fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 16:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Adding px4cannode-v1 board and bootloader

Browse Source
This commit is contained in:
David Sidrane
2016-12-12 03:38:52 -10:00
committed by Lorenz Meier
parent cd8b759fed
commit bba8371b0f
45 changed files with 9232 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uavcannode/led.cpp
+75
View File
@@ -0,0 +1,75 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* 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 <nuttx/config.h>
#include <stdint.h>
#include <arch/board/board.h>
#include "chip/stm32_tim.h"
#include "led.hpp"
void rgb_led(int r, int g , int b, int freqs)
{
long fosc = 72000000;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
static struct stm32_tim_dev_s *tim = 0;
if (tim == 0) {
tim = stm32_tim_init(3);
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
STM32_TIM_SETCLOCK(tim, p1s - 8);
STM32_TIM_SETPERIOD(tim, p1s);
STM32_TIM_SETCOMPARE(tim, 1, 0);
STM32_TIM_SETCOMPARE(tim, 2, 0);
STM32_TIM_SETCOMPARE(tim, 3, 0);
STM32_TIM_SETCHANNEL(tim, 1, mode);
STM32_TIM_SETCHANNEL(tim, 2, mode);
STM32_TIM_SETCHANNEL(tim, 3, mode);
}
long p = freqs == 0 ? p1s : p1s / freqs;
STM32_TIM_SETPERIOD(tim, p);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
}