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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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134 lines
5.6 KiB
C
134 lines
5.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012, 2017 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 drv_io_timer.h
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*
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* stm32-specific PWM output data.
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*/
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#include <px4_config.h>
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#include <nuttx/arch.h>
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#include <nuttx/irq.h>
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#include <drivers/drv_hrt.h>
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#pragma once
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__BEGIN_DECLS
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/* configuration limits */
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#define MAX_IO_TIMERS 4
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#define MAX_TIMER_IO_CHANNELS 16
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#define MAX_LED_TIMERS 2
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#define MAX_TIMER_LED_CHANNELS 6
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#define IO_TIMER_ALL_MODES_CHANNELS 0
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typedef enum io_timer_channel_mode_t {
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IOTimerChanMode_NotUsed = 0,
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IOTimerChanMode_PWMOut = 1,
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IOTimerChanMode_PWMIn = 2,
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IOTimerChanMode_Capture = 3,
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IOTimerChanMode_OneShot = 4,
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IOTimerChanMode_Trigger = 5,
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IOTimerChanModeSize
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} io_timer_channel_mode_t;
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typedef uint16_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
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/* array of timers dedicated to PWM in and out and capture use
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*** Note that the clock_freq is set to the source in the clock tree that
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*** feeds this specific timer. This can differs by Timer!
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*** In PWM mode the timer's prescaler is set to achieve a counter frequency of 1MHz
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*** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz
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*** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz
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*** the resulting PSC will be one and the timer will count at it's clock frequency.
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*/
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typedef struct io_timers_t {
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uint32_t base; /* Base address of the timer */
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uint32_t clock_register; /* SIM_SCGCn */
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uint32_t clock_bit; /* SIM_SCGCn bit pos */
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uint32_t vectorno; /* IRQ number */
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uint32_t first_channel_index; /* 0 based index in timer_io_channels */
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uint32_t last_channel_index; /* 0 based index in timer_io_channels */
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xcpt_t handler;
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} io_timers_t;
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/* array of channels in logical order */
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typedef struct timer_io_channels_t {
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uint32_t gpio_out; /* The timer channel GPIO for PWM */
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uint32_t gpio_in; /* The timer channel GPIO for Capture */
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uint8_t timer_index; /* 0 based index in the io_timers_t table */
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uint8_t timer_channel; /* 1 based channel index GPIO_FTMt_CHcIN = c+1) */
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} timer_io_channels_t;
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typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
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const timer_io_channels_t *chan,
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hrt_abstime isrs_time, uint16_t isrs_rcnt,
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uint16_t capture);
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/* supplied by board-specific code */
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__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
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__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
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__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
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__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
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__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
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__EXPORT int io_timer_handler0(int irq, void *context, void *arg);
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__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
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__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
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__EXPORT int io_timer_handler3(int irq, void *context, void *arg);
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__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
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channel_handler_t channel_handler, void *context);
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__EXPORT int io_timer_init_timer(unsigned timer);
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__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
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__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
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io_timer_channel_allocation_t masks);
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__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
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__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
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__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
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__EXPORT uint32_t io_timer_get_group(unsigned timer);
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__EXPORT int io_timer_validate_channel_index(unsigned channel);
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__EXPORT int io_timer_is_channel_free(unsigned channel);
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__EXPORT int io_timer_free_channel(unsigned channel);
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__EXPORT int io_timer_get_channel_mode(unsigned channel);
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__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
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__EXPORT extern void io_timer_trigger(void);
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__END_DECLS
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