void uart1_init(void)
{
uart_periph_init(&uart1);
uart1.reg_addr = (void *)USART1;
/* init RCC and GPIOs */
rcc_periph_clock_enable(RCC_USART1);
#if USE_UART1_TX
gpio_setup_pin_af(UART1_GPIO_PORT_TX, UART1_GPIO_TX, UART1_GPIO_AF, TRUE);
#endif
#if USE_UART1_RX
gpio_setup_pin_af(UART1_GPIO_PORT_RX, UART1_GPIO_RX, UART1_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_USART1_IRQ);
#if UART1_HW_FLOW_CONTROL
#warning "USING UART1 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
/* setup CTS and RTS gpios */
gpio_setup_pin_af(UART1_GPIO_PORT_CTS, UART1_GPIO_CTS, UART1_GPIO_AF, FALSE);
gpio_setup_pin_af(UART1_GPIO_PORT_RTS, UART1_GPIO_RTS, UART1_GPIO_AF, TRUE);
#endif
/* Configure USART1, enable hardware flow control*/
uart_periph_set_mode(&uart1, USE_UART1_TX, USE_UART1_RX, UART1_HW_FLOW_CONTROL);
/* Set USART1 parameters and enable interrupt */
uart_periph_set_bits_stop_parity(&uart1, UART1_BITS, UART1_STOP, UART1_PARITY);
uart_periph_set_baudrate(&uart1, UART1_BAUD);
}
void uart6_init( void ) {
uart_periph_init(&uart6);
uart6.reg_addr = (void *)USART6;
/* enable uart clock */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART6EN);
/* init RCC and GPIOs */
#if USE_UART6_TX
gpio_setup_pin_af(UART6_GPIO_PORT_TX, UART6_GPIO_TX, UART6_GPIO_AF, TRUE);
#endif
#if USE_UART6_RX
gpio_setup_pin_af(UART6_GPIO_PORT_RX, UART6_GPIO_RX, UART6_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_USART6_IRQ);
#if UART6_HW_FLOW_CONTROL
#warning "USING UART6 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
/* setup CTS and RTS pins */
gpio_setup_pin_af(UART6_GPIO_PORT_CTS, UART6_GPIO_CTS, UART6_GPIO_AF, FALSE);
gpio_setup_pin_af(UART6_GPIO_PORT_RTS, UART6_GPIO_RTS, UART6_GPIO_AF, TRUE);
#endif
/* Configure USART Tx,Rx and hardware flow control*/
uart_periph_set_mode(&uart6, USE_UART6_TX, USE_UART6_RX, UART6_HW_FLOW_CONTROL);
uart_periph_set_baudrate(&uart6, UART6_BAUD);
}
void uart3_init( void ) {
uart_periph_init(&uart3);
uart3.reg_addr = (void *)USART3;
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART3EN);
#if USE_UART3_TX
gpio_setup_pin_af(UART3_GPIO_PORT_TX, UART3_GPIO_TX, UART3_GPIO_AF, TRUE);
#endif
#if USE_UART3_RX
gpio_setup_pin_af(UART3_GPIO_PORT_RX, UART3_GPIO_RX, UART3_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_USART3_IRQ);
#if UART3_HW_FLOW_CONTROL && defined(STM32F4)
#warning "USING UART3 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
/* setup CTS and RTS pins */
gpio_setup_pin_af(UART3_GPIO_PORT_CTS, UART3_GPIO_CTS, UART3_GPIO_AF, FALSE);
gpio_setup_pin_af(UART3_GPIO_PORT_RTS, UART3_GPIO_RTS, UART3_GPIO_AF, TRUE);
#endif
/* Configure USART Tx,Rx, and hardware flow control*/
uart_periph_set_mode(&uart3, USE_UART3_TX, USE_UART3_RX, UART3_HW_FLOW_CONTROL);
/* Configure USART */
uart_periph_set_baudrate(&uart3, UART3_BAUD);
}
void uart2_init(void)
{
uart_periph_init(&uart2);
uart2.reg_addr = (void *)USART2;
/* init RCC and GPIOs */
rcc_periph_clock_enable(RCC_USART2);
#if USE_UART2_TX
gpio_setup_pin_af(UART2_GPIO_PORT_TX, UART2_GPIO_TX, UART2_GPIO_AF, TRUE);
#endif
#if USE_UART2_RX
gpio_setup_pin_af(UART2_GPIO_PORT_RX, UART2_GPIO_RX, UART2_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_USART2_IRQ);
#if UART2_HW_FLOW_CONTROL && defined(STM32F4)
#warning "USING UART2 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
/* setup CTS and RTS pins */
gpio_setup_pin_af(UART2_GPIO_PORT_CTS, UART2_GPIO_CTS, UART2_GPIO_AF, FALSE);
gpio_setup_pin_af(UART2_GPIO_PORT_RTS, UART2_GPIO_RTS, UART2_GPIO_AF, TRUE);
#endif
/* Configure USART Tx,Rx, and hardware flow control*/
uart_periph_set_mode(&uart2, USE_UART2_TX, USE_UART2_RX, UART2_HW_FLOW_CONTROL);
/* Configure USART */
uart_periph_set_bits_stop_parity(&uart2, UART2_BITS, UART2_STOP, UART2_PARITY);
uart_periph_set_baudrate(&uart2, UART2_BAUD);
}
void uart8_init(void)
{
uart_periph_init(&uart8);
// Only set pin if enabled and not statically defined in board file
#if USE_UART8_TX && defined UART8_GPIO_PORT_TX
gpio_setup_pin_af(UART8_GPIO_PORT_TX, UART8_GPIO_TX, UART8_GPIO_AF, TRUE);
#endif
#if USE_UART8_RX && defined UART8_GPIO_PORT_RX
gpio_setup_pin_af(UART8_GPIO_PORT_RX, UART8_GPIO_RX, UART8_GPIO_AF, FALSE);
#endif
sdStart(&SD8, &usart8_config);
uart8.reg_addr = &SD8;
uart8.init_struct = &uart8_init_struct;
uart8_init_struct.conf = &usart8_config;
// Create threads
#if USE_UART8_RX
uart8_init_struct.rx_mtx = &uart8_rx_mtx;
uart8_init_struct.rx_sem = &uart8_rx_sem;
chThdCreateStatic(wa_thd_uart8_rx, sizeof(wa_thd_uart8_rx),
NORMALPRIO, thd_uart8_rx, NULL);
#endif
#if USE_UART8_TX
uart8_init_struct.tx_mtx = &uart8_tx_mtx;
uart8_init_struct.tx_sem = &uart8_tx_sem;
chThdCreateStatic(wa_thd_uart8_tx, sizeof(wa_thd_uart8_tx),
NORMALPRIO, thd_uart8_tx, NULL);
#endif
}
/** PWM arch init called by generic pwm driver
*/
void actuators_dualpwm_arch_init(void)
{
/*-----------------------------------
* Configure timer peripheral clocks
*-----------------------------------*/
#if PWM_USE_TIM1
rcc_periph_clock_enable(RCC_TIM1);
#endif
#if PWM_USE_TIM2
rcc_periph_clock_enable(RCC_TIM2);
#endif
#if PWM_USE_TIM3
rcc_periph_clock_enable(RCC_TIM3);
#endif
#if PWM_USE_TIM4
rcc_periph_clock_enable(RCC_TIM4);
#endif
#if PWM_USE_TIM5
rcc_periph_clock_enable(RCC_TIM5);
#endif
#if PWM_USE_TIM8
rcc_periph_clock_enable(RCC_TIM8);
#endif
#if PWM_USE_TIM9
rcc_periph_clock_enable(RCC_TIM9);
#endif
#if PWM_USE_TIM12
rcc_periph_clock_enable(RCC_TIM12);
#endif
/*----------------
* Configure GPIO
*----------------*/
#ifdef DUAL_PWM_SERVO_5
gpio_setup_pin_af(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, TRUE);
#endif
#ifdef DUAL_PWM_SERVO_6
gpio_setup_pin_af(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, TRUE);
#endif
#if DUAL_PWM_USE_TIM5
set_servo_timer(TIM5, TIM5_SERVO_HZ, PWM_TIM5_CHAN_MASK);
nvic_set_priority(NVIC_TIM5_IRQ, 2);
nvic_enable_irq(NVIC_TIM5_IRQ);
timer_enable_irq(TIM5, TIM_DIER_CC1IE);
#endif
//calculation the values to put into the timer registers to generate pulses every 4ms and 16ms.
ratio_4ms = (ONE_MHZ_CLK / 250) - 1;
ratio_16ms = (ONE_MHZ_CLK / 62.5) - 1;
}
void ppm_arch_init ( void ) {
/* timer clock enable */
rcc_peripheral_enable_clock(PPM_RCC, PPM_PERIPHERAL);
/* GPIO clock enable */
gpio_enable_clock(PPM_GPIO_PORT);
/* timer gpio configuration */
gpio_setup_pin_af(PPM_GPIO_PORT, PPM_GPIO_PIN, PPM_GPIO_AF, FALSE);
/* Time Base configuration */
timer_reset(PPM_TIMER);
timer_set_mode(PPM_TIMER, TIM_CR1_CKD_CK_INT,
TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
timer_set_period(PPM_TIMER, 0xFFFF);
timer_set_prescaler(PPM_TIMER, (PPM_TIMER_CLK / (RC_PPM_TICKS_PER_USEC*ONE_MHZ_CLK)) - 1);
/* TIM configuration: Input Capture mode ---------------------
The Rising edge is used as active edge
------------------------------------------------------------ */
#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_RISING);
#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_FALLING);
#else
#error "Unknown PPM_PULSE_TYPE"
#endif
timer_ic_set_input(PPM_TIMER, PPM_CHANNEL, PPM_TIMER_INPUT);
timer_ic_set_prescaler(PPM_TIMER, PPM_CHANNEL, TIM_IC_PSC_OFF);
timer_ic_set_filter(PPM_TIMER, PPM_CHANNEL, TIM_IC_OFF);
/* Enable timer Interrupt(s). */
nvic_set_priority(PPM_IRQ, 2);
nvic_enable_irq(PPM_IRQ);
#ifdef PPM_IRQ2
nvic_set_priority(PPM_IRQ2, 2);
nvic_enable_irq(PPM_IRQ2);
#endif
/* Enable the Capture/Compare and Update interrupt requests. */
timer_enable_irq(PPM_TIMER, (PPM_CC_IE | TIM_DIER_UIE));
/* Enable capture channel. */
timer_ic_enable(PPM_TIMER, PPM_CHANNEL);
/* TIM enable counter */
timer_enable_counter(PPM_TIMER);
ppm_last_pulse_time = 0;
ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
timer_rollover_cnt = 0;
}
void uart5_init( void ) {
uart_periph_init(&uart5);
uart5.reg_addr = (void *)UART5;
/* init RCC and GPIOs */
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_UART5EN);
#if USE_UART5_TX
gpio_setup_pin_af(UART5_GPIO_PORT_TX, UART5_GPIO_TX, UART5_GPIO_AF, TRUE);
#endif
#if USE_UART5_RX
gpio_setup_pin_af(UART5_GPIO_PORT_RX, UART5_GPIO_RX, UART5_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_UART5_IRQ);
/* Configure USART */
uart_periph_set_mode(&uart5, USE_UART5_TX, USE_UART5_RX, FALSE);
uart_periph_set_baudrate(&uart5, UART5_BAUD);
}
void uart5_init( void ) {
uart_periph_init(&uart5);
uart5.reg_addr = (void *)UART5;
/* init RCC and GPIOs */
rcc_periph_clock_enable(RCC_UART5);
#if USE_UART5_TX
gpio_setup_pin_af(UART5_GPIO_PORT_TX, UART5_GPIO_TX, UART5_GPIO_AF, TRUE);
#endif
#if USE_UART5_RX
gpio_setup_pin_af(UART5_GPIO_PORT_RX, UART5_GPIO_RX, UART5_GPIO_AF, FALSE);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_UART5_IRQ);
/* Configure USART */
uart_periph_set_mode(&uart5, USE_UART5_TX, USE_UART5_RX, FALSE);
uart_periph_set_bits_stop_parity(&uart5, UART5_BITS, UART5_STOP, UART5_PARITY);
uart_periph_set_baudrate(&uart5, UART5_BAUD);
}
void pwm_input_init(void)
{
int i;
// initialize the arrays to 0
for (i = 0; i < PWM_INPUT_NB; i++) {
pwm_input_duty_tics[i] = 0;
pwm_input_duty_valid[i] = 0;
pwm_input_period_tics[i] = 0;
pwm_input_period_valid[i] = 0;
}
/** Configure timers
* - timer clock enable
* - base configuration
* - enable counter
*/
#if USE_PWM_INPUT_TIM1
rcc_periph_clock_enable(RCC_TIM1);
pwm_input_set_timer(TIM1, PWM_INPUT_TIM1_TICKS_PER_USEC);
#endif
#if USE_PWM_INPUT_TIM2
rcc_periph_clock_enable(RCC_TIM2);
pwm_input_set_timer(TIM2, PWM_INPUT_TIM2_TICKS_PER_USEC);
#endif
#if USE_PWM_INPUT_TIM3
rcc_periph_clock_enable(RCC_TIM3);
pwm_input_set_timer(TIM3, PWM_INPUT_TIM3_TICKS_PER_USEC);
#endif
#if USE_PWM_INPUT_TIM5
rcc_periph_clock_enable(RCC_TIM5);
pwm_input_set_timer(TIM5, PWM_INPUT_TIM5_TICKS_PER_USEC);
#endif
#if USE_PWM_INPUT_TIM8
rcc_periph_clock_enable(RCC_TIM8);
pwm_input_set_timer(TIM8, PWM_INPUT_TIM8_TICKS_PER_USEC);
#endif
#if USE_PWM_INPUT_TIM9
rcc_periph_clock_enable(RCC_TIM9);
pwm_input_set_timer(TIM9, PWM_INPUT_TIM9_TICKS_PER_USEC);
#endif
#ifdef USE_PWM_INPUT1
/* GPIO configuration as input capture for timer */
gpio_setup_pin_af(PWM_INPUT1_GPIO_PORT, PWM_INPUT1_GPIO_PIN, PWM_INPUT1_GPIO_AF, FALSE);
/** TIM configuration: Input Capture mode
* Two IC signals are mapped to the same TI input
*/
timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, PWM_INPUT1_TIMER_INPUT);
timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, PWM_INPUT1_TIMER_INPUT);
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_RISING);
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_FALLING);
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_FALLING);
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_RISING);
#endif
/* Select the valid trigger input */
timer_slave_set_trigger(PWM_INPUT1_TIMER, PWM_INPUT1_SLAVE_TRIG);
/* Configure the slave mode controller in reset mode */
timer_slave_set_mode(PWM_INPUT1_TIMER, TIM_SMCR_SMS_RM);
/* Enable timer Interrupt(s). */
nvic_set_priority(PWM_INPUT1_IRQ, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT1_IRQ);
#ifdef PWM_INPUT1_IRQ2
nvic_set_priority(PWM_INPUT1_IRQ2, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT1_IRQ2);
#endif
/* Enable the Capture/Compare and Update interrupt requests. */
timer_enable_irq(PWM_INPUT1_TIMER, (PWM_INPUT1_CC_IE | TIM_DIER_UIE));
/* Enable capture channel. */
timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD);
timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY);
#endif
#ifdef USE_PWM_INPUT2
/* GPIO configuration as input capture for timer */
gpio_setup_pin_af(PWM_INPUT2_GPIO_PORT, PWM_INPUT2_GPIO_PIN, PWM_INPUT2_GPIO_AF, FALSE);
/** TIM configuration: Input Capture mode
* Two IC signals are mapped to the same TI input
*/
timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, PWM_INPUT2_TIMER_INPUT);
timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, PWM_INPUT2_TIMER_INPUT);
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_RISING);
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_FALLING);
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_FALLING);
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_RISING);
#endif
/* Select the valid trigger input */
timer_slave_set_trigger(PWM_INPUT2_TIMER, PWM_INPUT2_SLAVE_TRIG);
/* Configure the slave mode controller in reset mode */
timer_slave_set_mode(PWM_INPUT2_TIMER, TIM_SMCR_SMS_RM);
/* Enable timer Interrupt(s). */
nvic_set_priority(PWM_INPUT2_IRQ, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT2_IRQ);
#ifdef PWM_INPUT2_IRQ2
nvic_set_priority(PWM_INPUT2_IRQ2, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT2_IRQ2);
#endif
/* Enable the Capture/Compare and Update interrupt requests. */
timer_enable_irq(PWM_INPUT2_TIMER, (PWM_INPUT2_CC_IE | TIM_DIER_UIE));
/* Enable capture channel. */
timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD);
timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY);
#endif
}
void actuators_pwm_arch_init(void)
{
/*----------------
* Configure GPIO
*----------------*/
#ifdef PWM_SERVO_0
gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, true);
#endif
#ifdef PWM_SERVO_1
gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, true);
#endif
#ifdef PWM_SERVO_2
gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, true);
#endif
#ifdef PWM_SERVO_3
gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, true);
#endif
#ifdef PWM_SERVO_4
gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, true);
#endif
#ifdef PWM_SERVO_5
gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, true);
#endif
#ifdef PWM_SERVO_6
gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, true);
#endif
#ifdef PWM_SERVO_7
gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, true);
#endif
#ifdef PWM_SERVO_8
gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, true);
#endif
#ifdef PWM_SERVO_9
gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, true);
#endif
#ifdef PWM_SERVO_10
gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, true);
#endif
#ifdef PWM_SERVO_11
gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, true);
#endif
/*---------------
* Configure PWM
*---------------*/
#if PWM_CONF_TIM1
pwmStart(&PWMD1, &pwmcfg1);
#endif
#if PWM_CONF_TIM2
pwmStart(&PWMD2, &pwmcfg2);
#endif
#if PWM_CONF_TIM3
pwmStart(&PWMD3, &pwmcfg3);
#endif
#if PWM_CONF_TIM4
pwmStart(&PWMD4, &pwmcfg4);
#endif
#if PWM_CONF_TIM5
pwmStart(&PWMD5, &pwmcfg5);
#endif
#if PWM_CONF_TIM8
pwmStart(&PWMD8, &pwmcfg8);
#endif
#if PWM_CONF_TIM9
pwmStart(&PWMD9, &pwmcfg9);
#endif
}
