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[WIP] Implement MAIN and AUX pwm output on MindPX #7208

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[WIP] Implement MAIN and AUX pwm output on MindPX #7208

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0891532
drv_io_time: delete duplicate extern claim
iZhangHui May 10, 2017
b6b3073
drv_ext_io_timer: copy from drv_io_time and rename api
iZhangHui May 10, 2017
0a57989
drv_ext_pwm_servo: copy from drv_pwm_servo and rename api
iZhangHui May 10, 2017
f6777e0
drv_ext_pwm_output: copy from drv_pwm_output and rename api
iZhangHui May 10, 2017
abdb0d3
px4pwm: add px4pwm driver(copy from px4fmu and remove anything that i…
iZhangHui May 10, 2017
3aabd4c
MindPX: add board config for ext timer
iZhangHui May 10, 2017
36dcc01
rcS: start px4pwm driver on MindPX
iZhangHui May 10, 2017
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12 changes: 7 additions & 5 deletions ROMFS/px4fmu_common/init.d/rc.interface
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,7 @@ if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then
if [ $PWM_OUT != none ]
then
echo "HenryDbg:: PWM_OUT = ${PWM_OUT}"
#
# Set PWM output frequency
#
Expand Down Expand Up @@ -114,11 +115,11 @@ then
set MIXER_AUX none
fi

#MindPX has not aux mixer
if ver hwcmp MINDPX_V2
then
set MIXER_AUX none
fi
# MindPX has not aux mixer
# if ver hwcmp MINDPX_V2
# then
# set MIXER_AUX none
# fi

if ver hwcmp CRAZYFLIE
then
Expand Down Expand Up @@ -196,6 +197,7 @@ then
#
# Set PWM_AUX output frequency
#
echo "HenryDbg:: PWM_AUX_OUT = ${PWM_AUX_OUT}"
if [ $PWM_AUX_RATE != none ]
then
pwm rate -e -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
Expand Down
18 changes: 14 additions & 4 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -214,10 +214,10 @@ then
set MAVLINK_COMPANION_DEVICE /dev/ttyS3
fi

if ver hwcmp MINDPX_V2
then
set USE_IO no
fi
# if ver hwcmp MINDPX_V2
# then
# set USE_IO no
# fi

if ver hwcmp CRAZYFLIE
then
Expand Down Expand Up @@ -380,6 +380,11 @@ then
echo "PX4IO not found" >> $LOG_FILE
tone_alarm ${TUNE_ERR}
fi

if ver hwcmp MINDPX_V2
then
px4pwm mode_pwm
fi
fi

#
Expand All @@ -405,6 +410,11 @@ then
then
set FMU_MODE serial
fi

if ver hwcmp MINDPX_V2
then
set OUTPUT_MODE io
fi
fi

if [ $OUTPUT_MODE == ardrone ]
Expand Down
1 change: 1 addition & 0 deletions cmake/configs/nuttx_mindpx-v2_default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ set(config_module_list
drivers/ll40ls
drivers/trone
drivers/gps
drivers/px4pwm
drivers/pwm_out_sim
#drivers/hott
#drivers/hott/hott_telemetry
Expand Down
79 changes: 43 additions & 36 deletions src/drivers/boards/mindpx-v2/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -159,28 +159,6 @@
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)

/* User GPIOs
*
* GPIO0-7 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)


#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)

/* Power supply control and monitoring GPIOs */
// #define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
Expand All @@ -196,7 +174,7 @@
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)

/* AUX PWMs
/* MAIN PWMs
*
* 8 PWM outputs are configured.
*
Expand All @@ -219,7 +197,8 @@
#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
#define GPIO_TIM4_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN15)
#define DIRECT_PWM_OUTPUT_CHANNELS 8

#define DIRECT_EXT_PWM_OUTPUT_CHANNELS 8

#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
Expand All @@ -230,28 +209,55 @@
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_2

#define DIRECT_INPUT_TIMER_CHANNELS 8
#define DIRECT_EXT_INPUT_TIMER_CHANNELS 8


/* PWMs for main output */
/* TODO: implement a new driver - /dev/pwm_output0 */
#define GPIO_TIM2_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TIM2_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
#define GPIO_TIM2_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TIM2_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
/* User GPIOs
*
* GPIO0-7 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)


#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN4)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN7)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN0)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN1)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN15)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN2)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)

/*AUX PWMs */
#define GPIO_TIM3_CH1OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN4)
#define GPIO_TIM3_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
#define GPIO_TIM3_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN0)
#define GPIO_TIM3_CH4OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN1)
#define GPIO_TIM2_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TIM2_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
#define GPIO_TIM2_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TIM2_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)

#define DIRECT_PWM_OUTPUT_CHANNELS 8

#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_2
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
#define GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_2
#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_3
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_2
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1

#define DIRECT_INPUT_TIMER_CHANNELS 8



/* USB OTG FS
Expand Down Expand Up @@ -312,7 +318,8 @@
#define BOARD_ADC_PERIPH_5V_OC (0)
#define BOARD_ADC_HIPOWER_5V_OC (0)

#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_HAS_EXT_PWM DIRECT_EXT_PWM_OUTPUT_CHANNELS

#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
Expand Down
105 changes: 100 additions & 5 deletions src/drivers/boards/mindpx-v2/mindpx_timer_config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,20 +45,113 @@
#include <stm32_gpio.h>
#include <stm32_tim.h>

#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
// #include <drivers/drv_pwm_output.h>
// #include <drivers/stm32/drv_io_timer.h>

#include <drivers/drv_ext_pwm_output.h>
#include <drivers/stm32/drv_ext_io_timer.h>

#include "board_config.h"

__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM3
},
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN,
.first_channel_index = 4,
.last_channel_index = 7,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM2,
},
};

__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM3_CH1OUT,
.gpio_in = GPIO_TIM3_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM3_CH2OUT,
.gpio_in = GPIO_TIM3_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM3_CH3OUT,
.gpio_in = GPIO_TIM3_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_in = GPIO_TIM3_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 1,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM2_CH3OUT,
.gpio_in = GPIO_TIM2_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio_out = GPIO_TIM2_CH4OUT,
.gpio_in = GPIO_TIM2_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};

__EXPORT const io_timers_t ext_io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.handler = ext_io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
Expand All @@ -68,12 +161,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 7,
.handler = io_timer_handler1,
.handler = ext_io_timer_handler1,
.vectorno = STM32_IRQ_TIM4
}

};

__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
__EXPORT const timer_io_channels_t ext_timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
Expand Down Expand Up @@ -139,3 +233,4 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};

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