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Code Issues Wiki Activity

Unify F7 pwmoutput

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This commit is contained in:
Sami Korhonen 2016-12-25 09:17:20 +02:00
parent c1ed72644f
commit 6b48aab3c6
3 changed files with 41 additions and 298 deletions
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42
src/main/drivers/pwm_output.c
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@ -40,6 +40,27 @@ bool pwmMotorsEnabled = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef* Handle = timerFindTimerHandle(tim);
if(Handle == NULL) return;
TIM_OC_InitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW;
} else {
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;
TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
}
TIM_OCInitStructure.Pulse = value;
TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(Handle, &TIM_OCInitStructure, channel);
#else
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
@ -58,15 +79,26 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
timerOCInit(tim, channel, &TIM_OCInitStructure);
timerOCPreloadConfig(tim, channel, TIM_OCPreload_Enable);
#endif
}
static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
{
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
if(Handle == NULL) return;
#endif
configTimeBase(timerHardware->tim, period, mhz);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output);
#if defined(USE_HAL_DRIVER)
HAL_TIM_PWM_Start(Handle, timerHardware->channel);
HAL_TIM_Base_Start(Handle);
#else
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
TIM_Cmd(timerHardware->tim, ENABLE);
#endif
port->ccr = timerChCCR(timerHardware);
port->period = period;
@ -230,7 +262,11 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#endif
IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
#if defined(USE_HAL_DRIVER)
IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
#else
IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
#endif
if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000;
@ -268,9 +304,13 @@ void servoInit(const servoConfig_t *servoConfig)
servos[servoIndex].io = IOGetByTag(tag);
IOInit(servos[servoIndex].io, OWNER_SERVO, RESOURCE_INDEX(servoIndex));
IOConfigGPIO(servos[servoIndex].io, IOCFG_AF_PP);
const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_ANY);
#if defined(USE_HAL_DRIVER)
IOConfigGPIOAF(servos[servoIndex].io, IOCFG_AF_PP, timer->alternateFunction);
#else
IOConfigGPIO(servos[servoIndex].io, IOCFG_AF_PP);
#endif
if (timer == NULL) {
/* flag failure and disable ability to arm */