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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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125 lines
3.8 KiB
C
125 lines
3.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 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
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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 PX4 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 led.c
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*
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* LED backend.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include "chip.h"
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#include "stm32_gpio.h"
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#include "board_config.h"
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#include <nuttx/board.h>
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#include <arch/board/board.h>
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#include "led.h"
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#define TMR_BASE STM32_TIM1_BASE
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#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define TMR_REG(o) (TMR_BASE+(o))
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void rgb_led(int r, int g, int b, int freqs)
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{
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long fosc = TMR_FREQUENCY;
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long prescale = 2048;
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long p1s = fosc / prescale;
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long p0p5s = p1s / 2;
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uint16_t val;
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static bool once = 0;
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if (!once) {
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once = 1;
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/* Enable Clock to Block */
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modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
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/* Reload */
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val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
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val |= ATIM_EGR_UG;
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putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
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/* Set Prescaler STM32_TIM_SETCLOCK */
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putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
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/* Enable STM32_TIM_SETMODE*/
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putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
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putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
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(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
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putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
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putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
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ATIM_CCER_CC2E | ATIM_CCER_CC2P |
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ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
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stm32_configgpio(GPIO_TIM1_CH1);
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stm32_configgpio(GPIO_TIM1_CH2);
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stm32_configgpio(GPIO_TIM1_CH3);
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/* master output enable = on */
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putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
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}
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long p = freqs == 0 ? p1s : p1s / freqs;
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putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
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p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
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putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
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putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
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putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
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val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
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if (freqs == 0) {
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val &= ~ATIM_CR1_CEN;
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} else {
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val |= ATIM_CR1_CEN;
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}
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putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
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}
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