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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Rework PWM LED Driver
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
da96144e80
commit
a36f392b58
@@ -39,6 +39,7 @@ px4_add_module(
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drv_io_timer.c
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drv_pwm_servo.c
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drv_input_capture.c
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drv_led_pwm.cpp
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DEPENDS
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platforms__common
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)
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@@ -47,6 +47,10 @@ __BEGIN_DECLS
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/* configuration limits */
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#define MAX_IO_TIMERS 4
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#define MAX_TIMER_IO_CHANNELS 8
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#define MAX_LED_TIMERS 1
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#define MAX_TIMER_LED_CHANNELS 3
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#define IO_TIMER_ALL_MODES_CHANNELS 0
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typedef enum io_timer_channel_mode_t {
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@@ -90,6 +94,10 @@ typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint3
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/* supplied by board-specific code */
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__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
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__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
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__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
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__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
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__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
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__EXPORT int io_timer_handler0(int irq, void *context);
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__EXPORT int io_timer_handler1(int irq, void *context);
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@@ -0,0 +1,318 @@
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/****************************************************************************
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*
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* Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name Airmind nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file drv_led_pwm.cpp
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*
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*
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <ctype.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/px4_macros.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/stm32/drv_io_timer.h>
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#include <board_config.h>
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#if defined(BOARD_HAS_LED_PWM)
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#define REG(_tmr, _reg) (*(volatile uint32_t *)(led_pwm_timers[_tmr].base + _reg))
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#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET)
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#define rCR2(_tmr) REG(_tmr, STM32_GTIM_CR2_OFFSET)
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#define rSMCR(_tmr) REG(_tmr, STM32_GTIM_SMCR_OFFSET)
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#define rDIER(_tmr) REG(_tmr, STM32_GTIM_DIER_OFFSET)
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#define rSR(_tmr) REG(_tmr, STM32_GTIM_SR_OFFSET)
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#define rEGR(_tmr) REG(_tmr, STM32_GTIM_EGR_OFFSET)
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#define rCCMR1(_tmr) REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
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#define rCCMR2(_tmr) REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
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#define rCCER(_tmr) REG(_tmr, STM32_GTIM_CCER_OFFSET)
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#define rCNT(_tmr) REG(_tmr, STM32_GTIM_CNT_OFFSET)
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#define rPSC(_tmr) REG(_tmr, STM32_GTIM_PSC_OFFSET)
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#define rARR(_tmr) REG(_tmr, STM32_GTIM_ARR_OFFSET)
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#define rCCR1(_tmr) REG(_tmr, STM32_GTIM_CCR1_OFFSET)
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#define rCCR2(_tmr) REG(_tmr, STM32_GTIM_CCR2_OFFSET)
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#define rCCR3(_tmr) REG(_tmr, STM32_GTIM_CCR3_OFFSET)
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#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET)
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#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET)
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#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET)
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#define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET)
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static void led_pwm_timer_init(unsigned timer);
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static void led_pwm_timer_set_rate(unsigned timer, unsigned rate);
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static void led_pwm_channel_init(unsigned channel);
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int led_pwm_servo_set(unsigned channel, uint8_t value);
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unsigned led_pwm_servo_get(unsigned channel);
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int led_pwm_servo_init(void);
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void led_pwm_servo_deinit(void);
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void led_pwm_servo_arm(bool armed);
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unsigned led_pwm_timer_get_period(unsigned timer);
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static void
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led_pwm_timer_init(unsigned timer)
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{
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/* valid Timer */
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if (led_pwm_timers[timer].base != 0) {
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/* enable the timer clock before we try to talk to it */
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modifyreg32(led_pwm_timers[timer].clock_register, 0, led_pwm_timers[timer].clock_bit);
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/* disable and configure the timer */
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rCR1(timer) = 0;
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rCR2(timer) = 0;
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rSMCR(timer) = 0;
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rDIER(timer) = 0;
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rCCER(timer) = 0;
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rCCMR1(timer) = 0;
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rCCMR2(timer) = 0;
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rCCER(timer) = 0;
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rDCR(timer) = 0;
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if ((led_pwm_timers[timer].base == STM32_TIM1_BASE) || (led_pwm_timers[timer].base == STM32_TIM8_BASE)) {
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/* master output enable = on */
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rBDTR(timer) = ATIM_BDTR_MOE;
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}
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/* configure the timer to free-run at 1MHz */
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rPSC(timer) = (led_pwm_timers[timer].clock_freq / 1000000) - 1;
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/* default to updating at 50Hz */
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led_pwm_timer_set_rate(timer, 50);
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/* note that the timer is left disabled - arming is performed separately */
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}
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}
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unsigned
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led_pwm_timer_get_period(unsigned timer)
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{
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return (rARR(timer));
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}
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static void
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led_pwm_timer_set_rate(unsigned timer, unsigned rate)
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{
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/* configure the timer to update at the desired rate */
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rARR(timer) = 1000000 / rate;
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/* generate an update event; reloads the counter and all registers */
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rEGR(timer) = GTIM_EGR_UG;
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}
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static void
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led_pwm_channel_init(unsigned channel)
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{
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unsigned timer = led_pwm_channels[channel].timer_index;
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/* configure the GPIO first */
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px4_arch_configgpio(led_pwm_channels[channel].gpio_out);
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/* configure the channel */
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switch (led_pwm_channels[channel].timer_channel) {
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case 1:
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rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
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rCCER(timer) |= GTIM_CCER_CC1E;
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break;
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case 2:
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rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
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rCCER(timer) |= GTIM_CCER_CC2E;
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break;
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case 3:
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rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
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rCCER(timer) |= GTIM_CCER_CC3E;
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break;
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case 4:
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rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
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rCCER(timer) |= GTIM_CCER_CC4E;
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break;
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}
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}
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int
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led_pwm_servo_set(unsigned channel, uint8_t cvalue)
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{
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if (channel >= arraySize(led_pwm_channels)) {
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return -1;
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}
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unsigned timer = led_pwm_channels[channel].timer_index;
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/* test timer for validity */
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if ((led_pwm_timers[timer].base == 0) ||
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(led_pwm_channels[channel].gpio_out == 0)) {
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return -1;
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}
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unsigned period = led_pwm_timer_get_period(timer);
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#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
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unsigned value = period - (unsigned)cvalue * period / 255;
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#else
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unsigned value = (unsigned)cvalue * period / 255;
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#endif
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/* configure the channel */
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if (value > 0) {
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value--;
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}
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switch (led_pwm_channels[channel].timer_channel) {
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case 1:
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rCCR1(timer) = value;
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break;
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case 2:
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rCCR2(timer) = value;
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break;
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case 3:
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rCCR3(timer) = value;
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break;
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case 4:
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rCCR4(timer) = value;
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break;
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default:
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return -1;
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}
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return 0;
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}
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unsigned
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led_pwm_servo_get(unsigned channel)
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{
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if (channel >= 3) {
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return 0;
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}
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unsigned timer = led_pwm_channels[channel].timer_index;
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servo_position_t value = 0;
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/* test timer for validity */
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if ((led_pwm_timers[timer].base == 0) ||
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(led_pwm_channels[channel].timer_channel == 0)) {
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return 0;
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}
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/* configure the channel */
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switch (led_pwm_channels[channel].timer_channel) {
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case 1:
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value = rCCR1(timer);
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break;
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case 2:
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value = rCCR2(timer);
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break;
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case 3:
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value = rCCR3(timer);
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break;
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case 4:
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value = rCCR4(timer);
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break;
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}
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unsigned period = led_pwm_timer_get_period(timer);
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return ((value + 1) * 255 / period);
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}
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int
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led_pwm_servo_init(void)
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{
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/* do basic timer initialisation first */
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for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
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led_pwm_timer_init(i);
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}
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/* now init channels */
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for (unsigned i = 0; i < arraySize(led_pwm_channels); i++) {
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led_pwm_channel_init(i);
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}
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led_pwm_servo_arm(true);
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return OK;
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}
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void
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led_pwm_servo_deinit(void)
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{
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/* disable the timers */
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led_pwm_servo_arm(false);
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}
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void
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led_pwm_servo_arm(bool armed)
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{
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/* iterate timers and arm/disarm appropriately */
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for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
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if (led_pwm_timers[i].base != 0) {
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if (armed) {
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/* force an update to preload all registers */
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rEGR(i) = GTIM_EGR_UG;
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/* arm requires the timer be enabled */
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rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
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} else {
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rCR1(i) = 0;
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}
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}
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}
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}
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#endif // BOARD_HAS_LED_PWM
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