servo_position_t
up_pwm_servo_get(unsigned channel)
{
if (channel >= PWM_SERVO_MAX_CHANNELS)
return 0;
unsigned timer = pwm_channels[channel].timer_index;
servo_position_t value = 0;
/* test timer for validity */
if ((pwm_timers[timer].base == 0) ||
(pwm_channels[channel].timer_channel == 0))
return 0;
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
}
return value + 1;
}
static void
pwm_channel_init(unsigned channel)
{
unsigned timer = cfg->channels[channel].timer_index;
/* configure the GPIO first */
stm32_configgpio(cfg->channels[channel].gpio);
/* configure the channel */
switch (cfg->channels[channel].timer_channel) {
case 1:
rCCMR1(timer) |= (6 << 4);
rCCR1(timer) = cfg->channels[channel].default_value;
rCCER(timer) |= (1 << 0);
break;
case 2:
rCCMR1(timer) |= (6 << 12);
rCCR2(timer) = cfg->channels[channel].default_value;
rCCER(timer) |= (1 << 4);
break;
case 3:
rCCMR2(timer) |= (6 << 4);
rCCR3(timer) = cfg->channels[channel].default_value;
rCCER(timer) |= (1 << 8);
break;
case 4:
rCCMR2(timer) |= (6 << 12);
rCCR4(timer) = cfg->channels[channel].default_value;
rCCER(timer) |= (1 << 12);
break;
}
}
static void
pwm_channel_init(unsigned channel)
{
unsigned timer = pwm_channels[channel].timer_index;
/* configure the GPIO first */
stm32_configgpio(pwm_channels[channel].gpio);
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
rCCR1(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= GTIM_CCER_CC1E;
break;
case 2:
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
rCCR2(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= GTIM_CCER_CC2E;
break;
case 3:
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
rCCR3(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= GTIM_CCER_CC3E;
break;
case 4:
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
rCCR4(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= GTIM_CCER_CC4E;
break;
}
}
static servo_position_t
pwm_channel_get(unsigned channel)
{
if (channel >= PWM_SERVO_MAX_CHANNELS) {
lldbg("pwm_channel_get: bogus channel %u\n", channel);
return 0;
}
unsigned timer = cfg->channels[channel].timer_index;
servo_position_t value = 0;
/* test timer for validity */
if ((cfg->timers[timer].base == 0) ||
(cfg->channels[channel].gpio == 0))
return 0;
/* configure the channel */
switch (cfg->channels[channel].timer_channel) {
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
}
return value;
}
int
led_pwm_servo_set(unsigned channel, uint8_t cvalue)
{
if (channel >= arraySize(led_pwm_channels)) {
return -1;
}
unsigned timer = led_pwm_channels[channel].timer_index;
/* test timer for validity */
if ((led_pwm_timers[timer].base == 0) ||
(led_pwm_channels[channel].gpio_out == 0)) {
return -1;
}
unsigned period = led_pwm_timer_get_period(timer);
#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
unsigned value = period - (unsigned)cvalue * period / 255;
#else
unsigned value = (unsigned)cvalue * period / 255;
#endif
/* configure the channel */
if (value > 0) {
value--;
}
switch (led_pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
break;
case 2:
rCCR2(timer) = value;
break;
case 3:
rCCR3(timer) = value;
break;
case 4:
rCCR4(timer) = value;
break;
default:
return -1;
}
return 0;
}
static void
pwm_channel_init(unsigned channel)
{
unsigned timer = pwm_channels[channel].timer_index;
/* configure the GPIO first */
stm32_configgpio(pwm_channels[channel].gpio);
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
rCCR1(timer) = pwm_channels[channel].default_value;
#if defined(CONFIG_ARCH_BOARD_TMRFC_V1)
if(channel == 12)
rCCER(timer) |= GTIM_CCER_CC1NE; /* complementary output enable */
else
#endif
rCCER(timer) |= GTIM_CCER_CC1E;
break;
case 2:
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
rCCR2(timer) = pwm_channels[channel].default_value;
#if defined(CONFIG_ARCH_BOARD_TMRFC_V1)
if(channel == 6)
rCCER(timer) |= GTIM_CCER_CC2NE; /* complementary output enable */
else
#endif
rCCER(timer) |= GTIM_CCER_CC2E;
break;
case 3:
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
rCCR3(timer) = pwm_channels[channel].default_value;
#if defined(CONFIG_ARCH_BOARD_TMRFC_V1)
if(channel == 7)
rCCER(timer) |= GTIM_CCER_CC3NE; /* complementary output enable */
else
#endif
rCCER(timer) |= GTIM_CCER_CC3E;
break;
case 4:
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
rCCR4(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= GTIM_CCER_CC4E;
break;
}
}
static void led_pwm_timer_init_timer(unsigned timer)
{
irqstate_t flags = px4_enter_critical_section();
/* enable the timer clock before we try to talk to it */
modifyreg32(led_pwm_timers[timer].clock_register, 0, led_pwm_timers[timer].clock_bit);
/* disable and configure the timer */
rCR1(timer) = 0;
rCR2(timer) = 0;
rSMCR(timer) = 0;
rDIER(timer) = 0;
rCCER(timer) = 0;
rCCMR1(timer) = 0;
rCCMR2(timer) = 0;
rCCR1(timer) = 0;
rCCR2(timer) = 0;
rCCR3(timer) = 0;
rCCR4(timer) = 0;
rCCER(timer) = 0;
rDCR(timer) = 0;
if ((led_pwm_timers[timer].base == STM32_TIM1_BASE) || (led_pwm_timers[timer].base == STM32_TIM8_BASE)) {
/* master output enable = on */
rBDTR(timer) = ATIM_BDTR_MOE;
}
/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
* then configure the timer to free-run at 1MHz.
* Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
*/
rPSC(timer) = (led_pwm_timers[timer].clock_freq / 1000000) - 1;
/* configure the timer to update at the desired rate */
rARR(timer) = (1000000 / LED_PWM_RATE) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
px4_leave_critical_section(flags);
}
uint16_t
input_pwm_decode(uint32_t status, uint8_t timer, uint8_t timer_channel)
{
uint16_t count;
// for now we don't care about CCxOF, state machine will take care of it
switch (timer_channel) {
case 1:
count = rCCR1(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC1OF)
goto error;
case 2:
count = rCCR2(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC2OF)
goto error;
case 3:
count = rCCR3(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC3OF)
goto error;
case 4:
count = rCCR4(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC4OF)
goto error;
}
return count;
/* the state machine is corrupted; reset it */
error:
/* we don't like the state of the decoder, reset it and try again */
printf("overwrite error\n");
return 0;
}
int
up_pwm_servo_set(unsigned channel, servo_position_t value)
{
if (channel >= PWM_SERVO_MAX_CHANNELS)
return -1;
unsigned timer = pwm_channels[channel].timer_index;
/* test timer for validity */
if ((pwm_timers[timer].base == 0) ||
(pwm_channels[channel].gpio == 0))
return -1;
/* configure the channel */
if (value > 0)
value--;
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
break;
case 2:
rCCR2(timer) = value;
break;
case 3:
rCCR3(timer) = value;
break;
case 4:
rCCR4(timer) = value;
break;
case 5:
rCCR2(timer) = value;
break;
default:
return -1;
}
return 0;
}
static void
input_pwm_channel_init(unsigned channel)
{
unsigned timer = input_pwm_channels[channel].timer_index;
/* configure the GPIO first */
stm32_configgpio(input_pwm_channels[channel].gpio);
/* configure the channel */
switch (input_pwm_channels[channel].timer_channel) {
case 1:
rDIER(timer) |= GTIM_DIER_CC1IE;
rCCMR1(timer) |= (GTIM_CCMR_CCS_CCIN1 << GTIM_CCMR1_CC1S_SHIFT);
rCCR1(timer) = 1000;
rCCER(timer) |= GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP;
break;
case 2:
rDIER(timer) |= GTIM_DIER_CC2IE;
rCCMR1(timer) |= (GTIM_CCMR_CCS_CCIN1 << GTIM_CCMR1_CC2S_SHIFT);
rCCR2(timer) = 1000;
rCCER(timer) |= GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP;
break;
case 3:
rDIER(timer) |= GTIM_DIER_CC3IE;
rCCMR2(timer) |= (GTIM_CCMR_CCS_CCIN1 << GTIM_CCMR2_CC3S_SHIFT);
rCCR3(timer) = 1000;
rCCER(timer) |= GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP;
break;
case 4:
rDIER(timer) |= GTIM_DIER_CC4IE;
rCCMR2(timer) |= (GTIM_CCMR_CCS_CCIN1 << GTIM_CCMR2_CC4S_SHIFT);
rCCR4(timer) = 1000;
rCCER(timer) |= GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP;
break;
}
}
unsigned
led_pwm_servo_get(unsigned channel)
{
if (channel >= 3) {
return 0;
}
unsigned timer = led_pwm_channels[channel].timer_index;
servo_position_t value = 0;
/* test timer for validity */
if ((led_pwm_timers[timer].base == 0) ||
(led_pwm_channels[channel].timer_channel == 0)) {
return 0;
}
/* configure the channel */
switch (led_pwm_channels[channel].timer_channel) {
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
}
unsigned period = led_pwm_timer_get_period(timer);
return ((value + 1) * 255 / period);
}
static int pwm_input_timer_isr(void)
{
uint16_t count = 0;
for (unsigned i = 0; i < PWM_INPUT_MAX_TIMERS; i++) {
status = rSR(i);
//ack the interrupts we just read
rSR(i) = ~status;
if (status & (GTIM_SR_CC1IF | GTIM_SR_CC1OF))
{
count = rCCR1(i);
//printf("Captured on T%uC1 %u\n", i, count);
for (unsigned j = 0; j < PWM_INPUT_MAX_CHANNELS; j++) {
if ((pwm_input_channels[j].timer_channel == 1) && (pwm_input_channels[j].timer_index == i)) {
rc[j] = count - rc_last[j];
rc_last[j] = count;
if (rc[j] <= MAX_PULSEWIDTH) {
ppm_buffer[j]=rc[j];
ppm_last_valid_decode = hrt_absolute_time();
}
//printf("RC%u: %u\n", j, rc[j]);
}
}
}
if (status & (GTIM_SR_CC2IF | GTIM_SR_CC2OF))
{
count = rCCR2(i);
//printf("Captured on T%uC2 %u\n", i, count);
for (unsigned j = 0; j < PWM_INPUT_MAX_CHANNELS; j++) {
if ((pwm_input_channels[j].timer_channel == 2) && (pwm_input_channels[j].timer_index == i)) {
rc[j] = count - rc_last[j];
rc_last[j] = count;
if (rc[j] <= MAX_PULSEWIDTH) {
ppm_buffer[j]=rc[j];
ppm_last_valid_decode = hrt_absolute_time();
}
//printf("RC%u: %u\n", j, rc[j]);
}
}
}
if (status & (GTIM_SR_CC3IF | GTIM_SR_CC3OF))
{
count = rCCR3(i);
//printf("Captured on T%uC3 %u\n", i, count);
for (unsigned j = 0; j < PWM_INPUT_MAX_CHANNELS; j++) {
if ((pwm_input_channels[j].timer_channel == 3) && (pwm_input_channels[j].timer_index == i)) {
rc[j] = count - rc_last[j];
rc_last[j] = count;
if (rc[j] <= MAX_PULSEWIDTH) {
ppm_buffer[j]=rc[j];
ppm_last_valid_decode = hrt_absolute_time();
}
//printf("RC%u: %u\n", j, rc[j]);
}
}
}
if (status & (GTIM_SR_CC4IF | GTIM_SR_CC4OF))
{
count = rCCR4(i);
//printf("Captured on T%uC3 %u\n", i, count);
for (unsigned j = 0; j < PWM_INPUT_MAX_CHANNELS; j++) {
if ((pwm_input_channels[j].timer_channel == 4) && (pwm_input_channels[j].timer_index == i)) {
rc[j] = count - rc_last[j];
rc_last[j] = count;
if (rc[j] <= MAX_PULSEWIDTH) {
ppm_buffer[j]=rc[j];
ppm_last_valid_decode = hrt_absolute_time();
}
//printf("RC%u: %u\n", j, rc[j]);
}
}
}
}
return;
}
static int tim_isr14(void)
{
status = rSR(0);
//ack the interrupts we just read
rSR(0) = ~status;
if (status & (GTIM_SR_CC1IF | GTIM_SR_CC1OF))
{
uint16_t count1 = rCCR1(0);
//printf("Captured on RC1 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (GTIM_SR_CC1OF))
{ printf("\nmissed an edge on RC1");
return;
}
/* how long since the last edge? */
rc1 = count1 - rc1_last;
rc1_last = count1;
if (rc1 <= MAX_PULSEWIDTH)
rc_buffer[0]=rc1;
//printf("RC1: %u\n", rc1);
}
status = rSR(1);
//ack the interrupts we just read
rSR(1) = ~status;
if (status & (GTIM_SR_CC1IF | GTIM_SR_CC1OF))
{
uint16_t count1 = rCCR1(1);
//printf("Captured on RC3 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (GTIM_SR_CC1OF))
{ printf("\nmissed an edge on RC3");
return;
}
/* how long since the last edge? */
rc3 = count1 - rc3_last;
rc3_last = count1;
if (rc3 <= MAX_PULSEWIDTH)
rc_buffer[2]=rc3;
//printf("RC3: %u\n", rc3);
}
if (status & (GTIM_SR_CC2IF | GTIM_SR_CC2OF))
{
uint16_t count1 = rCCR2(1);
//printf("Captured on RC4 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (GTIM_SR_CC2OF))
{ printf("\nmissed an edge on RC4");
return;
}
/* how long since the last edge? */
rc4 = count1 - rc4_last;
rc4_last = count1;
if (rc4 <= MAX_PULSEWIDTH)
rc_buffer[3]=rc4;
//printf("RC4: %u\n", rc4);
}
status = rSR(2);
//ack the interrupts we just read
rSR(2) = ~status;
if (status & (GTIM_SR_CC1IF | GTIM_SR_CC1OF))
{
uint16_t count1 = rCCR1(2);
//printf("Captured on RC2 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (GTIM_SR_CC1OF))
{ printf("\nmissed an edge on RC2");
return;
}
/* how long since the last edge? */
rc2 = count1 - rc2_last;
rc2_last = count1;
if (rc2 <= MAX_PULSEWIDTH)
rc_buffer[1]=rc2;
//printf("RC2: %u\n", rc2);
}
status = rSR(3);
//ack the interrupts we just read
rSR(3) = ~status;
if (status & (ATIM_SR_CC1IF | ATIM_SR_CC1OF))
{
uint16_t count1 = rCCR1(3);
//printf("Captured on RC6 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (ATIM_SR_CC1OF))
{ printf("\nmissed an edge on RC6");
return;
} */
/* how long since the last edge? */
rc6 = count1 - rc6_last;
rc6_last = count1;
if (rc6 <= MAX_PULSEWIDTH)
rc_buffer[5]=rc6;
//printf("RC6: %u\n", rc6);
}
if (status & (ATIM_SR_CC2IF | ATIM_SR_CC2OF))
{
uint16_t count1 = rCCR2(3);
//printf("Captured on RC5 %u\n", count1);
/* if we missed an edge, we have to give up */
/* if (status & (ATIM_SR_CC2OF))
{ printf("\nmissed an edge on RC5");
return;
}
/* how long since the last edge? */
rc5 = count1 - rc5_last;
rc5_last = count1;
if (rc5 <= MAX_PULSEWIDTH)
rc_buffer[4]=rc5;
//printf("RC5: %u\n", rc5);
}
return;
}
uint16_t
input_pwm_decode(uint32_t status, uint8_t timer, uint8_t timer_channel)
{
uint16_t count;
// for now we don't care about CCxOF, state machine will take care of it
switch (timer_channel) {
case 1:
count = rCCR1(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC1OF)
goto error;
case 2:
count = rCCR2(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC2OF)
goto error;
case 3:
count = rCCR3(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC3OF)
goto error;
case 4:
count = rCCR4(timer);
break;
/* did we miss an edge? */
if (status & GTIM_SR_CC4OF)
goto error;
}
//printf("count = %d\n", count);
return count;
/* how long since the last edge? - this handles counter wrapping implicitely. */
/*width = count - pwm.last_edge;
switch (pwm.phase) {
case ARM:
*/
/* frame length is everything including the start gap */
/* pwm.phase = ACTIVE;
break;
case ACTIVE:
*/ /* if the mark-mark timing is out of bounds, abandon the frame */
/* if ((width < PWM_MIN_CHANNEL_VALUE) || (width > PWM_MAX_CHANNEL_VALUE))
{
// goto error;
}
else
{
*/ /* if we have room to store the value, do so */
/* //if (ppm.next_channel < RC_INPUT_MAX_CHANNELS)
_temp_rc_buffer[0] = width;
_decoded_channels = 1;
pwm.phase = ARM;
printf("PWM captured = %d\n", width);
}
break;
}
pwm.last_edge = count;
return;
*/
//InputPWM::me->rc_decode(status);
/* the state machine is corrupted; reset it */
error:
/* we don't like the state of the decoder, reset it and try again */
printf("overwrite error\n");
return 0;
//pwm.phase = ARM;
//_decoded_channels = 0;
}
