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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-19 09:05:16 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-19 09:05:16 +0200 |
commit | 28bf8e238e35a7bbba81f86e63cd0a49226673a4 (patch) | |
tree | 89ff4ed112569dc440d2ce4df477d371ddeb4776 /src/drivers/stm32 | |
parent | 1a4bf307cdc4157736d827046fe2164782609311 (diff) | |
parent | d90345a16619a6a056ca9158961db36787d97678 (diff) | |
download | px4-firmware-28bf8e238e35a7bbba81f86e63cd0a49226673a4.tar.gz px4-firmware-28bf8e238e35a7bbba81f86e63cd0a49226673a4.tar.bz2 px4-firmware-28bf8e238e35a7bbba81f86e63cd0a49226673a4.zip |
Merge branch 'master' of github.com:PX4/Firmware into vector_control
Diffstat (limited to 'src/drivers/stm32')
-rw-r--r-- | src/drivers/stm32/drv_hrt.c | 20 | ||||
-rw-r--r-- | src/drivers/stm32/drv_pwm_servo.c | 6 | ||||
-rw-r--r-- | src/drivers/stm32/tone_alarm/tone_alarm.cpp | 4 |
3 files changed, 16 insertions, 14 deletions
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 7ef3db970..83a1a1abb 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -70,7 +70,7 @@ #include "stm32_gpio.h" #include "stm32_tim.h" -#ifdef CONFIG_HRT_TIMER +#ifdef HRT_TIMER /* HRT configuration */ #if HRT_TIMER == 1 @@ -155,7 +155,7 @@ # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 # endif #else -# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y +# error HRT_TIMER must be a value between 1 and 11 #endif /* @@ -275,7 +275,7 @@ static void hrt_call_invoke(void); /* * Specific registers and bits used by PPM sub-functions */ -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. * @@ -326,7 +326,7 @@ static void hrt_call_invoke(void); # define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */ # define CCER_PPM_FLIP GTIM_CCER_CC4P # else -# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set +# error HRT_PPM_CHANNEL must be a value between 1 and 4 # endif /* @@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status); # define CCMR1_PPM 0 # define CCMR2_PPM 0 # define CCER_PPM 0 -#endif /* CONFIG_HRT_PPM */ +#endif /* HRT_PPM_CHANNEL */ /* * Initialise the timer we are going to use. @@ -424,7 +424,7 @@ hrt_tim_init(void) up_enable_irq(HRT_TIMER_VECTOR); } -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* * Handle the PPM decoder state machine. */ @@ -526,7 +526,7 @@ error: ppm_decoded_channels = 0; } -#endif /* CONFIG_HRT_PPM */ +#endif /* HRT_PPM_CHANNEL */ /* * Handle the compare interupt by calling the callout dispatcher @@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context) /* ack the interrupts we just read */ rSR = ~status; -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* was this a PPM edge? */ if (status & (SR_INT_PPM | SR_OVF_PPM)) { @@ -686,7 +686,7 @@ hrt_init(void) sq_init(&callout_queue); hrt_tim_init(); -#ifdef CONFIG_HRT_PPM +#ifdef HRT_PPM_CHANNEL /* configure the PPM input pin */ stm32_configgpio(GPIO_PPM_IN); #endif @@ -907,4 +907,4 @@ hrt_latency_update(void) } -#endif /* CONFIG_HRT_TIMER */ +#endif /* HRT_TIMER */ diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c index 7b060412c..dbb45a138 100644 --- a/src/drivers/stm32/drv_pwm_servo.c +++ b/src/drivers/stm32/drv_pwm_servo.c @@ -88,6 +88,7 @@ #define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET) #define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET) #define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) +#define rBDTR(_tmr) REG(_tmr, STM32_ATIM_BDTR_OFFSET) static void pwm_timer_init(unsigned timer); static void pwm_timer_set_rate(unsigned timer, unsigned rate); @@ -110,6 +111,11 @@ pwm_timer_init(unsigned timer) rCCER(timer) = 0; rDCR(timer) = 0; + if ((pwm_timers[timer].base == STM32_TIM1_BASE) || (pwm_timers[timer].base == STM32_TIM8_BASE)) { + /* master output enable = on */ + rBDTR(timer) = ATIM_BDTR_MOE; + } + /* configure the timer to free-run at 1MHz */ rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1; diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 167ef30a8..2284be84d 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -117,10 +117,6 @@ #include <systemlib/err.h> -#ifndef CONFIG_HRT_TIMER -# error This driver requires CONFIG_HRT_TIMER -#endif - /* Tone alarm configuration */ #if TONE_ALARM_TIMER == 2 # define TONE_ALARM_BASE STM32_TIM2_BASE |