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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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e847698c9f
stm32:ToneAlarmInterfacePWM TIM15-TIM17 have a BDTR Register common:board_crashdump Add H7 support stm32/board_mcu_version:Support H7 PX4 ADC:Use 32 interface and resoution abstraction Added PX4 stm32h7 ADC driver stm32h7:adc fix ADC ready check fmu: handle BOARD_HAS_PWM==5 cmake: improve error handling for NuttX olddefconfig failures WorkQueueManager:Quiet loadmon stack warning camera_trigger:GPIO support < 6 GPIO Adjust stack sizes (under hw stack check) PX4 System changes Supporting STM32H7 PX4IO Driver aerotenna_ocpoc:ADC add px4_arch_adc_dn_fullcount init.cmake:Track Upstream change needing Make.def at config time PX4 System changes Supporting STM32H7 NuttX CMakeLists.txt Track upstream changes Common board_crashdump add header and px4 config NuttX simplify callinb make libapps Use UINT32_MAX for error return drivers:uavcannode NuttX chip is now hardware drivers:uavcanesc NuttX chip is now hardware px4io:Avoid Race on AP to PX4 IO upgrade
76 lines
2.8 KiB
C++
76 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane<david_s5@nscdg.com>
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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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#include <nuttx/config.h>
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#include <stdint.h>
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#include <arch/board/board.h>
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#include "hardware/stm32_tim.h"
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#include "led.hpp"
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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 = 72000000;
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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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stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
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static struct stm32_tim_dev_s *tim = 0;
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if (tim == 0) {
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tim = stm32_tim_init(3);
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STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
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STM32_TIM_SETCLOCK(tim, p1s - 8);
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STM32_TIM_SETPERIOD(tim, p1s);
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STM32_TIM_SETCOMPARE(tim, 1, 0);
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STM32_TIM_SETCOMPARE(tim, 2, 0);
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STM32_TIM_SETCOMPARE(tim, 3, 0);
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STM32_TIM_SETCHANNEL(tim, 1, mode);
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STM32_TIM_SETCHANNEL(tim, 2, mode);
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STM32_TIM_SETCHANNEL(tim, 3, mode);
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}
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long p = freqs == 0 ? p1s : p1s / freqs;
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STM32_TIM_SETPERIOD(tim, p);
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p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
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STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
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STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
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STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
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}
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