pwm_input.h
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <drivers/drv_hrt.h>
#include <drivers/device/device.h>
#include <px4_platform_common/module.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/pwm_input.h>
#if HRT_TIMER == PWMIN_TIMER
#error cannot share timer between HRT and PWMIN
#endif
#if !defined(GPIO_PWM_IN) || !defined(PWMIN_TIMER) || !defined(PWMIN_TIMER_CHANNEL)
#error PWMIN defines are needed in board_config.h for this board
#endif
/* Get the timer defines */
#define INPUT_TIMER PWMIN_TIMER
#include "timer_registers.h"
#define PWMIN_TIMER_BASE TIMER_BASE
#define PWMIN_TIMER_CLOCK TIMER_CLOCK
#define PWMIN_TIMER_POWER_REG TIMER_CLOCK_POWER_REG
#define PWMIN_TIMER_POWER_BIT TIMER_CLOCK_POWER_BIT
#define PWMIN_TIMER_VECTOR TIMER_IRQ_REG
/*
* HRT clock must be at least 1MHz
*/
#if PWMIN_TIMER_CLOCK <= 1000000
# error PWMIN_TIMER_CLOCK must be greater than 1MHz
#endif
/*
* Timer register accessors
*/
#define REG(_reg) (*(volatile uint32_t *)(PWMIN_TIMER_BASE + _reg))
#define rCR1 REG(STM32_GTIM_CR1_OFFSET)
#define rCR2 REG(STM32_GTIM_CR2_OFFSET)
#define rSMCR REG(STM32_GTIM_SMCR_OFFSET)
#define rDIER REG(STM32_GTIM_DIER_OFFSET)
#define rSR REG(STM32_GTIM_SR_OFFSET)
#define rEGR REG(STM32_GTIM_EGR_OFFSET)
#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET)
#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET)
#define rCCER REG(STM32_GTIM_CCER_OFFSET)
#define rCNT REG(STM32_GTIM_CNT_OFFSET)
#define rPSC REG(STM32_GTIM_PSC_OFFSET)
#define rARR REG(STM32_GTIM_ARR_OFFSET)
#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET)
#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET)
#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET)
#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET)
#define rDCR REG(STM32_GTIM_DCR_OFFSET)
#define rDMAR REG(STM32_GTIM_DMAR_OFFSET)
/*
* Specific registers and bits used by HRT sub-functions
*/
#if PWMIN_TIMER_CHANNEL == 1
#define rCCR_PWMIN_A rCCR1 /* compare register for PWMIN */
#define DIER_PWMIN_A (GTIM_DIER_CC1IE) /* interrupt enable for PWMIN */
#define SR_INT_PWMIN_A GTIM_SR_CC1IF /* interrupt status for PWMIN */
#define rCCR_PWMIN_B rCCR2 /* compare register for PWMIN */
#define SR_INT_PWMIN_B GTIM_SR_CC2IF /* interrupt status for PWMIN */
#define CCMR1_PWMIN ((0x02 << GTIM_CCMR1_CC2S_SHIFT) | (0x01 << GTIM_CCMR1_CC1S_SHIFT))
#define CCMR2_PWMIN 0
#define CCER_PWMIN (GTIM_CCER_CC2P | GTIM_CCER_CC1E | GTIM_CCER_CC2E)
#define SR_OVF_PWMIN (GTIM_SR_CC1OF | GTIM_SR_CC2OF)
#define SMCR_PWMIN_1 (0x05 << GTIM_SMCR_TS_SHIFT)
#define SMCR_PWMIN_2 ((0x04 << GTIM_SMCR_SMS_SHIFT) | SMCR_PWMIN_1)
#elif PWMIN_TIMER_CHANNEL == 2
#define rCCR_PWMIN_A rCCR2 /* compare register for PWMIN */
#define DIER_PWMIN_A (GTIM_DIER_CC2IE) /* interrupt enable for PWMIN */
#define SR_INT_PWMIN_A GTIM_SR_CC2IF /* interrupt status for PWMIN */
#define rCCR_PWMIN_B rCCR1 /* compare register for PWMIN */
#define DIER_PWMIN_B GTIM_DIER_CC1IE /* interrupt enable for PWMIN */
#define SR_INT_PWMIN_B GTIM_SR_CC1IF /* interrupt status for PWMIN */
#define CCMR1_PWMIN ((0x01 << GTIM_CCMR1_CC2S_SHIFT) | (0x02 << GTIM_CCMR1_CC1S_SHIFT))
#define CCMR2_PWMIN 0
#define CCER_PWMIN (GTIM_CCER_CC1P | GTIM_CCER_CC1E | GTIM_CCER_CC2E)
#define SR_OVF_PWMIN (GTIM_SR_CC1OF | GTIM_SR_CC2OF)
#define SMCR_PWMIN_1 (0x06 << GTIM_SMCR_TS_SHIFT)
#define SMCR_PWMIN_2 ((0x04 << GTIM_SMCR_SMS_SHIFT) | SMCR_PWMIN_1)
#else
#error PWMIN_TIMER_CHANNEL must be either 1 and 2.
#endif
class PWMIN : public ModuleBase<PWMIN>
{
public:
void start();
void publish(uint16_t status, uint32_t period, uint32_t pulse_width);
void print_info(void);
static int pwmin_tim_isr(int irq, void *context, void *arg);
static int custom_command(int argc, char *argv[]);
static int print_usage(const char *reason = nullptr);
static int task_spawn(int argc, char *argv[]);
private:
void timer_init(void);
uint32_t _error_count {};
uint32_t _pulses_captured {};
uint32_t _last_period {};
uint32_t _last_width {};
bool _timer_started {};
pwm_input_s _pwm {};
uORB::PublicationData<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
};