154 lines
4.5 KiB
C
154 lines
4.5 KiB
C
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#include <stdlib.h>
|
|
|
|
#include "platform.h"
|
|
|
|
#include "gpio_common.h"
|
|
#include "timer_common.h"
|
|
|
|
#include "failsafe.h" // FIXME dependency into the main code from a driver
|
|
|
|
#include "pwm_mapping.h"
|
|
|
|
#include "pwm_output.h"
|
|
|
|
typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
|
|
|
|
typedef struct {
|
|
#ifdef STM32F303xC
|
|
volatile uint32_t *ccr;
|
|
#endif
|
|
|
|
#ifdef STM32F10X_MD
|
|
volatile uint16_t *ccr;
|
|
#endif
|
|
uint16_t period;
|
|
pwmWriteFuncPtr pwmWritePtr;
|
|
} pwmOutputPort_t;
|
|
|
|
static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
|
|
|
|
static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
|
|
static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
|
|
|
|
#define PWM_BRUSHED_TIMER_MHZ 8
|
|
|
|
static uint8_t allocatedOutputPortCount = 0;
|
|
|
|
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
|
|
{
|
|
TIM_OCInitTypeDef TIM_OCInitStructure;
|
|
|
|
TIM_OCStructInit(&TIM_OCInitStructure);
|
|
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
|
|
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
|
|
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
|
|
TIM_OCInitStructure.TIM_Pulse = value;
|
|
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
|
|
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
|
|
|
|
switch (channel) {
|
|
case TIM_Channel_1:
|
|
TIM_OC1Init(tim, &TIM_OCInitStructure);
|
|
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_2:
|
|
TIM_OC2Init(tim, &TIM_OCInitStructure);
|
|
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_3:
|
|
TIM_OC3Init(tim, &TIM_OCInitStructure);
|
|
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
|
|
break;
|
|
case TIM_Channel_4:
|
|
TIM_OC4Init(tim, &TIM_OCInitStructure);
|
|
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
|
|
{
|
|
gpio_config_t cfg;
|
|
|
|
cfg.pin = pin;
|
|
cfg.mode = mode;
|
|
cfg.speed = Speed_2MHz;
|
|
gpioInit(gpio, &cfg);
|
|
}
|
|
|
|
static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
|
|
{
|
|
pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
|
|
|
|
configTimeBase(timerHardware->tim, period, mhz);
|
|
pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
|
|
pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
|
|
if (timerHardware->outputEnable)
|
|
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
|
|
TIM_Cmd(timerHardware->tim, ENABLE);
|
|
|
|
switch (timerHardware->channel) {
|
|
case TIM_Channel_1:
|
|
p->ccr = &timerHardware->tim->CCR1;
|
|
break;
|
|
case TIM_Channel_2:
|
|
p->ccr = &timerHardware->tim->CCR2;
|
|
break;
|
|
case TIM_Channel_3:
|
|
p->ccr = &timerHardware->tim->CCR3;
|
|
break;
|
|
case TIM_Channel_4:
|
|
p->ccr = &timerHardware->tim->CCR4;
|
|
break;
|
|
}
|
|
p->period = period;
|
|
|
|
return p;
|
|
}
|
|
|
|
static void pwmWriteBrushed(uint8_t index, uint16_t value)
|
|
{
|
|
*motors[index]->ccr = (value - 1000) * motors[index]->period / 1000;
|
|
}
|
|
|
|
static void pwmWriteStandard(uint8_t index, uint16_t value)
|
|
{
|
|
*motors[index]->ccr = value;
|
|
}
|
|
|
|
void pwmWriteMotor(uint8_t index, uint16_t value)
|
|
{
|
|
if (motors[index] && index < MAX_MOTORS)
|
|
motors[index]->pwmWritePtr(index, value);
|
|
}
|
|
|
|
void pwmWriteServo(uint8_t index, uint16_t value)
|
|
{
|
|
if (servos[index] && index < MAX_SERVOS)
|
|
*servos[index]->ccr = value;
|
|
}
|
|
|
|
|
|
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
|
|
{
|
|
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
|
|
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
|
|
motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
|
|
|
|
}
|
|
|
|
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
|
|
{
|
|
uint32_t hz = PWM_TIMER_MHZ * 1000000;
|
|
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
|
|
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
|
|
}
|
|
|
|
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
|
|
{
|
|
servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
|
|
}
|