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Update PWM driver so that all 10 PWM outputs work. Softserial also now

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works as expected.  PWM/PPM input untested.  UART2 probably broken.
This commit is contained in:
Dominic Clifton 2014-05-01 15:09:32 +01:00
parent 7e79a245c2
commit 133f75a17b
4 changed files with 123 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/drivers/pwm_common.c
View file

@ -45,7 +45,13 @@
*/ */
typedef struct { typedef struct {
#ifdef STM32F303xC
volatile uint32_t *ccr;
#endif
#ifdef STM32F10X_MD
volatile uint16_t *ccr; volatile uint16_t *ccr;
#endif
uint16_t period; uint16_t period;
// for input only // for input only
@ -215,7 +221,6 @@ static pwmPortData_t *pwmOutConfig(uint8_t port, uint8_t mhz, uint16_t period, u
configTimeBase(timerHardware[port].tim, period, mhz); configTimeBase(timerHardware[port].tim, period, mhz);
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP); pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value); pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
// Needed only on TIM1
if (timerHardware[port].outputEnable) if (timerHardware[port].outputEnable)
TIM_CtrlPWMOutputs(timerHardware[port].tim, ENABLE); TIM_CtrlPWMOutputs(timerHardware[port].tim, ENABLE);
TIM_Cmd(timerHardware[port].tim, ENABLE); TIM_Cmd(timerHardware[port].tim, ENABLE);
@ -343,6 +348,7 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe)
continue; continue;
#endif #endif
#ifdef STM32F10X_MD
// skip UART ports for GPS // skip UART ports for GPS
if (init->useUART && (port == PWM3 || port == PWM4)) if (init->useUART && (port == PWM3 || port == PWM4))
continue; continue;
@ -350,6 +356,12 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe)
// skip softSerial ports // skip softSerial ports
if (init->useSoftSerial && (port == PWM5 || port == PWM6 || port == PWM7 || port == PWM8)) if (init->useSoftSerial && (port == PWM5 || port == PWM6 || port == PWM7 || port == PWM8))
continue; continue;
#endif
#ifdef STM32F303xC
// skip softSerial ports
if (init->useSoftSerial && (port == PWM9 || port == PWM10 || port == PWM11 || port == PWM12))
continue;
#endif
// skip ADC for powerMeter if configured // skip ADC for powerMeter if configured
if (init->adcChannel && (init->adcChannel == port)) if (init->adcChannel && (init->adcChannel == port))

18
src/drivers/serial_softserial.c
View file

@ -11,11 +11,19 @@
#include "serial_common.h" #include "serial_common.h"
#include "serial_softserial.h" #include "serial_softserial.h"
#define SOFT_SERIAL_TIMER_MHZ 3 #ifdef STM32F10X_MD
#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 4 #define SOFT_SERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 5 #define SOFT_SERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 6 #define SOFT_SERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7 #define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
#endif
#ifdef STM32F303xC
#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 8 // PWM 9
#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 9 // PWM 10
#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 10 // PWM 11
#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 11 // PWM 12
#endif
#define RX_TOTAL_BITS 10 #define RX_TOTAL_BITS 10
#define TX_TOTAL_BITS 10 #define TX_TOTAL_BITS 10

26
src/drivers/system_common.c
View file

@ -99,8 +99,8 @@ void systemInit(bool overclock)
// Turn on clocks for stuff we use // Turn on clocks for stuff we use
#ifdef STM32F303xC #ifdef STM32F303xC
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 | RCC_APB2Periph_USART1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17 | RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1 | RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC | RCC_AHBPeriph_ADC12, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1 | RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC | RCC_AHBPeriph_GPIOD | RCC_AHBPeriph_GPIOF | RCC_AHBPeriph_ADC12, ENABLE);
#endif #endif
#ifdef STM32F10X_MD #ifdef STM32F10X_MD
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
@ -128,6 +128,28 @@ void systemInit(bool overclock)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
#endif #endif
#ifdef STM32F303xC
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_6);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_1);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_4);
//GPIO_PinAFConfig(GPIOF, GPIO_PinSource9, GPIO_AF_3); // Potential alternate, untested
//GPIO_PinAFConfig(GPIOF, GPIO_PinSource10, GPIO_AF_3); // Potential alternate, untested
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_2);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_2);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_2);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource4, GPIO_AF_2);
#endif
beeperInit(); beeperInit();
LED0_OFF; LED0_OFF;
LED1_OFF; LED1_OFF;

75
src/drivers/timer_common.c
View file

@ -37,7 +37,7 @@
Outputs Outputs
PWM1 TIM1_CH1 PA8 PWM1 TIM1_CH1 PA8
PWM2 TIM1_CH4 PA11 PWM2 TIM1_CH4 PA11
PWM3 TIM4_CH1 PB6? [also I2C1_SCL] PWM3 TIM4_CH1 PB6 [also I2C1_SCL]
PWM4 TIM4_CH2 PB7 [also I2C1_SDA] PWM4 TIM4_CH2 PB7 [also I2C1_SDA]
PWM5 TIM4_CH3 PB8 PWM5 TIM4_CH3 PB8
PWM6 TIM4_CH4 PB9 PWM6 TIM4_CH4 PB9
@ -49,6 +49,7 @@
TIM4 4 channels TIM4 4 channels
*/ */
#if defined(STM32F10X_MD) || defined(NAZE)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1 { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2 { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2
@ -67,12 +68,65 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
}; };
#define MAX_TIMERS 4 // TIM1..TIM4 #define MAX_TIMERS 4 // TIM1..TIM4
#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
static const TIM_TypeDef *timers[MAX_TIMERS] = { static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4 TIM1, TIM2, TIM3, TIM4
}; };
#endif
// Parallel PWM Inputs
// RX1 TIM1_CH1 PA8
// RX2 TIM16_CH1 PB8
// RX3 TIM17_CH1 PB9
// RX4 TIM8_CH1 PC6
// RX5 TIM8_CH2 PC7
// RX6 TIM8_CH3 PC8
// RX7 TIM15_CH1 PF9
// RX8 TIM15_CH2 PF10
// Servo PWM1 TIM3_CH3 PB0
// Servo PWM2 TIM3_CH4 PB1
// Servo PWM3 TIM3_CH2 PA4
// ESC PWM1 TIM4_CH1 PD12
// ESC PWM2 TIM4_CH2 PD13
// ESC PWM3 TIM4_CH3 PD14
// ESC PWM4 TIM4_CH4 PD15
// ESC PWM5 TIM2_CH2 PA1
// ESC PWM6 TIM2_CH3 PA2
#if defined(STM32F303xC) || defined(STM32F3DISCOVERY)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, }, // PWM1
{ TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 0, }, // PWM2
{ TIM17, GPIOB, Pin_9, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 0, }, // PWM3
{ TIM8, GPIOC, Pin_6, TIM_Channel_1, TIM8_CC_IRQn, 1, }, // PWM4
{ TIM8, GPIOC, Pin_7, TIM_Channel_2, TIM8_CC_IRQn, 1, }, // PWM5
{ TIM8, GPIOC, Pin_8, TIM_Channel_3, TIM8_CC_IRQn, 1, }, // PWM6
//{ TIM15, GPIOF, Pin_9, TIM_Channel_1, TIM15_IRQn, 0, }, // PWM7 - Potential alternate, untested
//{ TIM15, GPIOF, Pin_10, TIM_Channel_2, TIM15_IRQn, 0, }, // PWM8 - Potential alternate, untested
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, }, // PWM7
{ TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 0, }, // PWM8
{ TIM4, GPIOD, Pin_12, TIM_Channel_1, TIM4_IRQn, 0, }, // PWM9
{ TIM4, GPIOD, Pin_13, TIM_Channel_2, TIM4_IRQn, 0, }, // PWM10
{ TIM4, GPIOD, Pin_14, TIM_Channel_3, TIM4_IRQn, 0, }, // PWM11
{ TIM4, GPIOD, Pin_15, TIM_Channel_4, TIM4_IRQn, 0, }, // PWM12
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM13
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, }, // PWM14
};
#define MAX_TIMERS 7
static const TIM_TypeDef *timers[MAX_TIMERS] = {
TIM1, TIM2, TIM3, TIM4, TIM8, TIM16, TIM17
};
#endif
#define CC_CHANNELS_PER_TIMER 4 // TIM_Channel_1..4
static const uint8_t channels[CC_CHANNELS_PER_TIMER] = { static const uint8_t channels[CC_CHANNELS_PER_TIMER] = {
TIM_Channel_1, TIM_Channel_2, TIM_Channel_3, TIM_Channel_4 TIM_Channel_1, TIM_Channel_2, TIM_Channel_3, TIM_Channel_4
}; };
@ -243,3 +297,20 @@ void TIM4_IRQHandler(void)
{ {
timCCxHandler(TIM4); timCCxHandler(TIM4);
} }
#if defined(STM32F303xC) || defined(STM32F3DISCOVERY)
void TIM8_IRQHandler(void)
{
timCCxHandler(TIM8);
}
void TIM1_UP_TIM16_IRQHandler(void)
{
timCCxHandler(TIM16);
}
void TIM1_TRG_COM_TIM17_IRQHandler(void)
{
timCCxHandler(TIM17);
}
#endif