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Code Issues Wiki Activity

Updated timerHardware_t to match betaflight

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This commit is contained in:
Martin Budden 2016-07-02 16:17:15 +01:00
parent cc46b0c415
commit 99f4264bf3
17 changed files with 36 additions and 59 deletions
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15
src/main/drivers/pwm_output.c
View file

@ -59,7 +59,7 @@ static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
static uint8_t allocatedOutputPortCount = 0; static uint8_t allocatedOutputPortCount = 0;
static bool pwmMotorsEnabled = true; static bool pwmMotorsEnabled = true;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value) static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t ouputPolarity)
{ {
TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitTypeDef TIM_OCInitStructure;
@ -68,7 +68,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = value; TIM_OCInitStructure.TIM_Pulse = value;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCPolarity = ouputPolarity ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
switch (channel) { switch (channel) {
@ -108,10 +108,10 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
configTimeBase(timerHardware->tim, period, mhz); configTimeBase(timerHardware->tim, period, mhz);
pwmGPIOConfig(IO_GPIOBYTAG(timerHardware->tag), IO_PINBYTAG(timerHardware->tag), Mode_AF_PP); pwmGPIOConfig(IO_GPIOBYTAG(timerHardware->tag), IO_PINBYTAG(timerHardware->tag), Mode_AF_PP);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value); if (timerHardware->output & TIMER_OUTPUT_ENABLED) {
if (timerHardware->outputEnable)
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE); TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
}
TIM_Cmd(timerHardware->tim, ENABLE); TIM_Cmd(timerHardware->tim, ENABLE);
switch (timerHardware->channel) { switch (timerHardware->channel) {
@ -175,12 +175,11 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
uint8_t index; uint8_t index;
TIM_TypeDef *lastTimerPtr = NULL; TIM_TypeDef *lastTimerPtr = NULL;
for(index = 0; index < motorCount; index++){ for (index = 0; index < motorCount; index++) {
// Force the timer to overflow if it's the first motor to output, or if we change timers // Force the timer to overflow if it's the first motor to output, or if we change timers
if(motors[index]->tim != lastTimerPtr){ if (motors[index]->tim != lastTimerPtr) {
lastTimerPtr = motors[index]->tim; lastTimerPtr = motors[index]->tim;
timerForceOverflow(motors[index]->tim); timerForceOverflow(motors[index]->tim);
} }

2
src/main/drivers/timer.c
View file

@ -423,7 +423,7 @@ void timerChConfigOC(const timerHardware_t* timHw, bool outEnable, bool stateHig
if(outEnable) { if(outEnable) {
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
if (timHw->outputInverted) { if (timHw->output & TIMER_OUTPUT_INVERTED) {
stateHigh = !stateHigh; stateHigh = !stateHigh;
} }
TIM_OCInitStructure.TIM_OCPolarity = stateHigh ? TIM_OCPolarity_High : TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCPolarity = stateHigh ? TIM_OCPolarity_High : TIM_OCPolarity_Low;

5
src/main/drivers/timer.h
View file

@ -76,13 +76,14 @@ typedef struct timerHardware_s {
ioTag_t tag; ioTag_t tag;
uint8_t channel; uint8_t channel;
uint8_t irq; uint8_t irq;
uint8_t outputEnable; uint8_t output;
ioConfig_t ioMode; ioConfig_t ioMode;
#if defined(STM32F3) || defined(STM32F4) #if defined(STM32F3) || defined(STM32F4)
uint8_t alternateFunction; uint8_t alternateFunction;
#endif #endif
uint8_t outputInverted;
} timerHardware_t; } timerHardware_t;
enum {TIMER_OUTPUT_ENABLED = 0x01, TIMER_OUTPUT_INVERTED = 0x02};
#ifdef STM32F1 #ifdef STM32F1
#if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL) #if defined(STM32F10X_XL) || defined(STM32F10X_HD_VL)

30
src/main/target/ALIENFLIGHTF3/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>
@ -25,16 +24,16 @@
const uint16_t multiPPM[] = { const uint16_t multiPPM[] = {
PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM11 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15 PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15 PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM15
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1 PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3 PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3 PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2 PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3 PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2 PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // TIM2
0xFFFF 0xFFFF
}; };
@ -64,10 +63,7 @@ const uint16_t airPWM[] = {
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
//
// 6 x 3 pin headers // 6 x 3 pin headers
//
{ TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2 { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
{ TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PB14 - TIM1_CH2N, *TIM15_CH1 { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PB14 - TIM1_CH2N, *TIM15_CH1
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3 - PA8 - *TIM1_CH1, TIM4_ETR { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3 - PA8 - *TIM1_CH1, TIM4_ETR
@ -75,20 +71,14 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1 { TIM3, IO_TAG(PA6), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PA6 - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1 { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6 - PA2 - *TIM2_CH3, !TIM15_CH1
//
// 6 pin header // 6 pin header
//
// PWM7-10 // PWM7-10
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
{ TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8 - PA7 - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1 { TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8 - PA7 - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
{ TIM3, IO_TAG(PA4), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9 - PA4 - *TIM3_CH2 { TIM3, IO_TAG(PA4), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9 - PA4 - *TIM3_CH2
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1 - *TIM2_CH2, TIM15_CH1N { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1 - *TIM2_CH2, TIM15_CH1N
//
// PPM PORT - Also USART2 RX (AF5) // PPM PORT - Also USART2 RX (AF5)
//
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_1 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13 { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_1 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13
//{ TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13 //{ TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM - PA3 - TIM2_CH4, TIM15_CH2 - PWM13

19
src/main/target/CC3D/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>
@ -28,18 +27,18 @@ const uint16_t multiPPM[] = {
#else #else
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
#endif #endif
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3 PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
#ifdef CC3D_PPM1 #ifdef CC3D_PPM1
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
#endif #endif
0xFFFF 0xFFFF
}; };

1
src/main/target/CHEBUZZF3/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/CJMCU/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/COLIBRI_RACE/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/EUSTM32F103RC/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/LUX_RACE/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/MOTOLAB/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

13
src/main/target/NAZE/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>
@ -24,16 +23,16 @@
const uint16_t multiPPM[] = { const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF 0xFFFF
}; };

1
src/main/target/PORT103R/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/RMDO/target.c
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@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/SPARKY/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/SPRACINGF3/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>

1
src/main/target/STM32F3DISCOVERY/target.c
View file

@ -15,7 +15,6 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <platform.h> #include <platform.h>