Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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actuators_pwm_arch.c
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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
101 __attribute__((unused)) static void pwmpcb(PWMDriver *pwmp __attribute__((unused))) {}
102
103#if USE_PWM_TIM1
104static PWMConfig pwmcfg1 = {
105 .frequency = PWM_FREQUENCY,
106 .period = PWM_FREQUENCY/TIM1_SERVO_HZ,
107 .callback = NULL,
108 .channels = {
109 { PWM_OUTPUT_DISABLED, NULL },
110 { PWM_OUTPUT_DISABLED, NULL },
111 { PWM_OUTPUT_DISABLED, NULL },
112 { PWM_OUTPUT_DISABLED, NULL },
113 },
114 .cr2 = 0,
115 .bdtr = 0,
116 .dier = 0
117};
118#endif
119#if USE_PWM_TIM2
120static PWMConfig pwmcfg2 = {
121 .frequency = PWM_FREQUENCY,
122 .period = PWM_FREQUENCY/TIM2_SERVO_HZ,
123 .callback = NULL,
124 .channels = {
125 { PWM_OUTPUT_DISABLED, NULL },
126 { PWM_OUTPUT_DISABLED, NULL },
127 { PWM_OUTPUT_DISABLED, NULL },
128 { PWM_OUTPUT_DISABLED, NULL },
129 },
130 .cr2 = 0,
131 .bdtr = 0,
132 .dier = 0
133};
134#endif
135#if USE_PWM_TIM3
136static PWMConfig pwmcfg3 = {
137 .frequency = PWM_FREQUENCY,
138 .period = PWM_FREQUENCY/TIM3_SERVO_HZ,
139 .callback = NULL,
140 .channels = {
141 { PWM_OUTPUT_DISABLED, NULL },
142 { PWM_OUTPUT_DISABLED, NULL },
143 { PWM_OUTPUT_DISABLED, NULL },
144 { PWM_OUTPUT_DISABLED, NULL },
145 },
146 .cr2 = 0,
147 .bdtr = 0,
148 .dier = 0
149};
150#endif
151#if USE_PWM_TIM4
152static PWMConfig pwmcfg4 = {
153 .frequency = PWM_FREQUENCY,
154 .period = PWM_FREQUENCY/TIM4_SERVO_HZ,
155 .callback = NULL,
156 .channels = {
157 { PWM_OUTPUT_DISABLED, NULL },
158 { PWM_OUTPUT_DISABLED, NULL },
159 { PWM_OUTPUT_DISABLED, NULL },
160 { PWM_OUTPUT_DISABLED, NULL },
161 },
162 .cr2 = 0,
163 .bdtr = 0,
164 .dier = 0
165};
166#endif
167#if USE_PWM_TIM5
168static PWMConfig pwmcfg5 = {
169 .frequency = PWM_FREQUENCY,
170 .period = PWM_FREQUENCY/TIM5_SERVO_HZ,
171 .callback = NULL,
172 .channels = {
173 { PWM_OUTPUT_DISABLED, NULL },
174 { PWM_OUTPUT_DISABLED, NULL },
175 { PWM_OUTPUT_DISABLED, NULL },
176 { PWM_OUTPUT_DISABLED, NULL },
177 },
178 .cr2 = 0,
179 .bdtr = 0,
180 .dier = 0
181};
182#endif
183#if USE_PWM_TIM8
184static PWMConfig pwmcfg8 = {
185 .frequency = PWM_FREQUENCY,
186 .period = PWM_FREQUENCY/TIM8_SERVO_HZ,
187 .callback = NULL,
188 .channels = {
189 { PWM_OUTPUT_DISABLED, NULL },
190 { PWM_OUTPUT_DISABLED, NULL },
191 { PWM_OUTPUT_DISABLED, NULL },
192 { PWM_OUTPUT_DISABLED, NULL },
193 },
194 .cr2 = 0,
195 .bdtr = 0,
196 .dier = 0
197};
198#endif
199#if USE_PWM_TIM9
200static PWMConfig pwmcfg9 = {
201 .frequency = PWM_FREQUENCY,
202 .period = PWM_FREQUENCY/TIM9_SERVO_HZ,
203 .callback = NULL,
204 .channels = {
205 { PWM_OUTPUT_DISABLED, NULL },
206 { PWM_OUTPUT_DISABLED, NULL },
207 { PWM_OUTPUT_DISABLED, NULL },
208 { PWM_OUTPUT_DISABLED, NULL },
209 },
210 .cr2 = 0,
211 .bdtr = 0,
212 .dier = 0
213};
214#endif
215#if USE_PWM_TIM10
216static PWMConfig pwmcfg10 = {
217 .frequency = PWM_FREQUENCY,
218 .period = PWM_FREQUENCY/TIM10_SERVO_HZ,
219 .callback = NULL,
220 .channels = {
221 { PWM_OUTPUT_DISABLED, NULL },
222 { PWM_OUTPUT_DISABLED, NULL },
223 { PWM_OUTPUT_DISABLED, NULL },
224 { PWM_OUTPUT_DISABLED, NULL },
225 },
226 .cr2 = 0,
227 .bdtr = 0,
228 .dier = 0
229};
230#endif
231#if USE_PWM_TIM11
232static PWMConfig pwmcfg11 = {
233 .frequency = PWM_FREQUENCY,
234 .period = PWM_FREQUENCY/TIM11_SERVO_HZ,
235 .callback = NULL,
236 .channels = {
237 { PWM_OUTPUT_DISABLED, NULL },
238 { PWM_OUTPUT_DISABLED, NULL },
239 { PWM_OUTPUT_DISABLED, NULL },
240 { PWM_OUTPUT_DISABLED, NULL },
241 },
242 .cr2 = 0,
243 .bdtr = 0,
244 .dier = 0
245};
246#endif
247#if USE_PWM_TIM12
248static PWMConfig pwmcfg12 = {
249 .frequency = PWM_FREQUENCY,
250 .period = PWM_FREQUENCY/TIM12_SERVO_HZ,
251 .callback = NULL,
252 .channels = {
253 { PWM_OUTPUT_DISABLED, NULL },
254 { PWM_OUTPUT_DISABLED, NULL },
255 { PWM_OUTPUT_DISABLED, NULL },
256 { PWM_OUTPUT_DISABLED, NULL },
257 },
258 .cr2 = 0,
259 .bdtr = 0,
260 .dier = 0
261};
262#endif
263
264
265void actuators_pwm_arch_init(void)
266{
267 /*----------------
268 * Configure GPIO
269 *----------------*/
270#ifdef PWM_SERVO_0
271 gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, true);
272 PWM_SERVO_0_CONF.channels[PWM_SERVO_0_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
273#endif
274#ifdef PWM_SERVO_1
275 gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, true);
276 PWM_SERVO_1_CONF.channels[PWM_SERVO_1_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
277#endif
278#ifdef PWM_SERVO_2
279 gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, true);
280 PWM_SERVO_2_CONF.channels[PWM_SERVO_2_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
281#endif
282#ifdef PWM_SERVO_3
283 gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, true);
284 PWM_SERVO_3_CONF.channels[PWM_SERVO_3_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
285#endif
286#ifdef PWM_SERVO_4
287 gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, true);
288 PWM_SERVO_4_CONF.channels[PWM_SERVO_4_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
289#endif
290#ifdef PWM_SERVO_5
291 gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, true);
292 PWM_SERVO_5_CONF.channels[PWM_SERVO_5_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
293#endif
294#ifdef PWM_SERVO_6
295 gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, true);
296 PWM_SERVO_6_CONF.channels[PWM_SERVO_6_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
297#endif
298#ifdef PWM_SERVO_7
299 gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, true);
300 PWM_SERVO_7_CONF.channels[PWM_SERVO_7_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
301#endif
302#ifdef PWM_SERVO_8
303 gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, true);
304 PWM_SERVO_8_CONF.channels[PWM_SERVO_8_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
305#endif
306#ifdef PWM_SERVO_9
307 gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, true);
308 PWM_SERVO_9_CONF.channels[PWM_SERVO_9_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
309#endif
310#ifdef PWM_SERVO_10
311 gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, true);
312 PWM_SERVO_10_CONF.channels[PWM_SERVO_10_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
313#endif
314#ifdef PWM_SERVO_11
315 gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, true);
316 PWM_SERVO_11_CONF.channels[PWM_SERVO_11_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
317#endif
318#ifdef PWM_SERVO_12
319 gpio_setup_pin_af(PWM_SERVO_12_GPIO, PWM_SERVO_12_PIN, PWM_SERVO_12_AF, true);
320 PWM_SERVO_12_CONF.channels[PWM_SERVO_12_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
321#endif
322#ifdef PWM_SERVO_13
323 gpio_setup_pin_af(PWM_SERVO_13_GPIO, PWM_SERVO_13_PIN, PWM_SERVO_13_AF, true);
324 PWM_SERVO_13_CONF.channels[PWM_SERVO_13_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
325#endif
326#ifdef PWM_SERVO_14
327 gpio_setup_pin_af(PWM_SERVO_14_GPIO, PWM_SERVO_14_PIN, PWM_SERVO_14_AF, true);
328 PWM_SERVO_14_CONF.channels[PWM_SERVO_14_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
329#endif
330#ifdef PWM_SERVO_15
331 gpio_setup_pin_af(PWM_SERVO_15_GPIO, PWM_SERVO_15_PIN, PWM_SERVO_15_AF, true);
332 PWM_SERVO_15_CONF.channels[PWM_SERVO_15_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
333#endif
334#ifdef PWM_SERVO_16
335 gpio_setup_pin_af(PWM_SERVO_16_GPIO, PWM_SERVO_16_PIN, PWM_SERVO_16_AF, true);
336 PWM_SERVO_16_CONF.channels[PWM_SERVO_16_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
337#endif
338
339 /*---------------
340 * Configure PWM
341 *---------------*/
342#if USE_PWM_TIM1
343 pwmStart(&PWMD1, &pwmcfg1);
344#endif
345#if USE_PWM_TIM2
346 pwmStart(&PWMD2, &pwmcfg2);
347#endif
348#if USE_PWM_TIM3
349 pwmStart(&PWMD3, &pwmcfg3);
350#endif
351#if USE_PWM_TIM4
352 pwmStart(&PWMD4, &pwmcfg4);
353#endif
354#if USE_PWM_TIM5
355 pwmStart(&PWMD5, &pwmcfg5);
356#endif
357#if USE_PWM_TIM8
358 pwmStart(&PWMD8, &pwmcfg8);
359#endif
360#if USE_PWM_TIM9
361 pwmStart(&PWMD9, &pwmcfg9);
362#endif
363#if USE_PWM_TIM10
364 pwmStart(&PWMD10, &pwmcfg10);
365#endif
366#if USE_PWM_TIM11
367 pwmStart(&PWMD11, &pwmcfg11);
368#endif
369#if USE_PWM_TIM12
370 pwmStart(&PWMD12, &pwmcfg12);
371#endif
372}
373
374
375void actuators_pwm_arch_commit(void)
376{
377#ifdef PWM_SERVO_0
378 pwmEnableChannel(&PWM_SERVO_0_DRIVER, PWM_SERVO_0_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_0]));
379#endif
380#ifdef PWM_SERVO_1
381 pwmEnableChannel(&PWM_SERVO_1_DRIVER, PWM_SERVO_1_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_1]));
382#endif
383#ifdef PWM_SERVO_2
384 pwmEnableChannel(&PWM_SERVO_2_DRIVER, PWM_SERVO_2_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_2]));
385#endif
386#ifdef PWM_SERVO_3
387 pwmEnableChannel(&PWM_SERVO_3_DRIVER, PWM_SERVO_3_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_3]));
388#endif
389#ifdef PWM_SERVO_4
390 pwmEnableChannel(&PWM_SERVO_4_DRIVER, PWM_SERVO_4_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_4]));
391#endif
392#ifdef PWM_SERVO_5
393 pwmEnableChannel(&PWM_SERVO_5_DRIVER, PWM_SERVO_5_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_5]));
394#endif
395#ifdef PWM_SERVO_6
396 pwmEnableChannel(&PWM_SERVO_6_DRIVER, PWM_SERVO_6_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_6]));
397#endif
398#ifdef PWM_SERVO_7
399 pwmEnableChannel(&PWM_SERVO_7_DRIVER, PWM_SERVO_7_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_7]));
400#endif
401#ifdef PWM_SERVO_8
402 pwmEnableChannel(&PWM_SERVO_8_DRIVER, PWM_SERVO_8_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_8]));
403#endif
404#ifdef PWM_SERVO_9
405 pwmEnableChannel(&PWM_SERVO_9_DRIVER, PWM_SERVO_9_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_9]));
406#endif
407#ifdef PWM_SERVO_10
408 pwmEnableChannel(&PWM_SERVO_10_DRIVER, PWM_SERVO_10_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_10]));
409#endif
410#ifdef PWM_SERVO_11
411 pwmEnableChannel(&PWM_SERVO_11_DRIVER, PWM_SERVO_11_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_11]));
412#endif
413#ifdef PWM_SERVO_12
414 pwmEnableChannel(&PWM_SERVO_12_DRIVER, PWM_SERVO_12_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_12]));
415#endif
416#ifdef PWM_SERVO_13
417 pwmEnableChannel(&PWM_SERVO_13_DRIVER, PWM_SERVO_13_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_13]));
418#endif
419#ifdef PWM_SERVO_14
420 pwmEnableChannel(&PWM_SERVO_14_DRIVER, PWM_SERVO_14_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_14]));
421#endif
422#ifdef PWM_SERVO_15
423 pwmEnableChannel(&PWM_SERVO_15_DRIVER, PWM_SERVO_15_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_15]));
424#endif
425#ifdef PWM_SERVO_16
426 pwmEnableChannel(&PWM_SERVO_16_DRIVER, PWM_SERVO_16_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_16]));
427#endif
428}
429
actuators_pwm.h
actuators_pwm_values
uint16_t actuators_pwm_values[ACTUATORS_ARDRONE_NB]
Definition actuators.c:69
ACTUATORS_PWM_NB
#define ACTUATORS_PWM_NB
Definition cc3d.h:158
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
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:101
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_commit
void actuators_pwm_arch_commit(void)
Arch dependent commit function.
Definition actuators_pwm_arch.c:375
actuators_pwm_arch_init
void actuators_pwm_arch_init(void)
Arch dependent init function.
Definition actuators_pwm_arch.c:265
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)