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px4/fmu-v5x: use hw description methods for timer configuration
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@bkueng @davids5
bkueng authored and davids5 committed Feb 13, 2020
1 parent a0bfb7a commit 40898ba
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Showing 5 changed files with 85 additions and 328 deletions.
2 changes: 1 addition & 1 deletion boards/px4/fmu-v5x/src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ add_library(drivers_board
manifest.c
sdio.c
spi.cpp
timer_config.c
timer_config.cpp
usb.c
)
add_dependencies(drivers_board arch_board_hw_info)
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77 changes: 1 addition & 76 deletions boards/px4/fmu-v5x/src/board_config.h
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Expand Up @@ -367,74 +367,12 @@
# define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
#endif
/* PWM
*
* 8 PWM outputs are configured.
*
* Pins:
*
* FMU_CH1 : PE14 : TIM1_CH4
* FMU_CH2 : PA10 : TIM1_CH3
* FMU_CH3 : PE11 : TIM1_CH2
* FMU_CH4 : PA8 : TIM1_CH1
* FMU_CH5 : PD13 : TIM4_CH2
* FMU_CH6 : PD14 : TIM4_CH3
* FMU_CH7 : PH6 : TIM12_CH1
* FMU_CH8 : PH9 : TIM12_CH2
*
*/
#define GPIO_TIM12_CH2OUT /* PH9 T12C2 FMU8 */ GPIO_TIM12_CH2OUT_2
#define GPIO_TIM12_CH1OUT /* PH6 T12C1 FMU7 */ GPIO_TIM12_CH1OUT_2
#define GPIO_TIM4_CH3OUT /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3OUT_2
#define GPIO_TIM4_CH2OUT /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2OUT_2
#define GPIO_TIM1_CH1OUT /* PA8 T1C1 FMU4 */ GPIO_TIM1_CH1OUT_1
#define GPIO_TIM1_CH2OUT /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT /* PA10 T1C3 FMU2 */ GPIO_TIM1_CH3OUT_1
#define GPIO_TIM1_CH4OUT /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4OUT_2

#define DIRECT_PWM_OUTPUT_CHANNELS 8

#define GPIO_TIM12_CH2IN /* PH9 T12C2 FMU8 */ GPIO_TIM12_CH2IN_2
#define GPIO_TIM12_CH1IN /* PH6 T12C1 FMU7 */ GPIO_TIM12_CH1IN_2
#define GPIO_TIM4_CH3IN /* PD14 T4C3 FMU6 */ GPIO_TIM4_CH3IN_2
#define GPIO_TIM4_CH2IN /* PD13 T4C2 FMU5 */ GPIO_TIM4_CH2IN_2
#define GPIO_TIM1_CH1IN /* PA8 T1C1 FMU4 */ GPIO_TIM1_CH1IN_1
#define GPIO_TIM1_CH2IN /* PE11 T1C2 FMU3 */ GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN /* PA10 T1C3 FMU2 */ GPIO_TIM1_CH3IN_1
#define GPIO_TIM1_CH4IN /* PE14 T1C4 FMU1 */ GPIO_TIM1_CH4IN_2

#define DIRECT_INPUT_TIMER_CHANNELS 8

#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};


/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/

#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))

#define GPIO_GPIO7_INPUT /* PH9 T12C2 FMU8 */ _MK_GPIO_INPUT(GPIO_TIM12_CH2IN)
#define GPIO_GPIO6_INPUT /* PH6 T12C1 FMU7 */ _MK_GPIO_INPUT(GPIO_TIM12_CH1IN)
#define GPIO_GPIO5_INPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN)
#define GPIO_GPIO4_INPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_INPUT(GPIO_TIM4_CH2IN)
#define GPIO_GPIO3_INPUT /* PA8 T1C1 FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
#define GPIO_GPIO2_INPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
#define GPIO_GPIO1_INPUT /* PA10 T1C3 FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
#define GPIO_GPIO0_INPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)

#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))

#define GPIO_GPIO7_OUTPUT /* PH9 T12C2 FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH2OUT)
#define GPIO_GPIO6_OUTPUT /* PH6 T12C1 FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM12_CH1OUT)
#define GPIO_GPIO5_OUTPUT /* PD14 T4C3 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT)
#define GPIO_GPIO4_OUTPUT /* PD13 T4C2 FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT)
#define GPIO_GPIO3_OUTPUT /* PA8 T1C1 FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
#define GPIO_GPIO2_OUTPUT /* PE11 T1C2 FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
#define GPIO_GPIO1_OUTPUT /* PA10 T1C3 FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
#define GPIO_GPIO0_OUTPUT /* PE14 T1C4 FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)


/* Power supply control and monitoring GPIOs */

#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
Expand Down Expand Up @@ -522,7 +460,7 @@
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2

/* Safety Switch is HW version dependent on having an PX4IO
* So we init to a benign state with the _INIT definition
Expand Down Expand Up @@ -616,19 +554,6 @@

#define BOARD_HAS_ON_RESET 1

/* The list of GPIO that will be initialized */

#define PX4_GPIO_PWM_INIT_LIST { \
GPIO_GPIO7_INPUT, \
GPIO_GPIO6_INPUT, \
GPIO_GPIO5_INPUT, \
GPIO_GPIO4_INPUT, \
GPIO_GPIO3_INPUT, \
GPIO_GPIO2_INPUT, \
GPIO_GPIO1_INPUT, \
GPIO_GPIO0_INPUT, \
}

#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
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8 changes: 4 additions & 4 deletions boards/px4/fmu-v5x/src/init.c
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Expand Up @@ -68,6 +68,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
Expand Down Expand Up @@ -142,10 +143,9 @@ __EXPORT void board_peripheral_reset(int ms)
************************************************************************************/
__EXPORT void board_on_reset(int status)
{
/* configure the GPIO pins to outputs and keep them low */

const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
}

if (status >= 0) {
up_mdelay(6);
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247 changes: 0 additions & 247 deletions boards/px4/fmu-v5x/src/timer_config.c
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