durandal-v1: use hw description methods for timer configuration

PX4 · Feb 13, 2020 · 5319a98 · 5319a98
1 parent 4fd431b
commit 5319a98
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Showing 5 changed files with 56 additions and 193 deletions.
diff --git a/boards/holybro/durandal-v1/src/CMakeLists.txt b/boards/holybro/durandal-v1/src/CMakeLists.txt
@@ -51,7 +51,7 @@ else()
 		manifest.c
 		sdio.c
 		spi.cpp
-		timer_config.c
+		timer_config.cpp
 		usb.c
 	)
 	add_dependencies(drivers_board arch_board_hw_info)

diff --git a/boards/holybro/durandal-v1/src/board_config.h b/boards/holybro/durandal-v1/src/board_config.h
@@ -312,58 +312,12 @@
 #define DIRECT_PWM_CAPTURE_CHANNELS  6
 
 /* PWM
- *
- * 5  PWM outputs are configured.
- *
- * Pins:
- *
- * FMU_CH1 : PE14 : TIM1_CH4
- * FMU_CH2 : PA10 : TIM1_CH3
- * FMU_CH3 : PE11 : TIM1_CH2
- * FMU_CH4 : PE9  : TIM1_CH1
- * FMU_CH5 : PD13 : TIM4_CH2
- *
  */
-#define GPIO_TIM4_CH2OUT      /* PD13  T4C2   FMU5 */ GPIO_TIM4_CH2OUT_2
-#define GPIO_TIM1_CH1OUT      /* PE9   T1C1   FMU4 */ GPIO_TIM1_CH1OUT_2
-#define GPIO_TIM1_CH2OUT      /* PE11  T1C2   FMU3 */ GPIO_TIM1_CH2OUT_2
-#define GPIO_TIM1_CH3OUT      /* PA10  T1C3   FMU2 */ GPIO_TIM1_CH3OUT_1
-#define GPIO_TIM1_CH4OUT      /* PE14  T1C4   FMU1 */ GPIO_TIM1_CH4OUT_2
-
 #define DIRECT_PWM_OUTPUT_CHANNELS  5
-
-#define GPIO_TIM4_CH2IN       /* PD13  T4C2   FMU5 */ GPIO_TIM4_CH2IN_2
-#define GPIO_TIM1_CH1IN       /* PE9   T1C1   FMU4 */ GPIO_TIM1_CH1IN_2
-#define GPIO_TIM1_CH2IN       /* PE11  T1C2   FMU3 */ GPIO_TIM1_CH2IN_2
-#define GPIO_TIM1_CH3IN       /* PA10  T1C3   FMU2 */ GPIO_TIM1_CH3IN_1
-#define GPIO_TIM1_CH4IN       /* PE14  T1C4   FMU1 */ GPIO_TIM1_CH4IN_2
-
 #define DIRECT_INPUT_TIMER_CHANNELS  5
 
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
 
-/* User GPIOs
- *
- * GPIO0-4 are the PWM servo outputs.
- */
-
-#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-
-#define GPIO_GPIO4_INPUT        /* PD13  T4C2   FMU5 */ _MK_GPIO_INPUT(GPIO_TIM4_CH2IN)
-#define GPIO_GPIO3_INPUT        /* PE9   T1C1   FMU4 */ _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
-#define GPIO_GPIO2_INPUT        /* PE11  T1C2   FMU3 */ _MK_GPIO_INPUT(GPIO_TIM1_CH2IN)
-#define GPIO_GPIO1_INPUT        /* PA10  T1C3   FMU2 */ _MK_GPIO_INPUT(GPIO_TIM1_CH3IN)
-#define GPIO_GPIO0_INPUT        /* PE14  T1C4   FMU1 */ _MK_GPIO_INPUT(GPIO_TIM1_CH4IN)
-
-#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
-
-#define GPIO_GPIO4_OUTPUT        /* PD13  T4C2   FMU5 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH2OUT)
-#define GPIO_GPIO3_OUTPUT        /* PE9   T1C1   FMU4 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
-#define GPIO_GPIO2_OUTPUT        /* PE11  T1C2   FMU3 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH2OUT)
-#define GPIO_GPIO1_OUTPUT        /* PA10  T1C3   FMU2 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH3OUT)
-#define GPIO_GPIO0_OUTPUT        /* PE14  T1C4   FMU1 */ _MK_GPIO_OUTPUT(GPIO_TIM1_CH4OUT)
-
-
 /* Power supply control and monitoring GPIOs */
 
 #define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
@@ -502,16 +456,6 @@
 
 #define BOARD_HAS_ON_RESET 1
 
-/* The list of GPIO that will be initialized */
-
-#define PX4_GPIO_PWM_INIT_LIST { \
-		GPIO_GPIO4_INPUT, \
-		GPIO_GPIO3_INPUT, \
-		GPIO_GPIO2_INPUT, \
-		GPIO_GPIO1_INPUT, \
-		GPIO_GPIO0_INPUT, \
-	}
-
 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \

diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c
@@ -68,6 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
@@ -136,10 +137,9 @@ __EXPORT void board_peripheral_reset(int ms)
  ************************************************************************************/
 __EXPORT void board_on_reset(int status)
 {
-	/* configure the GPIO pins to outputs and keep them low */
-
-	const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
 
 	if (status >= 0) {
 		up_mdelay(6);

diff --git a/boards/holybro/durandal-v1/src/timer_config.c b/boards/holybro/durandal-v1/src/timer_config.c
diff --git a/boards/holybro/durandal-v1/src/timer_config.cpp b/boards/holybro/durandal-v1/src/timer_config.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+