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134 lines
4.0 KiB
C
134 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2018 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 timer_config.c
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*
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* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
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*
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* Note that these arrays must always be fully-sized.
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*/
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#include <stdint.h>
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#include <stm32.h>
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#include <stm32_gpio.h>
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#include <stm32_tim.h>
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#include <drivers/drv_pwm_output.h>
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#include <px4_arch/io_timer.h>
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#include "board_config.h"
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__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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{
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.base = STM32_TIM2_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM2EN,
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.clock_freq = STM32_APB1_TIM2_CLKIN,
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.first_channel_index = 0,
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.last_channel_index = 1,
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.handler = io_timer_handler1,
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.vectorno = STM32_IRQ_TIM2,
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.dshot = {
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.dma_base = STM32_DMA1_BASE,
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.dmamap = DMAMAP_TIM2_UP_1,
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.start_ccr_register = TIM_DMABASE_CCR3,
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.channels_number = 2u /* CCR3 and CCR4 */
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}
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},
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{
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.base = STM32_TIM3_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM3EN,
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.clock_freq = STM32_APB1_TIM3_CLKIN,
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.first_channel_index = 2,
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.last_channel_index = 3,
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.handler = io_timer_handler2,
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.vectorno = STM32_IRQ_TIM3,
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.dshot = {
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.dma_base = STM32_DMA1_BASE,
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.dmamap = DMAMAP_TIM3_UP,
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.start_ccr_register = TIM_DMABASE_CCR3,
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.channels_number = 2u /* CCR3 and CCR4 */
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}
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}
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};
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/*
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* OUTPUTS:
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* M3 : PA3 : TIM2_CH3
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* M4 : PA2 : TIM2_CH4
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* M1 : PB0 : TIM3_CH3
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* M2 : PB1 : TIM3_CH4
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*/
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__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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//PB0 S1_OUT D1_ST7
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{
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.gpio_out = GPIO_TIM3_CH3OUT,
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.gpio_in = GPIO_TIM3_CH3IN,
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.timer_index = 1,
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.timer_channel = 3,
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.ccr_offset = STM32_GTIM_CCR3_OFFSET,
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
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},
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//PB1 S2_OUT D1_ST2
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{
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.gpio_out = GPIO_TIM3_CH4OUT,
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.gpio_in = GPIO_TIM3_CH4IN,
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.timer_index = 1,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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},
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//PA3 S3_OUT D1_ST6
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{
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.gpio_out = GPIO_TIM2_CH4OUT,
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.gpio_in = GPIO_TIM2_CH4IN,
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.timer_index = 0,
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.timer_channel = 4,
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.ccr_offset = STM32_GTIM_CCR4_OFFSET,
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.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
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},
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//PA2 S4_OUT D1_ST1
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{
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.gpio_out = GPIO_TIM2_CH3OUT,
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.gpio_in = GPIO_TIM2_CH3IN,
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.timer_index = 0,
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.timer_channel = 3,
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.ccr_offset = STM32_GTIM_CCR3_OFFSET,
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.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
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}
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};
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