PX4-Autopilot/boards/px4/fmu-v5/src/timer_config.c

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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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/*
 * @file px4fmu_timer_config.c
 *
 * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
 *
 * Note that these arrays must always be fully-sized.
 */

#include <stdint.h>

#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>

#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>

#include "board_config.h"

__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
	{
		.base = STM32_TIM1_BASE,
		.clock_register = STM32_RCC_APB2ENR,
		.clock_bit = RCC_APB2ENR_TIM1EN,
		.clock_freq = STM32_APB2_TIM1_CLKIN,
		.first_channel_index = 0,
		.last_channel_index = 3,
		.handler = io_timer_handler0,
		.vectorno =  STM32_IRQ_TIM1CC,

	},
	{
		.base = STM32_TIM4_BASE,
		.clock_register = STM32_RCC_APB1ENR,
		.clock_bit = RCC_APB1ENR_TIM4EN,
		.clock_freq = STM32_APB1_TIM4_CLKIN,
		.first_channel_index = 4,
		.last_channel_index = 5,
		.handler = io_timer_handler1,
		.vectorno =  STM32_IRQ_TIM4,
	},
	{
		.base = STM32_TIM12_BASE,
		.clock_register = STM32_RCC_APB1ENR,
		.clock_bit = RCC_APB1ENR_TIM12EN,
		.clock_freq = STM32_APB1_TIM12_CLKIN,
		.first_channel_index = 6,
		.last_channel_index = 7,
		.handler = io_timer_handler2,
		.vectorno =  STM32_IRQ_TIM12,
	},
	{
		.base = STM32_TIM2_BASE,
		.clock_register = STM32_RCC_APB1ENR,
		.clock_bit = RCC_APB1ENR_TIM2EN,
		.clock_freq = STM32_APB1_TIM2_CLKIN,
		.first_channel_index = 8,
		.last_channel_index = 10,
		.handler = io_timer_handler3,
		.vectorno =  STM32_IRQ_TIM2,
	},
	{
		.base = STM32_TIM9_BASE,
		.clock_register = STM32_RCC_APB2ENR,
		.clock_bit = RCC_APB2ENR_TIM9EN,
		.clock_freq = STM32_APB2_TIM9_CLKIN,
		.first_channel_index = 11,
		.last_channel_index = 11,
		.handler = io_timer_handler4,
		.vectorno =  STM32_IRQ_TIM9,

	}
};

__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
	{
		.gpio_out = GPIO_TIM1_CH4OUT,
		.gpio_in  = GPIO_TIM1_CH4IN,
		.timer_index = 0,
		.timer_channel = 4,
		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
	},
	{
		.gpio_out = GPIO_TIM1_CH3OUT,
		.gpio_in = GPIO_TIM1_CH3IN,
		.timer_index = 0,
		.timer_channel = 3,
		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
	},
	{
		.gpio_out = GPIO_TIM1_CH2OUT,
		.gpio_in = GPIO_TIM1_CH2IN,
		.timer_index = 0,
		.timer_channel = 2,
		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
	},
	{
		.gpio_out = GPIO_TIM1_CH1OUT,
		.gpio_in = GPIO_TIM1_CH1IN,
		.timer_index = 0,
		.timer_channel = 1,
		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
	},
	{
		.gpio_out = GPIO_TIM4_CH2OUT,
		.gpio_in = GPIO_TIM4_CH2IN,
		.timer_index = 1,
		.timer_channel = 2,
		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
	},
	{
		.gpio_out = GPIO_TIM4_CH3OUT,
		.gpio_in = GPIO_TIM4_CH3IN,
		.timer_index = 1,
		.timer_channel = 3,
		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
	},
	{
		.gpio_out = GPIO_TIM12_CH1OUT,
		.gpio_in = GPIO_TIM12_CH1IN,
		.timer_index = 2,
		.timer_channel = 1,
		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
	},
	{
		.gpio_out = GPIO_TIM12_CH2OUT,
		.gpio_in = GPIO_TIM12_CH2IN,
		.timer_index = 2,
		.timer_channel = 2,
		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
	}
};

__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
	{
		.base 				= STM32_TIM3_BASE,
		.clock_register 	= STM32_RCC_APB1ENR,
		.clock_bit 			= RCC_APB1ENR_TIM3EN,
		.clock_freq 		= STM32_APB1_TIM3_CLKIN,
		.vectorno 			=  0,
		.first_channel_index = 0,
		.last_channel_index = 2,
	},
	{
		.base 				= STM32_TIM5_BASE,
		.clock_register 	= STM32_RCC_APB1ENR,
		.clock_bit 			= RCC_APB1ENR_TIM5EN,
		.clock_freq 		= STM32_APB1_TIM5_CLKIN,
		.vectorno 			=  0,
		.first_channel_index = 3,
		.last_channel_index = 5,
	}
};

/* Support driving active low (preferred) or active high LED
 * on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
 *
 * Use open drain to drive the LED. This will ensure that
 * if the LED has a 5 Volt supply that the LED will be
 * off when high.
 */
#define CCER_C1_NUM_BITS   4
#define ACTIVE_LOW(c)      (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
#define ACTIVE_HIGH(c)     0

#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
#  define POLARITY(c)      ACTIVE_LOW(c)
#  define DRIVE_TYPE(p)    ((p)|GPIO_OPENDRAIN)
#else
#  define POLARITY(c)      ACTIVE_HIGH((c))
#  define DRIVE_TYPE(p)    (p)
#endif

#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
#  define UI_POLARITY(c)    ACTIVE_LOW(c)
#  define UI_DRIVE_TYPE(p)  ((p)|GPIO_OPENDRAIN)
#else
#  define UI_POLARITY(c)    ACTIVE_HIGH((c))
#  define UI_DRIVE_TYPE(p)  (p)
#endif

__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
	{
		.gpio_out = DRIVE_TYPE(LED_TIM3_CH4OUT),
		.gpio_in  = 0,
		.timer_index = 0,
		.timer_channel = 4,
		.masks = POLARITY(4),
	},
	{
		.gpio_out = DRIVE_TYPE(LED_TIM3_CH1OUT),
		.gpio_in  = 0,
		.timer_index = 0,
		.timer_channel = 1,
		.masks = POLARITY(1),
	},
	{
		.gpio_out = DRIVE_TYPE(LED_TIM3_CH2OUT),
		.gpio_in  = 0,
		.timer_index = 0,
		.timer_channel = 2,
		.masks = POLARITY(2),
	},
#if defined(BOARD_UI_LED_SWAP_RG)
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH2OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 2,
		.masks = UI_POLARITY(2),
	},
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH1OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 1,
		.masks = UI_POLARITY(1),
	},
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH3OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 3,
		.masks = UI_POLARITY(3),
	},
#else
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH1OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 1,
		.masks = UI_POLARITY(1),
	},
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH2OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 2,
		.masks = UI_POLARITY(2),
	},
	{
		.gpio_out = UI_DRIVE_TYPE(UI_LED_TIM5_CH3OUT),
		.gpio_in  = 0,
		.timer_index = 1,
		.timer_channel = 3,
		.masks = UI_POLARITY(3),
	}
#endif
};