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123 lines
3.7 KiB
C
123 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2016 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 crazyflie_timer_config.c
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*
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* Configuration data for the stm32 pwm_servo 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 "board_config.h"
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#include <drivers/drv_pwm_output.h>
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#include <drivers/stm32/drv_io_timer.h>
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/* IO Timers normally free-run at 1MHz
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* Here we make adjustments to the Frequency that sets the timer's prescale
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* so that the prescale is set to 0
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*/
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#define TIM2_CLKIN 1000000
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#define TIM4_CLKIN 1000000
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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 = TIM2_CLKIN,
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.first_channel_index = 0,
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.last_channel_index = 2,
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.handler = io_timer_handler0,
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.vectorno = STM32_IRQ_TIM2,
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},
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{
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.base = STM32_TIM4_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM4EN,
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.clock_freq = TIM4_CLKIN,
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.first_channel_index = 3,
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.last_channel_index = 3,
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.handler = io_timer_handler1,
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.vectorno = STM32_IRQ_TIM4,
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}
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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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{
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// M1
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.gpio_out = GPIO_TIM2_CH2OUT,
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.gpio_in = GPIO_TIM2_CH2IN,
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.timer_index = 0,
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.timer_channel = 2,
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.ccr_offset = STM32_GTIM_CCR2_OFFSET,
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.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
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},
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{
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// M3
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.gpio_out = GPIO_TIM2_CH1OUT,
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.gpio_in = GPIO_TIM2_CH1IN,
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.timer_index = 0,
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.timer_channel = 1,
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.ccr_offset = STM32_GTIM_CCR1_OFFSET,
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.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
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},
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{
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// M4
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.gpio_out = GPIO_TIM4_CH4OUT,
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.gpio_in = GPIO_TIM4_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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{
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// M2
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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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};
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