Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
•All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
actuators_pwm_arch.c
Go to the documentation of this file.
1/*
2 * Copyright (C) 2013 AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
3 * Utah State University, http://aggieair.usu.edu/
4 *
5 * Michal Podhradsky (michal.podhradsky@aggiemail.usu.edu)
6 * Calvin Coopmans (c.r.coopmans@ieee.org)
7 *
8 *
9 * This file is part of paparazzi.
10 *
11 * paparazzi is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License as published by
13 * the Free Software Foundation; either version 2, or (at your option)
14 * any later version.
15 *
16 * paparazzi is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU General Public License for more details.
20 *
21 * You should have received a copy of the GNU General Public License
22 * along with paparazzi; see the file COPYING. If not, write to
23 * the Free Software Foundation, 59 Temple Place - Suite 330,
24 * Boston, MA 02111-1307, USA.
25 */
33#include "modules/actuators/actuators_pwm_arch.h"
34#include "modules/actuators/actuators_pwm.h"
35#include "mcu_periph/gpio.h"
36
37/* Default timer base frequency is 1MHz */
38#ifndef PWM_FREQUENCY
39#define PWM_FREQUENCY 1000000
40#endif
41
42/* Default servo update rate in Hz */
43#ifndef SERVO_HZ
44#define SERVO_HZ 40
45#endif
46
47/* For each timer the period van be configured differently */
48#ifndef TIM1_SERVO_HZ
49#define TIM1_SERVO_HZ SERVO_HZ
50#endif
51#ifndef TIM2_SERVO_HZ
52#define TIM2_SERVO_HZ SERVO_HZ
53#endif
54#ifndef TIM3_SERVO_HZ
55#define TIM3_SERVO_HZ SERVO_HZ
56#endif
57#ifndef TIM4_SERVO_HZ
58#define TIM4_SERVO_HZ SERVO_HZ
59#endif
60#ifndef TIM5_SERVO_HZ
61#define TIM5_SERVO_HZ SERVO_HZ
62#endif
63#ifndef TIM8_SERVO_HZ
64#define TIM8_SERVO_HZ SERVO_HZ
65#endif
66#ifndef TIM9_SERVO_HZ
67#define TIM9_SERVO_HZ SERVO_HZ
68#endif
69#ifndef TIM12_SERVO_HZ
70#define TIM12_SERVO_HZ SERVO_HZ
71#endif
72
76PRINT_CONFIG_VAR(ACTUATORS_PWM_NB)
77PRINT_CONFIG_VAR(PWM_FREQUENCY)
78PRINT_CONFIG_VAR(SERVO_HZ)
79
80
88#ifndef PWM_CMD_TO_US
89#define PWM_CMD_TO_US(_t) (PWM_FREQUENCY * _t / 1000000)
90#endif
91
92int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
93
103 __attribute__((unused)) static void pwmpcb(PWMDriver *pwmp __attribute__((unused))) {}
104
105#if USE_PWM_TIM1
106static PWMConfig pwmcfg1 = {
107 .frequency = PWM_FREQUENCY,
108 .period = PWM_FREQUENCY/TIM1_SERVO_HZ,
109 .callback = NULL,
110 .channels = {
111 { PWM_OUTPUT_DISABLED, NULL },
112 { PWM_OUTPUT_DISABLED, NULL },
113 { PWM_OUTPUT_DISABLED, NULL },
114 { PWM_OUTPUT_DISABLED, NULL },
115 },
116 .cr2 = 0,
117 .bdtr = 0,
118 .dier = 0
119};
120#endif
121#if USE_PWM_TIM2
122static PWMConfig pwmcfg2 = {
123 .frequency = PWM_FREQUENCY,
124 .period = PWM_FREQUENCY/TIM2_SERVO_HZ,
125 .callback = NULL,
126 .channels = {
127 { PWM_OUTPUT_DISABLED, NULL },
128 { PWM_OUTPUT_DISABLED, NULL },
129 { PWM_OUTPUT_DISABLED, NULL },
130 { PWM_OUTPUT_DISABLED, NULL },
131 },
132 .cr2 = 0,
133 .bdtr = 0,
134 .dier = 0
135};
136#endif
137#if USE_PWM_TIM3
138static PWMConfig pwmcfg3 = {
139 .frequency = PWM_FREQUENCY,
140 .period = PWM_FREQUENCY/TIM3_SERVO_HZ,
141 .callback = NULL,
142 .channels = {
143 { PWM_OUTPUT_DISABLED, NULL },
144 { PWM_OUTPUT_DISABLED, NULL },
145 { PWM_OUTPUT_DISABLED, NULL },
146 { PWM_OUTPUT_DISABLED, NULL },
147 },
148 .cr2 = 0,
149 .bdtr = 0,
150 .dier = 0
151};
152#endif
153#if USE_PWM_TIM4
154static PWMConfig pwmcfg4 = {
155 .frequency = PWM_FREQUENCY,
156 .period = PWM_FREQUENCY/TIM4_SERVO_HZ,
157 .callback = NULL,
158 .channels = {
159 { PWM_OUTPUT_DISABLED, NULL },
160 { PWM_OUTPUT_DISABLED, NULL },
161 { PWM_OUTPUT_DISABLED, NULL },
162 { PWM_OUTPUT_DISABLED, NULL },
163 },
164 .cr2 = 0,
165 .bdtr = 0,
166 .dier = 0
167};
168#endif
169#if USE_PWM_TIM5
170static PWMConfig pwmcfg5 = {
171 .frequency = PWM_FREQUENCY,
172 .period = PWM_FREQUENCY/TIM5_SERVO_HZ,
173 .callback = NULL,
174 .channels = {
175 { PWM_OUTPUT_DISABLED, NULL },
176 { PWM_OUTPUT_DISABLED, NULL },
177 { PWM_OUTPUT_DISABLED, NULL },
178 { PWM_OUTPUT_DISABLED, NULL },
179 },
180 .cr2 = 0,
181 .bdtr = 0,
182 .dier = 0
183};
184#endif
185#if USE_PWM_TIM8
186static PWMConfig pwmcfg8 = {
187 .frequency = PWM_FREQUENCY,
188 .period = PWM_FREQUENCY/TIM8_SERVO_HZ,
189 .callback = NULL,
190 .channels = {
191 { PWM_OUTPUT_DISABLED, NULL },
192 { PWM_OUTPUT_DISABLED, NULL },
193 { PWM_OUTPUT_DISABLED, NULL },
194 { PWM_OUTPUT_DISABLED, NULL },
195 },
196 .cr2 = 0,
197 .bdtr = 0,
198 .dier = 0
199};
200#endif
201#if USE_PWM_TIM9
202static PWMConfig pwmcfg9 = {
203 .frequency = PWM_FREQUENCY,
204 .period = PWM_FREQUENCY/TIM9_SERVO_HZ,
205 .callback = NULL,
206 .channels = {
207 { PWM_OUTPUT_DISABLED, NULL },
208 { PWM_OUTPUT_DISABLED, NULL },
209 { PWM_OUTPUT_DISABLED, NULL },
210 { PWM_OUTPUT_DISABLED, NULL },
211 },
212 .cr2 = 0,
213 .bdtr = 0,
214 .dier = 0
215};
216#endif
217#if USE_PWM_TIM10
218static PWMConfig pwmcfg10 = {
219 .frequency = PWM_FREQUENCY,
220 .period = PWM_FREQUENCY/TIM10_SERVO_HZ,
221 .callback = NULL,
222 .channels = {
223 { PWM_OUTPUT_DISABLED, NULL },
224 { PWM_OUTPUT_DISABLED, NULL },
225 { PWM_OUTPUT_DISABLED, NULL },
226 { PWM_OUTPUT_DISABLED, NULL },
227 },
228 .cr2 = 0,
229 .bdtr = 0,
230 .dier = 0
231};
232#endif
233#if USE_PWM_TIM11
234static PWMConfig pwmcfg11 = {
235 .frequency = PWM_FREQUENCY,
236 .period = PWM_FREQUENCY/TIM11_SERVO_HZ,
237 .callback = NULL,
238 .channels = {
239 { PWM_OUTPUT_DISABLED, NULL },
240 { PWM_OUTPUT_DISABLED, NULL },
241 { PWM_OUTPUT_DISABLED, NULL },
242 { PWM_OUTPUT_DISABLED, NULL },
243 },
244 .cr2 = 0,
245 .bdtr = 0,
246 .dier = 0
247};
248#endif
249#if USE_PWM_TIM12
250static PWMConfig pwmcfg12 = {
251 .frequency = PWM_FREQUENCY,
252 .period = PWM_FREQUENCY/TIM12_SERVO_HZ,
253 .callback = NULL,
254 .channels = {
255 { PWM_OUTPUT_DISABLED, NULL },
256 { PWM_OUTPUT_DISABLED, NULL },
257 { PWM_OUTPUT_DISABLED, NULL },
258 { PWM_OUTPUT_DISABLED, NULL },
259 },
260 .cr2 = 0,
261 .bdtr = 0,
262 .dier = 0
263};
264#endif
265
266
267void actuators_pwm_arch_init(void)
268{
269 /*----------------
270 * Configure GPIO
271 *----------------*/
272#ifdef PWM_SERVO_0
273 gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, true);
274 PWM_SERVO_0_CONF.channels[PWM_SERVO_0_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
275#endif
276#ifdef PWM_SERVO_1
277 gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, true);
278 PWM_SERVO_1_CONF.channels[PWM_SERVO_1_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
279#endif
280#ifdef PWM_SERVO_2
281 gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, true);
282 PWM_SERVO_2_CONF.channels[PWM_SERVO_2_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
283#endif
284#ifdef PWM_SERVO_3
285 gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, true);
286 PWM_SERVO_3_CONF.channels[PWM_SERVO_3_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
287#endif
288#ifdef PWM_SERVO_4
289 gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, true);
290 PWM_SERVO_4_CONF.channels[PWM_SERVO_4_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
291#endif
292#ifdef PWM_SERVO_5
293 gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, true);
294 PWM_SERVO_5_CONF.channels[PWM_SERVO_5_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
295#endif
296#ifdef PWM_SERVO_6
297 gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, true);
298 PWM_SERVO_6_CONF.channels[PWM_SERVO_6_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
299#endif
300#ifdef PWM_SERVO_7
301 gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, true);
302 PWM_SERVO_7_CONF.channels[PWM_SERVO_7_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
303#endif
304#ifdef PWM_SERVO_8
305 gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, true);
306 PWM_SERVO_8_CONF.channels[PWM_SERVO_8_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
307#endif
308#ifdef PWM_SERVO_9
309 gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, true);
310 PWM_SERVO_9_CONF.channels[PWM_SERVO_9_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
311#endif
312#ifdef PWM_SERVO_10
313 gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, true);
314 PWM_SERVO_10_CONF.channels[PWM_SERVO_10_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
315#endif
316#ifdef PWM_SERVO_11
317 gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, true);
318 PWM_SERVO_11_CONF.channels[PWM_SERVO_11_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
319#endif
320#ifdef PWM_SERVO_12
321 gpio_setup_pin_af(PWM_SERVO_12_GPIO, PWM_SERVO_12_PIN, PWM_SERVO_12_AF, true);
322 PWM_SERVO_12_CONF.channels[PWM_SERVO_12_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
323#endif
324#ifdef PWM_SERVO_13
325 gpio_setup_pin_af(PWM_SERVO_13_GPIO, PWM_SERVO_13_PIN, PWM_SERVO_13_AF, true);
326 PWM_SERVO_13_CONF.channels[PWM_SERVO_13_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
327#endif
328#ifdef PWM_SERVO_14
329 gpio_setup_pin_af(PWM_SERVO_14_GPIO, PWM_SERVO_14_PIN, PWM_SERVO_14_AF, true);
330 PWM_SERVO_14_CONF.channels[PWM_SERVO_14_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
331#endif
332#ifdef PWM_SERVO_15
333 gpio_setup_pin_af(PWM_SERVO_15_GPIO, PWM_SERVO_15_PIN, PWM_SERVO_15_AF, true);
334 PWM_SERVO_15_CONF.channels[PWM_SERVO_15_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
335#endif
336#ifdef PWM_SERVO_16
337 gpio_setup_pin_af(PWM_SERVO_16_GPIO, PWM_SERVO_16_PIN, PWM_SERVO_16_AF, true);
338 PWM_SERVO_16_CONF.channels[PWM_SERVO_16_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
339#endif
340
341 /*---------------
342 * Configure PWM
343 *---------------*/
344#if USE_PWM_TIM1
345 pwmStart(&PWMD1, &pwmcfg1);
346#endif
347#if USE_PWM_TIM2
348 pwmStart(&PWMD2, &pwmcfg2);
349#endif
350#if USE_PWM_TIM3
351 pwmStart(&PWMD3, &pwmcfg3);
352#endif
353#if USE_PWM_TIM4
354 pwmStart(&PWMD4, &pwmcfg4);
355#endif
356#if USE_PWM_TIM5
357 pwmStart(&PWMD5, &pwmcfg5);
358#endif
359#if USE_PWM_TIM8
360 pwmStart(&PWMD8, &pwmcfg8);
361#endif
362#if USE_PWM_TIM9
363 pwmStart(&PWMD9, &pwmcfg9);
364#endif
365#if USE_PWM_TIM10
366 pwmStart(&PWMD10, &pwmcfg10);
367#endif
368#if USE_PWM_TIM11
369 pwmStart(&PWMD11, &pwmcfg11);
370#endif
371#if USE_PWM_TIM12
372 pwmStart(&PWMD12, &pwmcfg12);
373#endif
374}
375
376
377void actuators_pwm_commit(void)
378{
379#ifdef PWM_SERVO_0
380 pwmEnableChannel(&PWM_SERVO_0_DRIVER, PWM_SERVO_0_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_0]));
381#endif
382#ifdef PWM_SERVO_1
383 pwmEnableChannel(&PWM_SERVO_1_DRIVER, PWM_SERVO_1_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_1]));
384#endif
385#ifdef PWM_SERVO_2
386 pwmEnableChannel(&PWM_SERVO_2_DRIVER, PWM_SERVO_2_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_2]));
387#endif
388#ifdef PWM_SERVO_3
389 pwmEnableChannel(&PWM_SERVO_3_DRIVER, PWM_SERVO_3_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_3]));
390#endif
391#ifdef PWM_SERVO_4
392 pwmEnableChannel(&PWM_SERVO_4_DRIVER, PWM_SERVO_4_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_4]));
393#endif
394#ifdef PWM_SERVO_5
395 pwmEnableChannel(&PWM_SERVO_5_DRIVER, PWM_SERVO_5_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_5]));
396#endif
397#ifdef PWM_SERVO_6
398 pwmEnableChannel(&PWM_SERVO_6_DRIVER, PWM_SERVO_6_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_6]));
399#endif
400#ifdef PWM_SERVO_7
401 pwmEnableChannel(&PWM_SERVO_7_DRIVER, PWM_SERVO_7_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_7]));
402#endif
403#ifdef PWM_SERVO_8
404 pwmEnableChannel(&PWM_SERVO_8_DRIVER, PWM_SERVO_8_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_8]));
405#endif
406#ifdef PWM_SERVO_9
407 pwmEnableChannel(&PWM_SERVO_9_DRIVER, PWM_SERVO_9_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_9]));
408#endif
409#ifdef PWM_SERVO_10
410 pwmEnableChannel(&PWM_SERVO_10_DRIVER, PWM_SERVO_10_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_10]));
411#endif
412#ifdef PWM_SERVO_11
413 pwmEnableChannel(&PWM_SERVO_11_DRIVER, PWM_SERVO_11_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_11]));
414#endif
415#ifdef PWM_SERVO_12
416 pwmEnableChannel(&PWM_SERVO_12_DRIVER, PWM_SERVO_12_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_12]));
417#endif
418#ifdef PWM_SERVO_13
419 pwmEnableChannel(&PWM_SERVO_13_DRIVER, PWM_SERVO_13_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_13]));
420#endif
421#ifdef PWM_SERVO_14
422 pwmEnableChannel(&PWM_SERVO_14_DRIVER, PWM_SERVO_14_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_14]));
423#endif
424#ifdef PWM_SERVO_15
425 pwmEnableChannel(&PWM_SERVO_15_DRIVER, PWM_SERVO_15_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_15]));
426#endif
427#ifdef PWM_SERVO_16
428 pwmEnableChannel(&PWM_SERVO_16_DRIVER, PWM_SERVO_16_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_16]));
429#endif
430}
actuators_pwm.h
gpio_setup_pin_af
void gpio_setup_pin_af(ioportid_t port, uint16_t pin, uint8_t af, bool is_output)
Setup a gpio for input or output with alternate function.
Definition gpio_arch.c:65
actuators_pwm_values
int32_t actuators_pwm_values[ACTUATORS_PWM_NB]
Definition actuators_pwm_arch.c:92
TIM3_SERVO_HZ
#define TIM3_SERVO_HZ
Definition actuators_pwm_arch.c:55
TIM5_SERVO_HZ
#define TIM5_SERVO_HZ
Definition actuators_pwm_arch.c:61
PWM_CMD_TO_US
#define PWM_CMD_TO_US(_t)
Print the configuration variables from the header.
Definition actuators_pwm_arch.c:89
pwmpcb
static void pwmpcb(PWMDriver *pwmp)
PWM callback function.
Definition actuators_pwm_arch.c:103
TIM4_SERVO_HZ
#define TIM4_SERVO_HZ
Definition actuators_pwm_arch.c:58
SERVO_HZ
#define SERVO_HZ
Definition actuators_pwm_arch.c:44
TIM8_SERVO_HZ
#define TIM8_SERVO_HZ
Definition actuators_pwm_arch.c:64
TIM9_SERVO_HZ
#define TIM9_SERVO_HZ
Definition actuators_pwm_arch.c:67
TIM12_SERVO_HZ
#define TIM12_SERVO_HZ
Definition actuators_pwm_arch.c:70
PWM_FREQUENCY
#define PWM_FREQUENCY
Definition actuators_pwm_arch.c:39
TIM1_SERVO_HZ
#define TIM1_SERVO_HZ
Definition actuators_pwm_arch.c:49
TIM2_SERVO_HZ
#define TIM2_SERVO_HZ
Definition actuators_pwm_arch.c:52
actuators_pwm_arch_init
void actuators_pwm_arch_init(void)
Arch dependent init file.
Definition actuators_pwm_arch.c:267
actuators_pwm_commit
void actuators_pwm_commit(void)
Definition actuators_pwm_arch.c:377
ACTUATORS_PWM_NB
#define ACTUATORS_PWM_NB
Definition actuators_pwm_arch.h:42
gpio.h
Some architecture independent helper functions for GPIOs.
foo
uint16_t foo
Definition main_demo5.c:58
PWM_SERVO_6
#define PWM_SERVO_6
Definition naze32_common.h:214
PWM_SERVO_3
#define PWM_SERVO_3
Definition naze32_common.h:211
PWM_SERVO_4
#define PWM_SERVO_4
Definition naze32_common.h:212
PWM_SERVO_5
#define PWM_SERVO_5
Definition naze32_common.h:213
PRINT_CONFIG_VAR
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition vl53l1_types.h:83