mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 10:00:35 +08:00
Julian Oes
125 lines
4.6 KiB
C
125 lines
4.6 KiB
C
/****************************************************************************
|
|
*
|
|
* 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 drv_io_timer.h
|
|
*
|
|
* stm32-specific PWM output data.
|
|
*/
|
|
#include <px4_config.h>
|
|
#include <nuttx/arch.h>
|
|
#include <nuttx/irq.h>
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
#pragma once
|
|
__BEGIN_DECLS
|
|
/* configuration limits */
|
|
#define MAX_IO_TIMERS 4
|
|
#define MAX_TIMER_IO_CHANNELS 8
|
|
|
|
#define MAX_LED_TIMERS 1
|
|
#define MAX_TIMER_LED_CHANNELS 3
|
|
|
|
#define IO_TIMER_ALL_MODES_CHANNELS 0
|
|
|
|
typedef enum io_timer_channel_mode_t {
|
|
IOTimerChanMode_NotUsed = 0,
|
|
IOTimerChanMode_PWMOut = 1,
|
|
IOTimerChanMode_PWMIn = 2,
|
|
IOTimerChanMode_Capture = 3,
|
|
IOTimerChanModeSize
|
|
} io_timer_channel_mode_t;
|
|
|
|
typedef uint8_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
|
|
|
|
/* array of timers dedicated to PWM in and out and capture use */
|
|
typedef struct io_timers_t {
|
|
uint32_t base;
|
|
uint32_t clock_register;
|
|
uint32_t clock_bit;
|
|
uint32_t clock_freq;
|
|
uint32_t vectorno;
|
|
uint32_t first_channel_index;
|
|
uint32_t last_channel_index;
|
|
xcpt_t handler;
|
|
} io_timers_t;
|
|
|
|
/* array of channels in logical order */
|
|
typedef struct timer_io_channels_t {
|
|
uint32_t gpio_out;
|
|
uint32_t gpio_in;
|
|
uint8_t timer_index;
|
|
uint8_t timer_channel;
|
|
uint16_t masks;
|
|
uint8_t ccr_offset;
|
|
} timer_io_channels_t;
|
|
|
|
|
|
typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
|
|
const timer_io_channels_t *chan,
|
|
hrt_abstime isrs_time , uint16_t isrs_rcnt);
|
|
|
|
|
|
/* supplied by board-specific code */
|
|
__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
|
|
__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
|
|
|
|
__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
|
|
__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
|
|
|
|
__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
|
|
__EXPORT int io_timer_handler0(int irq, void *context);
|
|
__EXPORT int io_timer_handler1(int irq, void *context);
|
|
__EXPORT int io_timer_handler2(int irq, void *context);
|
|
__EXPORT int io_timer_handler3(int irq, void *context);
|
|
|
|
__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
|
|
channel_handler_t channel_handler, void *context);
|
|
|
|
__EXPORT int io_timer_init_timer(unsigned timer);
|
|
|
|
__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
|
|
__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
|
|
io_timer_channel_allocation_t masks);
|
|
__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
|
|
__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
|
|
__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
|
|
__EXPORT uint32_t io_timer_get_group(unsigned timer);
|
|
__EXPORT int io_timer_validate_channel_index(unsigned channel);
|
|
__EXPORT int io_timer_is_channel_free(unsigned channel);
|
|
__EXPORT int io_timer_free_channel(unsigned channel);
|
|
__EXPORT int io_timer_get_channel_mode(unsigned channel);
|
|
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
|
|
__END_DECLS
|