mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 02:43:33 +08:00
Cleanup and refactor of the PX4IO firmware and board support. Builds, not tested yet.
This commit is contained in:
px4dev
@@ -36,5 +36,6 @@
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#
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INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
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LIBNAME = brd_px4fmu
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include $(APPDIR)/mk/app.mk
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@@ -57,7 +57,6 @@
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#include <nuttx/i2c.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/arch.h>
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#include "stm32_internal.h"
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#include "px4fmu_internal.h"
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 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
|
||||
# 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
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||||
# 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.
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#
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############################################################################
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#
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# Board-specific startup code for the PX4IO
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#
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INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
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LIBNAME = brd_px4io
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,100 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 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
|
||||
* 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.
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* 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.
|
||||
*
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||||
* 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,
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||||
* 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
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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 px4io_init.c
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*
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* PX4IO-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/arch.h>
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#include "stm32_internal.h"
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#include "px4io_internal.h"
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#include "stm32_uart.h"
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_led.h>
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#include <drivers/drv_pwm_output.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the intitialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure the high-resolution time/callout interface */
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#ifdef CONFIG_HRT_TIMER
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hrt_init();
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#endif
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/* configure GPIOs */
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stm32_configgpio(GPIO_ACC1_PWR_EN);
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stm32_configgpio(GPIO_ACC2_PWR_EN);
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stm32_configgpio(GPIO_SERVO_PWR_EN);
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stm32_configgpio(GPIO_RELAY1_EN);
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stm32_configgpio(GPIO_RELAY2_EN);
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED3);
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stm32_configgpio(GPIO_ACC_OC_DETECT);
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stm32_configgpio(GPIO_SERVO_OC_DETECT);
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stm32_configgpio(GPIO_BTN_SAFETY);
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}
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@@ -0,0 +1,100 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 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
|
||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file PX4IO hardware definitions.
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*/
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#pragma once
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_internal.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* PX4IO GPIOs **********************************************************************/
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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/* R/C in/out channels **************************************************************/
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/* XXX just GPIOs for now - eventually timer pins */
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#define GPIO_CH1_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
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#define GPIO_CH2_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
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#define GPIO_CH3_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_CH4_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_CH5_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_CH6_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_CH7_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_CH8_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_CH1_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
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#define GPIO_CH2_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
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#define GPIO_CH3_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_CH4_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_CH5_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_CH6_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_CH7_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_CH8_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
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/* Safety switch button *************************************************************/
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
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/* Power switch controls ************************************************************/
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#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
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#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
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#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
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#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
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#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
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#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
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@@ -0,0 +1,123 @@
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/****************************************************************************
|
||||
*
|
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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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file px4fmu_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
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|
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#include <stdint.h>
|
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|
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#include <drivers/stm32/drv_pwm_servo.h>
|
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|
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#include <arch/board/board.h>
|
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#include <drivers/drv_pwm_output.h>
|
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|
||||
#include <stm32_internal.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
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|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM4_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM4EN,
|
||||
.clock_freq = STM32_APB1_TIM4_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH3OUT,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH4OUT,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH1OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH2OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH3OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH4OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
||||
@@ -67,6 +67,38 @@
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO
|
||||
/*
|
||||
* PX4IO GPIO numbers.
|
||||
*
|
||||
* XXX note that these are here for reference/future use; currently
|
||||
* there is no good way to wire these up without a common STM32 GPIO
|
||||
* driver, which isn't implemented yet.
|
||||
*/
|
||||
/* outputs */
|
||||
# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */
|
||||
# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */
|
||||
# define GPIO_SERVO_POWER (1<<2) /**< servo power */
|
||||
# define GPIO_RELAY1 (1<<3) /**< relay 1 */
|
||||
# define GPIO_RELAY2 (1<<4) /**< relay 2 */
|
||||
# define GPIO_LED_BLUE (1<<5) /**< blue LED */
|
||||
# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */
|
||||
# define GPIO_LED_SAFETY (1<<7) /**< safety LED */
|
||||
|
||||
/* inputs */
|
||||
# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */
|
||||
# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */
|
||||
# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */
|
||||
|
||||
/**
|
||||
* Default GPIO device - other devices may also support this protocol if
|
||||
* they also export GPIO-like things. This is always the GPIOs on the
|
||||
* main board.
|
||||
*/
|
||||
# define GPIO_DEVICE_PATH "/dev/px4io"
|
||||
|
||||
#endif
|
||||
|
||||
#ifndef GPIO_DEVICE_PATH
|
||||
# error No GPIO support for this board.
|
||||
#endif
|
||||
|
||||
@@ -50,6 +50,7 @@
|
||||
#define LED_AMBER 0
|
||||
#define LED_RED 0 /* some boards have red rather than amber */
|
||||
#define LED_BLUE 1
|
||||
#define LED_SAFETY 2
|
||||
|
||||
#define LED_ON _IOC(_LED_BASE, 0)
|
||||
#define LED_OFF _IOC(_LED_BASE, 1)
|
||||
@@ -59,6 +60,6 @@ __BEGIN_DECLS
|
||||
/*
|
||||
* Initialise the LED driver.
|
||||
*/
|
||||
__EXPORT extern void drv_led_start();
|
||||
__EXPORT extern void drv_led_start(void);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -73,7 +73,7 @@
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
|
||||
#include "px4io/protocol.h"
|
||||
#include <px4io/protocol.h>
|
||||
#include "uploader.h"
|
||||
|
||||
|
||||
|
||||
@@ -276,6 +276,17 @@ static void hrt_call_invoke(void);
|
||||
* Specific registers and bits used by PPM sub-functions
|
||||
*/
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
/*
|
||||
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
|
||||
*/
|
||||
# ifndef GTIM_CCER_CC1NP
|
||||
# define GTIM_CCER_CC1NP 0
|
||||
# define GTIM_CCER_CC2NP 0
|
||||
# define GTIM_CCER_CC3NP 0
|
||||
# define GTIM_CCER_CC4NP 0
|
||||
# define PPM_EDGE_FLIP
|
||||
# endif
|
||||
|
||||
# if HRT_PPM_CHANNEL == 1
|
||||
# define rCCR_PPM rCCR1 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC1IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -284,6 +295,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 1 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 0 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC1P
|
||||
# elif HRT_PPM_CHANNEL == 2
|
||||
# define rCCR_PPM rCCR2 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC2IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -292,6 +304,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 2 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 0 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC2P
|
||||
# elif HRT_PPM_CHANNEL == 3
|
||||
# define rCCR_PPM rCCR3 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC3IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -300,6 +313,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 0 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 1 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC3P
|
||||
# elif HRT_PPM_CHANNEL == 4
|
||||
# define rCCR_PPM rCCR4 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC4IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -308,6 +322,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 0 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 2 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC4P
|
||||
# else
|
||||
# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
|
||||
# endif
|
||||
@@ -532,9 +547,14 @@ hrt_tim_isr(int irq, void *context)
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
|
||||
/* was this a PPM edge? */
|
||||
if (status & (SR_INT_PPM | SR_OVF_PPM))
|
||||
hrt_ppm_decode(status);
|
||||
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
|
||||
/* if required, flip edge sensitivity */
|
||||
# ifdef PPM_EDGE_FLIP
|
||||
rCCER ^= CCER_PPM_FLIP;
|
||||
# endif
|
||||
|
||||
hrt_ppm_decode(status);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* was this a timer tick? */
|
||||
|
||||
@@ -42,7 +42,7 @@
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
/* configuration limits */
|
||||
#define PWM_SERVO_MAX_TIMERS 2
|
||||
#define PWM_SERVO_MAX_TIMERS 4
|
||||
#define PWM_SERVO_MAX_CHANNELS 8
|
||||
|
||||
/* array of timers dedicated to PWM servo use */
|
||||
@@ -53,9 +53,6 @@ struct pwm_servo_timer {
|
||||
uint32_t clock_freq;
|
||||
};
|
||||
|
||||
/* supplied by board-specific code */
|
||||
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
|
||||
|
||||
/* array of channels in logical order */
|
||||
struct pwm_servo_channel {
|
||||
uint32_t gpio;
|
||||
@@ -64,4 +61,6 @@ struct pwm_servo_channel {
|
||||
servo_position_t default_value;
|
||||
};
|
||||
|
||||
/* supplied by board-specific code */
|
||||
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
|
||||
__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS];
|
||||
|
||||
Reference in New Issue
Block a user