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omnibus/f4sd: use hw description methods for timer configuration

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This commit is contained in:
Beat Küng 2020-01-29 14:21:32 +01:00 committed by David Sidrane
parent 03210f5386
commit ba4be76bcc
5 changed files with 54 additions and 177 deletions
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2
boards/omnibus/f4sd/src/CMakeLists.txt
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@ -35,7 +35,7 @@ add_library(drivers_board
init.c
led.c
spi.c
timer_config.c
timer_config.cpp
usb.c
)

32
boards/omnibus/f4sd/src/board_config.h
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@ -194,42 +194,10 @@
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* PWM
*
* 6 PWM outputs are configured.
*
* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
*
* Pins:
*
* INPUTS:
* CH1 : PB8 : TIM10_CH1 // PPM
* CH2 : PB9 : TIM4_CH4
* CH3 : PC6 : TIM8_CH1 // OR UART6_TX
* CH4 : PC7 : TIM8_CH2 // OR UART6_RX
* CH5 : PC8 : TIM8_CH3
* CH6 : PC9 : TIM8_CH4
*
* OUTPUTS:
* M1 : PB0 : TIM3_CH3
* M2 : PB1 : TIM3_CH4
* M3 : PA3 : TIM2_CH3
* M4 : PA2 : TIM2_CH4
* M5 : PA1 : TIM5_CH2 // UART4_RX
* M6 : PA8 : TIM1_CH1 // USART2_TX
*/
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
#define DIRECT_INPUT_TIMER_CHANNELS 4
// Has pwm outputs

11
boards/omnibus/f4sd/src/init.c
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@ -72,6 +72,7 @@
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/board_dma_alloc.h>
@ -127,13 +128,9 @@ __EXPORT void board_peripheral_reset(int ms)
__EXPORT void board_on_reset(int status)
{
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
//stm32_configgpio(GPIO_GPIO4_OUTPUT);
//stm32_configgpio(GPIO_GPIO5_OUTPUT);
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
/* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.

137
boards/omnibus/f4sd/src/timer_config.c
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@ -1,137 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2018 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 timer_config.c
*
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN,
.vectorno = STM32_IRQ_TIM2,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_TIM2_UP_1,
}
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN,
.vectorno = STM32_IRQ_TIM3,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_TIM3_UP,
}
}
};
__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = {
.element = {
{
.first_channel_index = 0,
.channel_count = 2,
},
{
.first_channel_index = 2,
.channel_count = 2,
}
}
};
/*
* OUTPUTS:
* M3 : PA3 : TIM2_CH3
* M4 : PA2 : TIM2_CH4
* M1 : PB0 : TIM3_CH3
* M2 : PB1 : TIM3_CH4
*/
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
//PB0 S1_OUT D1_ST7
{
.gpio_out = GPIO_TIM3_CH3OUT,
.gpio_in = GPIO_TIM3_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
//PB1 S2_OUT D1_ST2
{
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_in = GPIO_TIM3_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
//PA3 S3_OUT D1_ST6
{
.gpio_out = GPIO_TIM2_CH4OUT,
.gpio_in = GPIO_TIM2_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
//PA2 S4_OUT D1_ST1
{
.gpio_out = GPIO_TIM2_CH3OUT,
.gpio_in = GPIO_TIM2_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};

49
boards/omnibus/f4sd/src/timer_config.cpp Normal file
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@ -0,0 +1,49 @@
/****************************************************************************
*
* Copyright (C) 2018 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.
*
****************************************************************************/
#include <px4_arch/io_timer_hw_description.h>
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);