mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 02:23:33 +08:00
David Sidrane
dd3c3098f2
nxp_ucans32k146:Relocation for Bootloader nxp_ucans32k146:can_boot enable CAN nxp_ucans32k146:Save Space use Non Optimize memcpy nxp_ucans32k146:Increase to 24K nxp/ucans32k146:Canbootloader LED Driver nxp_ucans32k146:Can bootloader shut down CAN nxp_ucans32k146:Use NVMEEPROM for Paramaters nxp_ucans32k146:Use bootloader AppDescriptor px4 mtd:Support onchip emulated eeprom
95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2021 PX4 Development Team. All rights reserved.
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* Author: David Sidrane<david_s5@nscdg.com>
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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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#include <px4_config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <arch/board/board.h>
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#include "led.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 "s32k1xx_pin.h"
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#include "hardware/s32k1xx_ftm.h"
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#define REG(offset) (*(volatile uint32_t *)(S32K1XX_FTM0_BASE + (offset)))
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#define rSC() REG(S32K1XX_FTM_SC_OFFSET)
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#define rCNT() REG(S32K1XX_FTM_CNT_OFFSET)
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#define rMOD() REG(S32K1XX_FTM_MOD_OFFSET)
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#define FTM_SRC_CLOCK_FREQ 8000000
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#define LED_PWM_FREQ 1000000
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extern int led_pwm_servo_set(unsigned channel, uint8_t value);
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extern int led_pwm_servo_init(void);
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void rgb_led(int r, int g, int b, int freqs)
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{
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long fosc = FTM_SRC_CLOCK_FREQ;
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long prescale = 128;
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long p1s = fosc / prescale;
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long p0p5s = p1s / 2;
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long p = freqs == 0 ? p1s : p1s / freqs;
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static bool once = false;
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if (!once) {
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once = true;
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led_pwm_servo_init();
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}
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irqstate_t flags = px4_enter_critical_section();
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uint32_t save = rSC();
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rSC() = save & ~(FTM_SC_CLKS_MASK);
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rMOD() = p;
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rSC() = save | FTP_SC_PS_DIV128;
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px4_leave_critical_section(flags);
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p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
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led_pwm_servo_set(0, r * p);
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led_pwm_servo_set(1, g * p);
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led_pwm_servo_set(2, b * p);
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if (freqs == 0) {
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rSC() |= FTM_SC_CLKS_DIS;
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} else {
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rSC() &= ~FTM_SC_CLKS_DIS;
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}
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}
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