led.cpp
3.7 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* 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 <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <arch/board/board.h>
#include <hardware/stm32_tim.h>
#include <dwt.h>
#include <nvic.h>
#include <drivers/drv_neopixel.h>
#include "led.h"
#define TMR_BASE STM32_TIM1_BASE
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
#define TMR_REG(o) (TMR_BASE+(o))
static uint8_t _rgb[] = {0, 0, 0};
static int timerInterrupt(int irq, void *context, void *arg)
{
putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
static int d2 = 1;
(d2++ & 1) ? neopixel_write_no_dma(0, 0, 0, 1) : neopixel_write_no_dma(_rgb[0], _rgb[1], _rgb[2], 1);
return 0;
}
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = TMR_FREQUENCY;
long prescale = 1536;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
uint16_t val;
static bool once = 0;
if (!once) {
once = 1;
stm32_configgpio(GPIO_RGB_S);
neopixel_write_no_dma(0, 0, 0, BOARD_HAS_N_S_RGB_LED);
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
/* Reload */
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
val |= ATIM_EGR_UG;
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
/* Set Prescaler STM32_TIM_SETCLOCK */
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
/* Enable STM32_TIM_SETMODE*/
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
up_enable_irq(STM32_IRQ_TIM1CC);
putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
}
long p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
_rgb[0] = r;
_rgb[1] = g;
_rgb[2] = b;
neopixel_write_no_dma(_rgb[0], _rgb[1], _rgb[2], 1);
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
if (freqs == 0) {
val &= ~ATIM_CR1_CEN;
} else {
val |= ATIM_CR1_CEN;
}
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
}