mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 00:30:35 +08:00
Daniel Agar
318c7e83b3
- generate PWM_MAIN 1-14
- generate PWM_AUX 1-8
- generate PWM_EXTRA 1-8
- px4io and pwm_out directly read configuration parameters
- only available and active physical outputs are actually shown for configuration
- overall saves flash despite adding many new parameters
85 lines
4.4 KiB
C++
85 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 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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#include <px4_arch/io_timer_hw_description.h>
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constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
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initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer12),
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};
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
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initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
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};
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
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initIOTimerChannelMapping(io_timers, timer_io_channels);
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constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
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initIOTimer(Timer::Timer8),
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};
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#define CCER_C1_NUM_BITS 4
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#define POLARITY(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
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#define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN|GPIO_PULLUP)
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static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
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Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
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{
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timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
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ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
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ret.masks = POLARITY(ui_polarity);
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return ret;
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}
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constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
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initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
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initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
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initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),
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};
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