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Merge pull request #716 from sambas/bf_f4timers 

Fix F4 timers + fix pwm output generation
This commit is contained in:
J Blackman 2016-07-11 06:50:50 +10:00 committed by GitHub
parent cb3f65482f 085e88cfd9
commit 3466551ba2
4 changed files with 83 additions and 2 deletions
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5
src/main/drivers/light_ws2811strip.h
View File

@ -25,8 +25,13 @@
#define WS2811_DMA_BUFFER_SIZE (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH) // number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
#if defined(STM32F40_41xxx)
#define BIT_COMPARE_1 67 // timer compare value for logical 1
#define BIT_COMPARE_0 33 // timer compare value for logical 0
#else
#define BIT_COMPARE_1 17 // timer compare value for logical 1
#define BIT_COMPARE_0 9 // timer compare value for logical 0
#endif
void ws2811LedStripInit(void);

10
src/main/drivers/pwm_mapping.h
View File

@ -34,10 +34,20 @@
#define MAX_INPUTS 8
#define PWM_TIMER_MHZ 1
#if defined(STM32F40_41xxx) // must be multiples of timer clock
#define ONESHOT42_TIMER_MHZ 21
#define ONESHOT125_TIMER_MHZ 12
#define PWM_BRUSHED_TIMER_MHZ 21
#define MULTISHOT_TIMER_MHZ 84
#else
#define PWM_BRUSHED_TIMER_MHZ 24
#define MULTISHOT_TIMER_MHZ 72
#define ONESHOT42_TIMER_MHZ 24
#define ONESHOT125_TIMER_MHZ 8
#endif
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
typedef struct sonarIOConfig_s {
ioTag_t triggerTag;

16
src/main/drivers/pwm_output.c
View File

@ -131,9 +131,19 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
*motors[index]->ccr = value;
}
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
}
static void pwmWriteOneShot125(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
}
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf(((float)(value-1000) / 0.69444f) + 360);
*motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
}
void pwmWriteMotor(uint8_t index, uint16_t value)
@ -218,7 +228,9 @@ void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
}
motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot : pwmWriteStandard;
motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot :
((fastPwmProtocolType == PWM_TYPE_ONESHOT125) ? pwmWriteOneShot125 :
pwmWriteOneShot42);
}
#ifdef USE_SERVOS

54
src/main/drivers/timer.c
View File

@ -88,9 +88,36 @@ static uint8_t lookupTimerIndex(const TIM_TypeDef *tim)
#if USED_TIMERS & TIM_N(4)
_CASE(4);
#endif
#if USED_TIMERS & TIM_N(5)
_CASE(5);
#endif
#if USED_TIMERS & TIM_N(6)
_CASE(6);
#endif
#if USED_TIMERS & TIM_N(7)
_CASE(7);
#endif
#if USED_TIMERS & TIM_N(8)
_CASE(8);
#endif
#if USED_TIMERS & TIM_N(9)
_CASE(9);
#endif
#if USED_TIMERS & TIM_N(10)
_CASE(10);
#endif
#if USED_TIMERS & TIM_N(11)
_CASE(11);
#endif
#if USED_TIMERS & TIM_N(12)
_CASE(12);
#endif
#if USED_TIMERS & TIM_N(13)
_CASE(13);
#endif
#if USED_TIMERS & TIM_N(14)
_CASE(14);
#endif
#if USED_TIMERS & TIM_N(15)
_CASE(15);
#endif
@ -121,9 +148,36 @@ TIM_TypeDef * const usedTimers[USED_TIMER_COUNT] = {
#if USED_TIMERS & TIM_N(4)
_DEF(4),
#endif
#if USED_TIMERS & TIM_N(5)
_DEF(5),
#endif
#if USED_TIMERS & TIM_N(6)
_DEF(6),
#endif
#if USED_TIMERS & TIM_N(7)
_DEF(7),
#endif
#if USED_TIMERS & TIM_N(8)
_DEF(8),
#endif
#if USED_TIMERS & TIM_N(9)
_DEF(9),
#endif
#if USED_TIMERS & TIM_N(10)
_DEF(10),
#endif
#if USED_TIMERS & TIM_N(11)
_DEF(11),
#endif
#if USED_TIMERS & TIM_N(12)
_DEF(12),
#endif
#if USED_TIMERS & TIM_N(13)
_DEF(13),
#endif
#if USED_TIMERS & TIM_N(14)
_DEF(14),
#endif
#if USED_TIMERS & TIM_N(15)
_DEF(15),
#endif