWMOut || mode == IOTimerChanMode_OneShot))) {
if ((state && (mode == IOTimerChanMode_PWMOut || mode == IOTimerChanMode_OneShot || mode == IOTimerChanMode_Trigger))) {
action_cache[timer].gpio[shifts] = timer_io_channels[chan_index].gpio_out;
}
}
@@ -846,7 +849,7 @@ int io_timer_set_ccr(unsigned channel, uint16_t value)
int mode = io_timer_get_channel_mode(channel);
if (rv == 0) {
if ((mode != IOTimerChanMode_PWMOut) && (mode != IOTimerChanMode_OneShot)) {
if ((mode != IOTimerChanMode_PWMOut) && (mode != IOTimerChanMode_OneShot) && (mode != IOTimerChanMode_Trigger)) {
rv = -EIO;
@@ -868,7 +871,7 @@ uint16_t io_channel_get_ccr(unsigned channel)
if (io_timer_validate_channel_index(channel) == 0) {
int mode = io_timer_get_channel_mode(channel);
if ((mode == IOTimerChanMode_PWMOut) || (mode == IOTimerChanMode_OneShot)) {
if ((mode == IOTimerChanMode_PWMOut) || (mode == IOTimerChanMode_OneShot) || (mode == IOTimerChanMode_Trigger)) {
value = REG(channels_timer(channel), timer_io_channels[channel].ccr_offset);
}
}
src/drivers/stm32/drv_io_timer.h
+1
View File
@@ -59,6 +59,7 @@ typedef enum io_timer_channel_mode_t {
IOTimerChanMode_PWMIn = 2,
IOTimerChanMode_Capture = 3,
IOTimerChanMode_OneShot = 4,
IOTimerChanMode_Trigger = 5,
IOTimerChanModeSize
} io_timer_channel_mode_t;
src/drivers/stm32/drv_pwm_servo.c
+1
View File
@@ -87,6 +87,7 @@ int up_pwm_servo_init(uint32_t channel_mask)
}
}
// Now allocate the new set
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
src/drivers/stm32/drv_pwm_trigger.c
+102
View File
@@ -0,0 +1,102 @@
/****************************************************************************
*
* 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file drv_pwm_trigger.c
*
*/
#include <px4_config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_trigger.h>
#include "drv_io_timer.h"
#include "drv_pwm_trigger.h"
#include <stm32_tim.h>
int up_pwm_trigger_set(unsigned channel, uint16_t value)
{
return io_timer_set_ccr(channel, value);
}
int up_pwm_trigger_init(uint32_t channel_mask)
{
/* Init channels */
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (channel_mask & (1 << channel)) {
// First free any that were not trigger mode before
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
PX4_INFO("FREE PIN");
}
io_timer_channel_init(channel, IOTimerChanMode_Trigger, NULL, NULL);
channel_mask &= ~(1 << channel);
PX4_INFO("SET PIN TO TRIGGER");
}
}
/* enable the timers */
up_pwm_trigger_arm(true);
return OK;
}
void up_pwm_trigger_deinit(void)
{
/* disable the timers */
up_pwm_trigger_arm(false);
}
void
up_pwm_trigger_arm(bool armed)
{
io_timer_set_enable(armed, IOTimerChanMode_Trigger, IO_TIMER_ALL_MODES_CHANNELS);
PX4_INFO("ENABLE PIN : %d", (int)armed);
}
src/drivers/stm32/drv_pwm_trigger.h
+42
View File
@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_pwm_trigger.h
*
* stm32-specific PWM output data.
*/
#pragma once
#include <drivers/drv_pwm_trigger.h>