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boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061)

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Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Daniel Agar
2021-08-04 17:15:24 -04:00
co-authored by Julian Oes
parent 8f64f7ce90
commit e900f2ea54
32 changed files with 2476 additions and 20 deletions
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boards/atl/mantis-edu/src/timer_config.cpp
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/****************************************************************************
*
* Copyright (C) 2012 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 led_pwm_timers[MAX_LED_TIMERS] = {
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
initIOTimer(Timer::Timer3),
# endif
};
/* Support driving active low (preferred) or active high LED
* on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
*
* Use open drain to drive the LED. This will ensure that
* if the LED has a 5 Volt supply that the LED will be
* off when high.
*/
#define CCER_C1_NUM_BITS 4
#define ACTIVE_LOW(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
#define ACTIVE_HIGH(c) 0
#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
# define POLARITY(c) ACTIVE_LOW(c)
# define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
#else
# define POLARITY(c) ACTIVE_HIGH((c))
# define DRIVE_TYPE(p) (p)
#endif
#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
# define UI_POLARITY(c) ACTIVE_LOW(c)
# define UI_DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
#else
# define UI_POLARITY(c) ACTIVE_HIGH((c))
# define UI_DRIVE_TYPE(p) (p)
#endif
static inline constexpr timer_io_channels_t initIOTimerChannelUILED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
{
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
ret.gpio_out = UI_DRIVE_TYPE(ret.gpio_out);
ret.masks = UI_POLARITY(ui_polarity);
return ret;
}
static inline constexpr timer_io_channels_t initIOTimerChannelControlLED(const io_timers_t
io_timers_conf[MAX_LED_TIMERS], Timer::TimerChannel timer, GPIO::GPIOPin pin, int polarity)
{
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
ret.masks = POLARITY(polarity);
return ret;
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}, 4),
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}, 1),
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}, 2),
# endif
};