[board] add support of PWM on AUX and default mag i2c for Tawaki

paparazzi · Oct 8, 2019 · 0bdcc09 · 0bdcc09
1 parent 58deebc
commit 0bdcc09
Show file tree

Hide file tree

Showing 4 changed files with 197 additions and 6 deletions.
diff --git a/conf/modules/board_tawaki.xml b/conf/modules/board_tawaki.xml
@@ -25,7 +25,7 @@
     <define name="IMU_MPU_Y_SIGN" value="-1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
     <configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>
     <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
-    <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c4" case="upper|lower"/>
+    <configure name="MAG_LIS3MDL_I2C_DEV" default="i2c4" case="upper|lower"/>
     <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
     <define name="LIS3MDL_CHAN_X" value="1" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>
     <define name="LIS3MDL_CHAN_Y" value="0" cond="ifeq (,$(findstring $(BOARD_TAWAKI_ROTATED),1 TRUE))"/>

diff --git a/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c
@@ -124,6 +124,21 @@ void actuators_pwm_arch_init(void)
 #ifdef PWM_SERVO_11
   gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, true);
 #endif
+#ifdef PWM_SERVO_12
+  gpio_setup_pin_af(PWM_SERVO_12_GPIO, PWM_SERVO_12_PIN, PWM_SERVO_12_AF, true);
+#endif
+#ifdef PWM_SERVO_13
+  gpio_setup_pin_af(PWM_SERVO_13_GPIO, PWM_SERVO_13_PIN, PWM_SERVO_13_AF, true);
+#endif
+#ifdef PWM_SERVO_14
+  gpio_setup_pin_af(PWM_SERVO_14_GPIO, PWM_SERVO_14_PIN, PWM_SERVO_14_AF, true);
+#endif
+#ifdef PWM_SERVO_15
+  gpio_setup_pin_af(PWM_SERVO_15_GPIO, PWM_SERVO_15_PIN, PWM_SERVO_15_AF, true);
+#endif
+#ifdef PWM_SERVO_16
+  gpio_setup_pin_af(PWM_SERVO_16_GPIO, PWM_SERVO_16_PIN, PWM_SERVO_16_AF, true);
+#endif
 
   /*---------------
    * Configure PWM
@@ -190,4 +205,19 @@ void actuators_pwm_commit(void)
 #ifdef PWM_SERVO_11
   pwmEnableChannel(&PWM_SERVO_11_DRIVER, PWM_SERVO_11_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_11]));
 #endif
+#ifdef PWM_SERVO_12
+  pwmEnableChannel(&PWM_SERVO_12_DRIVER, PWM_SERVO_12_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_12]));
+#endif
+#ifdef PWM_SERVO_13
+  pwmEnableChannel(&PWM_SERVO_13_DRIVER, PWM_SERVO_13_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_13]));
+#endif
+#ifdef PWM_SERVO_14
+  pwmEnableChannel(&PWM_SERVO_14_DRIVER, PWM_SERVO_14_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_14]));
+#endif
+#ifdef PWM_SERVO_15
+  pwmEnableChannel(&PWM_SERVO_15_DRIVER, PWM_SERVO_15_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_15]));
+#endif
+#ifdef PWM_SERVO_16
+  pwmEnableChannel(&PWM_SERVO_16_DRIVER, PWM_SERVO_16_CHANNEL, PWM_CMD_TO_US(actuators_pwm_values[PWM_SERVO_16]));
+#endif
 }
diff --git a/sw/airborne/boards/tawaki/chibios/v1.0/mcuconf.h b/sw/airborne/boards/tawaki/chibios/v1.0/mcuconf.h
@@ -277,11 +277,15 @@
 #ifndef STM32_PWM_USE_TIM2
 #define STM32_PWM_USE_TIM2                  FALSE // keep free if in tickless mode, can be used in systick mode
 #endif
-#define STM32_PWM_USE_TIM3                  FALSE
+#ifndef STM32_PWM_USE_TIM3
+#define STM32_PWM_USE_TIM3                  FALSE // enable for servo 12, 14, 15, 16 on AUX connectors
+#endif
 #ifndef STM32_PWM_USE_TIM4
 #define STM32_PWM_USE_TIM4                  TRUE
 #endif
-#define STM32_PWM_USE_TIM5                  FALSE
+#ifndef STM32_PWM_USE_TIM5
+#define STM32_PWM_USE_TIM5                  FALSE // enable for servo 9, 10, 11, 13 on AUX connectors
+#endif
 #define STM32_PWM_USE_TIM8                  FALSE
 #define STM32_PWM_USE_TIM9                  FALSE
 #define STM32_PWM_TIM1_IRQ_PRIORITY         7

diff --git a/sw/airborne/boards/tawaki/chibios/v1.0/tawaki.h b/sw/airborne/boards/tawaki/chibios/v1.0/tawaki.h
@@ -277,10 +277,129 @@
 #define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED
 #endif
 
-// TODO PWM on AUX pins
+#ifndef USE_PWM9
+#define USE_PWM9 0
+#endif
+#if USE_PWM9
+#define PWM_SERVO_9 9
+#define PWM_SERVO_9_GPIO GPIOA
+#define PWM_SERVO_9_PIN GPIO0
+#define PWM_SERVO_9_AF GPIO_AF2
+#define PWM_SERVO_9_DRIVER PWMD5
+#define PWM_SERVO_9_CHANNEL 0
+#define PWM_SERVO_9_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_9_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM10
+#define USE_PWM10 0
+#endif
+#if USE_PWM10
+#define PWM_SERVO_10 10
+#define PWM_SERVO_10_GPIO GPIOA
+#define PWM_SERVO_10_PIN GPIO1
+#define PWM_SERVO_10_AF GPIO_AF2
+#define PWM_SERVO_10_DRIVER PWMD5
+#define PWM_SERVO_10_CHANNEL 1
+#define PWM_SERVO_10_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_10_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM11
+#define USE_PWM11 0
+#endif
+#if USE_PWM11
+#define PWM_SERVO_11 11
+#define PWM_SERVO_11_GPIO GPIOA
+#define PWM_SERVO_11_PIN GPIO2
+#define PWM_SERVO_11_AF GPIO_AF2
+#define PWM_SERVO_11_DRIVER PWMD5
+#define PWM_SERVO_11_CHANNEL 2
+#define PWM_SERVO_11_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_11_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM12
+#define USE_PWM12 0
+#endif
+#if USE_PWM12
+#define PWM_SERVO_12 12
+#define PWM_SERVO_12_GPIO GPIOA
+#define PWM_SERVO_12_PIN GPIO6
+#define PWM_SERVO_12_AF GPIO_AF2
+#define PWM_SERVO_12_DRIVER PWMD3
+#define PWM_SERVO_12_CHANNEL 0
+#define PWM_SERVO_12_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_12_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM13
+#define USE_PWM13 0
+#endif
+#if USE_PWM13
+#define PWM_SERVO_13 13
+#define PWM_SERVO_13_GPIO GPIOA
+#define PWM_SERVO_13_PIN GPIO3
+#define PWM_SERVO_13_AF GPIO_AF2
+#define PWM_SERVO_13_DRIVER PWMD5
+#define PWM_SERVO_13_CHANNEL 3
+#define PWM_SERVO_13_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_13_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM14
+#define USE_PWM14 0
+#endif
+#if USE_PWM14
+#define PWM_SERVO_14 14
+#define PWM_SERVO_14_GPIO GPIOA
+#define PWM_SERVO_14_PIN GPIO7
+#define PWM_SERVO_14_AF GPIO_AF2
+#define PWM_SERVO_14_DRIVER PWMD3
+#define PWM_SERVO_14_CHANNEL 1
+#define PWM_SERVO_14_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_14_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+#ifndef USE_PWM15
+#define USE_PWM15 0
+#endif
+#if USE_PWM15
+#define PWM_SERVO_15 15
+#define PWM_SERVO_15_GPIO GPIOB
+#define PWM_SERVO_15_PIN GPIO0
+#define PWM_SERVO_15_AF GPIO_AF2
+#define PWM_SERVO_15_DRIVER PWMD3
+#define PWM_SERVO_15_CHANNEL 2
+#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_DISABLED
+#endif
 
-// servo index starting at 1, so NB = 8+1
-#define ACTUATORS_PWM_NB 9
+#ifndef USE_PWM16
+#define USE_PWM16 0
+#endif
+#if USE_PWM16
+#define PWM_SERVO_16 16
+#define PWM_SERVO_16_GPIO GPIOB
+#define PWM_SERVO_16_PIN GPIO1
+#define PWM_SERVO_16_AF GPIO_AF2
+#define PWM_SERVO_16_DRIVER PWMD3
+#define PWM_SERVO_16_CHANNEL 3
+#define PWM_SERVO_16_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
+#else
+#define PWM_SERVO_16_ACTIVE PWM_OUTPUT_DISABLED
+#endif
+
+// servo index starting at 1 + regular servos + aux servos
+// so NB = 1+8+8
+#define ACTUATORS_PWM_NB 17
 
 
 #ifdef STM32_PWM_USE_TIM1
@@ -302,6 +421,25 @@
   0 \
 }
 
+#ifdef STM32_PWM_USE_TIM3
+#define PWM_CONF_TIM3 STM32_PWM_USE_TIM3
+#else
+#define PWM_CONF_TIM3 1
+#endif
+#define PWM_CONF3_DEF { \
+  PWM_FREQUENCY, \
+  PWM_FREQUENCY/TIM3_SERVO_HZ, \
+  NULL, \
+  { \
+    { PWM_SERVO_12_ACTIVE, NULL }, \
+    { PWM_SERVO_14_ACTIVE, NULL }, \
+    { PWM_SERVO_15_ACTIVE, NULL }, \
+    { PWM_SERVO_16_ACTIVE, NULL }, \
+  }, \
+  0, \
+  0 \
+}
+
 #ifdef STM32_PWM_USE_TIM4
 #define PWM_CONF_TIM4 STM32_PWM_USE_TIM4
 #else
@@ -321,6 +459,25 @@
   0 \
 }
 
+#ifdef STM32_PWM_USE_TIM5
+#define PWM_CONF_TIM5 STM32_PWM_USE_TIM5
+#else
+#define PWM_CONF_TIM5 1
+#endif
+#define PWM_CONF5_DEF { \
+  PWM_FREQUENCY, \
+  PWM_FREQUENCY/TIM5_SERVO_HZ, \
+  NULL, \
+  { \
+    { PWM_SERVO_9_ACTIVE, NULL }, \
+    { PWM_SERVO_10_ACTIVE, NULL }, \
+    { PWM_SERVO_11_ACTIVE, NULL }, \
+    { PWM_SERVO_13_ACTIVE, NULL }, \
+  }, \
+  0, \
+  0 \
+}
+
 /**
  * DSHOT
  */