actuators_pwm_arch.c File Reference

STM32 PWM servos handling. More...

#include "subsystems/actuators/actuators_shared_arch.h"
#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/timer.h>
#include "mcu_periph/gpio_arch.h"

Include dependency graph for actuators_pwm_arch.c:

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Functions
void	actuators_pwm_arch_init (void)
	PWM arch init called by generic pwm driver. More...
void	actuators_pwm_commit (void)
	Set pulse widths from actuator values, assumed to be in us. More...

Variables
int32_t	actuators_pwm_values [ACTUATORS_PWM_NB]

Detailed Description

STM32 PWM servos handling.

Definition in file actuators_pwm_arch.c.

Function Documentation

void actuators_pwm_arch_init

(

void

)

PWM arch init called by generic pwm driver.

Arch dependent init file.

Definition at line 44 of file actuators_pwm_arch.c.

References gpio_setup_pin_af(), PWM_SERVO_0_AF, PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_10_AF, PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_1_AF, PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_2_AF, PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_3_AF, PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_4_AF, PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_5_AF, PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_6_AF, PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_7_AF, PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_8_AF, PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_9_AF, PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_TIM12_CHAN_MASK, PWM_TIM1_CHAN_MASK, PWM_TIM2_CHAN_MASK, PWM_TIM3_CHAN_MASK, PWM_TIM4_CHAN_MASK, PWM_TIM5_CHAN_MASK, PWM_TIM8_CHAN_MASK, PWM_TIM9_CHAN_MASK, set_servo_timer(), TIM12_SERVO_HZ, TIM1_SERVO_HZ, TIM2_SERVO_HZ, TIM3_SERVO_HZ, TIM4_SERVO_HZ, TIM5_SERVO_HZ, TIM8_SERVO_HZ, TIM9_SERVO_HZ, and TRUE.

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void actuators_pwm_commit

(

void

)

Set pulse widths from actuator values, assumed to be in us.

Definition at line 150 of file actuators_pwm_arch.c.

References actuators_pwm_values, PWM_CMD_TO_US, PWM_SERVO_0, PWM_SERVO_0_CHANNEL, PWM_SERVO_0_DRIVER, PWM_SERVO_0_OC, PWM_SERVO_0_TIMER, PWM_SERVO_1, PWM_SERVO_10, PWM_SERVO_10_OC, PWM_SERVO_10_TIMER, PWM_SERVO_1_CHANNEL, PWM_SERVO_1_DRIVER, PWM_SERVO_1_OC, PWM_SERVO_1_TIMER, PWM_SERVO_2, PWM_SERVO_2_CHANNEL, PWM_SERVO_2_DRIVER, PWM_SERVO_2_OC, PWM_SERVO_2_TIMER, PWM_SERVO_3, PWM_SERVO_3_CHANNEL, PWM_SERVO_3_DRIVER, PWM_SERVO_3_OC, PWM_SERVO_3_TIMER, PWM_SERVO_4, PWM_SERVO_4_CHANNEL, PWM_SERVO_4_DRIVER, PWM_SERVO_4_OC, PWM_SERVO_4_TIMER, PWM_SERVO_5, PWM_SERVO_5_CHANNEL, PWM_SERVO_5_DRIVER, PWM_SERVO_5_OC, PWM_SERVO_5_TIMER, PWM_SERVO_6, PWM_SERVO_6_CHANNEL, PWM_SERVO_6_DRIVER, PWM_SERVO_6_OC, PWM_SERVO_6_TIMER, PWM_SERVO_7, PWM_SERVO_7_OC, PWM_SERVO_7_TIMER, PWM_SERVO_8, PWM_SERVO_8_OC, PWM_SERVO_8_TIMER, PWM_SERVO_9, PWM_SERVO_9_OC, and PWM_SERVO_9_TIMER.

Variable Documentation

int32_t actuators_pwm_values[ACTUATORS_PWM_NB]

Definition at line 39 of file actuators_pwm_arch.c.