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-rw-r--r--nuttx-configs/px4fmu-v1/include/board.h12
-rwxr-xr-xnuttx-configs/px4io-v1/include/board.h12
-rwxr-xr-xnuttx-configs/px4io-v1/nsh/defconfig22
-rw-r--r--src/drivers/stm32/drv_hrt.c20
-rw-r--r--src/drivers/stm32/tone_alarm/tone_alarm.cpp4
-rw-r--r--src/systemcmds/tests/test_hrt.c2
6 files changed, 19 insertions, 53 deletions
diff --git a/nuttx-configs/px4fmu-v1/include/board.h b/nuttx-configs/px4fmu-v1/include/board.h
index 5529d5097..839631b3a 100644
--- a/nuttx-configs/px4fmu-v1/include/board.h
+++ b/nuttx-configs/px4fmu-v1/include/board.h
@@ -158,10 +158,8 @@
/* High-resolution timer
*/
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER 1 /* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
-#endif
+#define HRT_TIMER 1 /* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* LED definitions ******************************************************************/
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
@@ -241,10 +239,8 @@
*
* PPM input is handled by the HRT timer.
*/
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
-# define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
-#endif
+#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
+#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/*
* CAN
diff --git a/nuttx-configs/px4io-v1/include/board.h b/nuttx-configs/px4io-v1/include/board.h
index 668602ea8..6503a94cd 100755
--- a/nuttx-configs/px4io-v1/include/board.h
+++ b/nuttx-configs/px4io-v1/include/board.h
@@ -118,10 +118,8 @@
/*
* High-resolution timer
*/
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER 1 /* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
-#endif
+#define HRT_TIMER 1 /* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
/*
* PPM
@@ -130,10 +128,8 @@
*
* Pin is PA8, timer 1, channel 1
*/
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
-# define GPIO_PPM_IN GPIO_TIM1_CH1IN
-#endif
+#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
+#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/************************************************************************************
* Public Data
diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig
index 525672233..3785e0367 100755
--- a/nuttx-configs/px4io-v1/nsh/defconfig
+++ b/nuttx-configs/px4io-v1/nsh/defconfig
@@ -201,28 +201,6 @@ CONFIG_USART2_RXDMA=n
CONFIG_USART3_RXDMA=y
#
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-# Enables the high-resolution timer. The board definition must
-# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-# compare channels to be used.
-# CONFIG_HRT_PPM
-# Enables R/C PPM input using the HRT. The board definition must
-# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-# used, and define GPIO_PPM_IN to configure the appropriate timer
-# GPIO.
-# CONFIG_PWM_SERVO
-# Enables the PWM servo driver. The driver configuration must be
-# supplied by the board support at initialisation time.
-# Note that USART2 must be disabled on the PX4 board for this to
-# be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-
-#
# General build options
#
# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
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/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
diff --git a/src/systemcmds/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c
index f21dd115b..f6e540401 100644
--- a/src/systemcmds/tests/test_hrt.c
+++ b/src/systemcmds/tests/test_hrt.c
@@ -94,7 +94,7 @@ extern uint16_t ppm_pulse_history[];
int test_ppm(int argc, char *argv[])
{
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
unsigned i;
printf("channels: %u\n", ppm_decoded_channels);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-11 03:30:24 +0000