diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c index 56233fc0659..83de90dc74d 100644 --- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c @@ -86,7 +86,7 @@ void gpio_setup_input(uint32_t port, uint16_t gpios) { gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, gpios); } -void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output) { +void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output) { gpio_enable_clock(port); /* remap alternate function if needed */ if (af) { diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h index 4129b823905..f72d511e276 100644 --- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h +++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h @@ -51,7 +51,11 @@ extern void gpio_setup_input(uint32_t port, uint16_t gpios); * Setup a gpio for input or output with alternate function. * This is an STM32 specific helper funtion and should only be used in stm32 arch code. */ +#if defined(STM32F1) +extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output); +#else extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output); +#endif /** * Setup a gpio for analog use. diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c index bf6a76568dd..a23c311aae9 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c @@ -34,6 +34,7 @@ #include #include +#include "mcu_periph/gpio_arch.h" uint32_t ratio_4ms, ratio_16ms; @@ -76,15 +77,10 @@ void actuators_dualpwm_arch_init(void) { * Configure GPIO *----------------*/ #ifdef DUAL_PWM_SERVO_5 - set_servo_gpio(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, DUAL_PWM_SERVO_5_RCC); + gpio_setup_pin_af(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, TRUE); #endif #ifdef DUAL_PWM_SERVO_6 - set_servo_gpio(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, DUAL_PWM_SERVO_6_RCC); -#endif - -#if defined(STM32F1) && PWM_USE_TIM3 - /* TIM3 GPIO for PWM1..4 */ - AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP; + gpio_setup_pin_af(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, TRUE); #endif #if DUAL_PWM_USE_TIM5 diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c index a350a1ca728..3dcc82cb90f 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c @@ -33,6 +33,8 @@ #include #include +#include "mcu_periph/gpio_arch.h" + int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; @@ -73,45 +75,40 @@ void actuators_pwm_arch_init(void) { * Configure GPIO *----------------*/ #ifdef PWM_SERVO_0 - set_servo_gpio(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, PWM_SERVO_0_RCC); + gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, TRUE); #endif #ifdef PWM_SERVO_1 - set_servo_gpio(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, PWM_SERVO_1_RCC); + gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, TRUE); #endif #ifdef PWM_SERVO_2 - set_servo_gpio(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, PWM_SERVO_2_RCC); + gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, TRUE); #endif #ifdef PWM_SERVO_3 - set_servo_gpio(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, PWM_SERVO_3_RCC); + gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, TRUE); #endif #ifdef PWM_SERVO_4 - set_servo_gpio(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, PWM_SERVO_4_RCC); + gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, TRUE); #endif #ifdef PWM_SERVO_5 - set_servo_gpio(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, PWM_SERVO_5_RCC); + gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, TRUE); #endif #ifdef PWM_SERVO_6 - set_servo_gpio(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, PWM_SERVO_6_RCC); + gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, TRUE); #endif #ifdef PWM_SERVO_7 - set_servo_gpio(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, PWM_SERVO_7_RCC); + gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, TRUE); #endif #ifdef PWM_SERVO_8 - set_servo_gpio(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, PWM_SERVO_8_RCC); + gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, TRUE); #endif #ifdef PWM_SERVO_9 - set_servo_gpio(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, PWM_SERVO_9_RCC); + gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, TRUE); #endif #ifdef PWM_SERVO_10 - set_servo_gpio(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, PWM_SERVO_10_RCC); + gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, TRUE); #endif #ifdef PWM_SERVO_11 - set_servo_gpio(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, PWM_SERVO_11_RCC); -#endif - -#if defined(STM32F1) && PWM_USE_TIM3 - /* TIM3 GPIO for PWM1..4 */ - AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP; + gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, TRUE); #endif #if PWM_USE_TIM1 diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c index 08be5cd2de6..42e15146e00 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c @@ -28,24 +28,6 @@ // for timer_get_frequency #include "mcu_arch.h" -/** Set GPIO configuration - */ -#if defined(STM32F4) -void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken) { - rcc_periph_clock_enable(clken); - gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, pin); - gpio_set_af(gpioport, af_num, pin); -} -#elif defined(STM32F1) -void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken) { - rcc_periph_clock_enable(clken); - rcc_periph_clock_enable(RCC_AFIO); - gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ, - GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, pin); -} -#endif - - /** Set PWM channel configuration */ diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h b/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h index 26335b8f286..acc95906394 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h @@ -75,15 +75,7 @@ #define TIM12_SERVO_HZ SERVO_HZ #endif - -#if defined(STM32F4) -extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken); -#elif defined(STM32F1) -extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken); -#endif - extern void actuators_pwm_arch_channel_init(uint32_t timer_peripheral, enum tim_oc_id oc_id); - extern void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask); #endif /* ACTUATORS_PWM_SHARED_ARCH_H */ diff --git a/sw/airborne/boards/apogee_0.99.h b/sw/airborne/boards/apogee_0.99.h index 7b32b0213e6..70650327fb0 100644 --- a/sw/airborne/boards/apogee_0.99.h +++ b/sw/airborne/boards/apogee_0.99.h @@ -165,7 +165,6 @@ #if USE_PWM0 #define PWM_SERVO_0 0 #define PWM_SERVO_0_TIMER TIM2 -#define PWM_SERVO_0_RCC RCC_GPIOA #define PWM_SERVO_0_GPIO GPIOA #define PWM_SERVO_0_PIN GPIO3 #define PWM_SERVO_0_AF GPIO_AF1 @@ -178,7 +177,6 @@ #if USE_PWM1 #define PWM_SERVO_1 1 #define PWM_SERVO_1_TIMER TIM2 -#define PWM_SERVO_1_RCC RCC_GPIOA #define PWM_SERVO_1_GPIO GPIOA #define PWM_SERVO_1_PIN GPIO2 #define PWM_SERVO_1_AF GPIO_AF1 @@ -191,7 +189,6 @@ #if USE_PWM2 #define PWM_SERVO_2 2 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOB #define PWM_SERVO_2_GPIO GPIOB #define PWM_SERVO_2_PIN GPIO5 #define PWM_SERVO_2_AF GPIO_AF2 @@ -204,7 +201,6 @@ #if USE_PWM3 #define PWM_SERVO_3_IDX 3 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOB #define PWM_SERVO_3_GPIO GPIOB #define PWM_SERVO_3_PIN GPIO4 #define PWM_SERVO_3_AF GPIO_AF2 @@ -217,7 +213,6 @@ #if USE_PWM4 #define PWM_SERVO_4 4 #define PWM_SERVO_4_TIMER TIM2 -#define PWM_SERVO_4_RCC RCC_GPIOB #define PWM_SERVO_4_GPIO GPIOB #define PWM_SERVO_4_PIN GPIO3 #define PWM_SERVO_4_AF GPIO_AF1 @@ -230,7 +225,6 @@ #if USE_PWM5 #define PWM_SERVO_5 5 #define PWM_SERVO_5_TIMER TIM2 -#define PWM_SERVO_5_RCC RCC_GPIOA #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO15 #define PWM_SERVO_5_AF GPIO_AF1 diff --git a/sw/airborne/boards/apogee_1.0.h b/sw/airborne/boards/apogee_1.0.h index f348c315882..4577f76266d 100644 --- a/sw/airborne/boards/apogee_1.0.h +++ b/sw/airborne/boards/apogee_1.0.h @@ -222,7 +222,6 @@ #if USE_PWM0 #define PWM_SERVO_0 0 #define PWM_SERVO_0_TIMER TIM3 -#define PWM_SERVO_0_RCC RCC_GPIOB #define PWM_SERVO_0_GPIO GPIOB #define PWM_SERVO_0_PIN GPIO0 #define PWM_SERVO_0_AF GPIO_AF2 @@ -238,7 +237,6 @@ #if USE_PWM1 #define PWM_SERVO_1 1 #define PWM_SERVO_1_TIMER TIM2 -#define PWM_SERVO_1_RCC RCC_GPIOA #define PWM_SERVO_1_GPIO GPIOA #define PWM_SERVO_1_PIN GPIO2 #define PWM_SERVO_1_AF GPIO_AF1 @@ -254,7 +252,6 @@ #if USE_PWM2 #define PWM_SERVO_2 2 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOB #define PWM_SERVO_2_GPIO GPIOB #define PWM_SERVO_2_PIN GPIO5 #define PWM_SERVO_2_AF GPIO_AF2 @@ -270,7 +267,6 @@ #if USE_PWM3 #define PWM_SERVO_3 3 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOB #define PWM_SERVO_3_GPIO GPIOB #define PWM_SERVO_3_PIN GPIO4 #define PWM_SERVO_3_AF GPIO_AF2 @@ -286,7 +282,6 @@ #if USE_PWM4 #define PWM_SERVO_4 4 #define PWM_SERVO_4_TIMER TIM2 -#define PWM_SERVO_4_RCC RCC_GPIOB #define PWM_SERVO_4_GPIO GPIOB #define PWM_SERVO_4_PIN GPIO3 #define PWM_SERVO_4_AF GPIO_AF1 @@ -302,7 +297,6 @@ #if USE_PWM5 #define PWM_SERVO_5 5 #define PWM_SERVO_5_TIMER TIM2 -#define PWM_SERVO_5_RCC RCC_GPIOA #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO15 #define PWM_SERVO_5_AF GPIO_AF1 @@ -316,7 +310,6 @@ #if USE_PWM6 #define PWM_SERVO_6 6 #define PWM_SERVO_6_TIMER TIM3 -#define PWM_SERVO_6_RCC RCC_GPIOB #define PWM_SERVO_6_GPIO GPIOB #define PWM_SERVO_6_PIN GPIO1 #define PWM_SERVO_6_AF GPIO_AF2 diff --git a/sw/airborne/boards/krooz_sd.h b/sw/airborne/boards/krooz_sd.h index 4a64be651f3..19127a937a4 100644 --- a/sw/airborne/boards/krooz_sd.h +++ b/sw/airborne/boards/krooz_sd.h @@ -219,7 +219,6 @@ #if USE_PWM0 #define PWM_SERVO_0 0 #define PWM_SERVO_0_TIMER TIM3 -#define PWM_SERVO_0_RCC RCC_GPIOB #define PWM_SERVO_0_GPIO GPIOB #define PWM_SERVO_0_PIN GPIO1 #define PWM_SERVO_0_AF GPIO_AF2 @@ -232,7 +231,6 @@ #if USE_PWM1 #define PWM_SERVO_1 1 #define PWM_SERVO_1_TIMER TIM3 -#define PWM_SERVO_1_RCC RCC_GPIOC #define PWM_SERVO_1_GPIO GPIOC #define PWM_SERVO_1_PIN GPIO8 #define PWM_SERVO_1_AF GPIO_AF2 @@ -245,7 +243,6 @@ #if USE_PWM2 #define PWM_SERVO_2 2 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOC #define PWM_SERVO_2_GPIO GPIOC #define PWM_SERVO_2_PIN GPIO7 #define PWM_SERVO_2_AF GPIO_AF2 @@ -258,7 +255,6 @@ #if USE_PWM3 #define PWM_SERVO_3 3 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOB #define PWM_SERVO_3_GPIO GPIOB #define PWM_SERVO_3_PIN GPIO4 #define PWM_SERVO_3_AF GPIO_AF2 @@ -271,7 +267,6 @@ #if USE_PWM4 #define PWM_SERVO_4 4 #define PWM_SERVO_4_TIMER TIM4 -#define PWM_SERVO_4_RCC RCC_GPIOB #define PWM_SERVO_4_GPIO GPIOB #define PWM_SERVO_4_PIN GPIO7 #define PWM_SERVO_4_AF GPIO_AF2 @@ -284,7 +279,6 @@ #if USE_PWM5 #define PWM_SERVO_5 5 #define PWM_SERVO_5_TIMER TIM4 -#define PWM_SERVO_5_RCC RCC_GPIOB #define PWM_SERVO_5_GPIO GPIOB #define PWM_SERVO_5_PIN GPIO6 #define PWM_SERVO_5_AF GPIO_AF2 @@ -297,7 +291,6 @@ #if USE_PWM6 #define PWM_SERVO_6 6 #define PWM_SERVO_6_TIMER TIM5 -#define PWM_SERVO_6_RCC RCC_GPIOA #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO3 #define PWM_SERVO_6_AF GPIO_AF2 @@ -310,7 +303,6 @@ #if USE_PWM7 #define PWM_SERVO_7 7 #define PWM_SERVO_7_TIMER TIM5 -#define PWM_SERVO_7_RCC RCC_GPIOA #define PWM_SERVO_7_GPIO GPIOA #define PWM_SERVO_7_PIN GPIO2 #define PWM_SERVO_7_AF GPIO_AF2 @@ -323,7 +315,6 @@ #if USE_PWM8 #define PWM_SERVO_8 8 #define PWM_SERVO_8_TIMER TIM5 -#define PWM_SERVO_8_RCC RCC_GPIOA #define PWM_SERVO_8_GPIO GPIOA #define PWM_SERVO_8_PIN GPIO1 #define PWM_SERVO_8_AF GPIO_AF2 @@ -336,7 +327,6 @@ #if USE_PWM9 #define PWM_SERVO_9 9 #define PWM_SERVO_9_TIMER TIM5 -#define PWM_SERVO_9_RCC RCC_GPIOA #define PWM_SERVO_9_GPIO GPIOA #define PWM_SERVO_9_PIN GPIO0 #define PWM_SERVO_9_AF GPIO_AF2 @@ -349,7 +339,6 @@ #if USE_PWM10 #define PWM_SERVO_10 10 #define PWM_SERVO_10_TIMER TIM2 -#define PWM_SERVO_10_RCC RCC_GPIOB #define PWM_SERVO_10_GPIO GPIOB #define PWM_SERVO_10_PIN GPIO3 #define PWM_SERVO_10_AF GPIO_AF1 diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h index fe10a20f965..a9de2af1e00 100644 --- a/sw/airborne/boards/lisa_l_1.0.h +++ b/sw/airborne/boards/lisa_l_1.0.h @@ -203,10 +203,9 @@ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM3 -#define PWM_SERVO_1_RCC RCC_GPIOC #define PWM_SERVO_1_GPIO GPIOC #define PWM_SERVO_1_PIN GPIO6 -#define PWM_SERVO_1_AF 0 +#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP #define PWM_SERVO_1_OC TIM_OC1 #define PWM_SERVO_1_OC_BIT (1<<0) #else @@ -216,10 +215,9 @@ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOC #define PWM_SERVO_2_GPIO GPIOC #define PWM_SERVO_2_PIN GPIO7 -#define PWM_SERVO_2_AF 0 +#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP #define PWM_SERVO_2_OC TIM_OC2 #define PWM_SERVO_2_OC_BIT (1<<1) #else @@ -229,10 +227,9 @@ #if USE_PWM3 #define PWM_SERVO_3 2 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOC #define PWM_SERVO_3_GPIO GPIOC #define PWM_SERVO_3_PIN GPIO8 -#define PWM_SERVO_3_AF 0 +#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP #define PWM_SERVO_3_OC TIM_OC3 #define PWM_SERVO_3_OC_BIT (1<<2) #else @@ -242,10 +239,9 @@ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM3 -#define PWM_SERVO_4_RCC RCC_GPIOC #define PWM_SERVO_4_GPIO GPIOC #define PWM_SERVO_4_PIN GPIO9 -#define PWM_SERVO_4_AF 0 +#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP #define PWM_SERVO_4_OC TIM_OC4 #define PWM_SERVO_4_OC_BIT (1<<3) #else @@ -255,7 +251,6 @@ #if USE_PWM5 #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM4 -#define PWM_SERVO_5_RCC RCC_GPIOB #define PWM_SERVO_5_GPIO GPIOB #define PWM_SERVO_5_PIN GPIO8 #define PWM_SERVO_5_AF 0 @@ -268,7 +263,6 @@ #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM4 -#define PWM_SERVO_6_RCC RCC_GPIOB #define PWM_SERVO_6_GPIO GPIOB #define PWM_SERVO_6_PIN GPIO9 #define PWM_SERVO_6_AF 0 diff --git a/sw/airborne/boards/lisa_m_common.h b/sw/airborne/boards/lisa_m_common.h index 6f0a26da27a..09c53755d2a 100644 --- a/sw/airborne/boards/lisa_m_common.h +++ b/sw/airborne/boards/lisa_m_common.h @@ -256,7 +256,6 @@ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM3 -#define PWM_SERVO_1_RCC RCC_GPIOC #define PWM_SERVO_1_GPIO GPIOC #define PWM_SERVO_1_PIN GPIO6 #define PWM_SERVO_1_AF 0 @@ -269,7 +268,6 @@ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOC #define PWM_SERVO_2_GPIO GPIOC #define PWM_SERVO_2_PIN GPIO7 #define PWM_SERVO_2_AF 0 @@ -282,7 +280,6 @@ #if USE_PWM3 #define PWM_SERVO_3 2 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOC #define PWM_SERVO_3_GPIO GPIOC #define PWM_SERVO_3_PIN GPIO8 #define PWM_SERVO_3_AF 0 @@ -295,7 +292,6 @@ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM3 -#define PWM_SERVO_4_RCC RCC_GPIOC #define PWM_SERVO_4_GPIO GPIOC #define PWM_SERVO_4_PIN GPIO9 #define PWM_SERVO_4_AF 0 @@ -308,7 +304,6 @@ #if USE_PWM5 #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM5 - #define PWM_SERVO_5_RCC RCC_GPIOA #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO0 #define PWM_SERVO_5_AF 0 @@ -333,7 +328,6 @@ #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM5 - #define PWM_SERVO_6_RCC RCC_GPIOA #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO1 #define PWM_SERVO_6_AF 0 @@ -363,7 +357,6 @@ #if USE_PWM7 #define PWM_SERVO_7 6 #define PWM_SERVO_7_TIMER TIM4 -#define PWM_SERVO_7_RCC RCC_GPIOB #define PWM_SERVO_7_GPIO GPIOB #define PWM_SERVO_7_PIN GPIO6 #define PWM_SERVO_7_AF 0 @@ -376,7 +369,6 @@ #if USE_PWM8 #define PWM_SERVO_8 7 #define PWM_SERVO_8_TIMER TIM4 -#define PWM_SERVO_8_RCC RCC_GPIOB #define PWM_SERVO_8_GPIO GPIOB #define PWM_SERVO_8_PIN GPIO7 #define PWM_SERVO_8_AF 0 diff --git a/sw/airborne/boards/lisa_mx_2.0.h b/sw/airborne/boards/lisa_mx_2.0.h index 33c85c40429..ca74a4ffecf 100644 --- a/sw/airborne/boards/lisa_mx_2.0.h +++ b/sw/airborne/boards/lisa_mx_2.0.h @@ -382,7 +382,6 @@ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM3 -#define PWM_SERVO_1_RCC RCC_GPIOC #define PWM_SERVO_1_GPIO GPIOC #define PWM_SERVO_1_PIN GPIO6 #define PWM_SERVO_1_AF GPIO_AF2 @@ -395,7 +394,6 @@ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM3 -#define PWM_SERVO_2_RCC RCC_GPIOC #define PWM_SERVO_2_GPIO GPIOC #define PWM_SERVO_2_PIN GPIO7 #define PWM_SERVO_2_AF GPIO_AF2 @@ -408,7 +406,6 @@ #if USE_PWM3 #define PWM_SERVO_3 2 #define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_RCC RCC_GPIOC #define PWM_SERVO_3_GPIO GPIOC #define PWM_SERVO_3_PIN GPIO8 #define PWM_SERVO_3_AF GPIO_AF2 @@ -421,7 +418,6 @@ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM3 -#define PWM_SERVO_4_RCC RCC_GPIOC #define PWM_SERVO_4_GPIO GPIOC #define PWM_SERVO_4_PIN GPIO9 #define PWM_SERVO_4_AF GPIO_AF2 @@ -434,7 +430,6 @@ #if USE_PWM5 #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM5 -#define PWM_SERVO_5_RCC RCC_GPIOA #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO0 #define PWM_SERVO_5_AF GPIO_AF2 @@ -447,7 +442,6 @@ #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM5 -#define PWM_SERVO_6_RCC RCC_GPIOA #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO1 #define PWM_SERVO_6_AF GPIO_AF2 @@ -460,7 +454,6 @@ #if USE_PWM7 #define PWM_SERVO_7 6 #define PWM_SERVO_7_TIMER TIM4 -#define PWM_SERVO_7_RCC RCC_GPIOB #define PWM_SERVO_7_GPIO GPIOB #define PWM_SERVO_7_PIN GPIO6 #define PWM_SERVO_7_AF GPIO_AF2 @@ -473,7 +466,6 @@ #if USE_PWM8 #define PWM_SERVO_8 7 #define PWM_SERVO_8_TIMER TIM4 -#define PWM_SERVO_8_RCC RCC_GPIOB #define PWM_SERVO_8_GPIO GPIOB #define PWM_SERVO_8_PIN GPIO7 #define PWM_SERVO_8_AF GPIO_AF2 diff --git a/sw/airborne/boards/lisa_s_1.0.h b/sw/airborne/boards/lisa_s_1.0.h index bf1fa624b74..9316fbf413f 100644 --- a/sw/airborne/boards/lisa_s_1.0.h +++ b/sw/airborne/boards/lisa_s_1.0.h @@ -315,7 +315,6 @@ #if USE_PWM1 #define PWM_SERVO_1 4 #define PWM_SERVO_1_TIMER TIM4 -#define PWM_SERVO_1_RCC RCC_GPIOB #define PWM_SERVO_1_GPIO GPIOB #define PWM_SERVO_1_PIN GPIO6 #define PWM_SERVO_1_AF 0 @@ -328,7 +327,6 @@ #if USE_PWM2 #define PWM_SERVO_2 5 #define PWM_SERVO_2_TIMER TIM4 -#define PWM_SERVO_2_RCC RCC_GPIOB #define PWM_SERVO_2_GPIO GPIOB #define PWM_SERVO_2_PIN GPIO7 #define PWM_SERVO_2_AF 0 @@ -341,7 +339,6 @@ #if USE_PWM3 #define PWM_SERVO_3 0 #define PWM_SERVO_3_TIMER TIM4 -#define PWM_SERVO_3_RCC RCC_GPIOB #define PWM_SERVO_3_GPIO GPIOB #define PWM_SERVO_3_PIN GPIO8 #define PWM_SERVO_3_AF 0 @@ -354,7 +351,6 @@ #if USE_PWM4 #define PWM_SERVO_4 1 #define PWM_SERVO_4_TIMER TIM4 -#define PWM_SERVO_4_RCC RCC_GPIOB #define PWM_SERVO_4_GPIO GPIOB #define PWM_SERVO_4_PIN GPIO9 #define PWM_SERVO_4_AF 0 @@ -367,7 +363,6 @@ #if USE_PWM5 #define PWM_SERVO_5 2 #define PWM_SERVO_5_TIMER TIM5 - #define PWM_SERVO_5_RCC RCC_GPIOA #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO0 #define PWM_SERVO_5_AF 0 @@ -392,7 +387,6 @@ #if USE_PWM6 #define PWM_SERVO_6 3 #define PWM_SERVO_6_TIMER TIM5 - #define PWM_SERVO_6_RCC RCC_GPIOA #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO1 #define PWM_SERVO_6_AF 0 diff --git a/sw/airborne/boards/navstik_1.0.h b/sw/airborne/boards/navstik_1.0.h index afb8d6cccd8..db0fd1d04f3 100644 --- a/sw/airborne/boards/navstik_1.0.h +++ b/sw/airborne/boards/navstik_1.0.h @@ -234,7 +234,6 @@ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM3 -#define PWM_SERVO_1_RCC RCC_GPIOB #define PWM_SERVO_1_GPIO GPIOB #define PWM_SERVO_1_PIN GPIO5 #define PWM_SERVO_1_AF GPIO_AF2 @@ -247,7 +246,6 @@ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM1 -#define PWM_SERVO_2_RCC RCC_GPIOA #define PWM_SERVO_2_GPIO GPIOA #define PWM_SERVO_2_PIN GPIO10 #define PWM_SERVO_2_AF GPIO_AF1 @@ -260,7 +258,6 @@ #if USE_PWM3 #define PWM_SERVO_3 2 #define PWM_SERVO_3_TIMER TIM8 -#define PWM_SERVO_3_RCC RCC_GPIOC #define PWM_SERVO_3_GPIO GPIOC #define PWM_SERVO_3_PIN GPIO8 #define PWM_SERVO_3_AF GPIO_AF3 @@ -273,7 +270,6 @@ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM2 -#define PWM_SERVO_4_RCC RCC_GPIOB #define PWM_SERVO_4_GPIO GPIOB #define PWM_SERVO_4_PIN GPIO11 #define PWM_SERVO_4_AF GPIO_AF1 @@ -286,7 +282,6 @@ #if USE_PWM5 #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM3 -#define PWM_SERVO_5_RCC RCC_GPIOB #define PWM_SERVO_5_GPIO GPIOB #define PWM_SERVO_5_PIN GPIO1 #define PWM_SERVO_5_AF GPIO_AF2 @@ -299,7 +294,6 @@ #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM3 -#define PWM_SERVO_6_RCC RCC_GPIOB #define PWM_SERVO_6_GPIO GPIOB #define PWM_SERVO_6_PIN GPIO0 #define PWM_SERVO_6_AF GPIO_AF2 diff --git a/sw/airborne/boards/px4fmu_1.7.h b/sw/airborne/boards/px4fmu_1.7.h index 12472111d1a..476879d8228 100644 --- a/sw/airborne/boards/px4fmu_1.7.h +++ b/sw/airborne/boards/px4fmu_1.7.h @@ -226,7 +226,6 @@ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM2 -#define PWM_SERVO_1_RCC RCC_GPIOA #define PWM_SERVO_1_GPIO GPIOA #define PWM_SERVO_1_PIN GPIO0 #define PWM_SERVO_1_AF GPIO_AF1 @@ -240,7 +239,6 @@ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM2 -#define PWM_SERVO_2_RCC RCC_GPIOA #define PWM_SERVO_2_GPIO GPIOA #define PWM_SERVO_2_PIN GPIO1 #define PWM_SERVO_2_AF GPIO_AF1 @@ -254,7 +252,6 @@ #if USE_PWM3 #define PWM_SERVO_3_IDX 2 #define PWM_SERVO_3_TIMER TIM2 -#define PWM_SERVO_3_RCC RCC_GPIOA #define PWM_SERVO_3_GPIO GPIOA #define PWM_SERVO_3_PIN GPIO2 #define PWM_SERVO_3_AF GPIO_AF1 @@ -268,7 +265,6 @@ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM2 -#define PWM_SERVO_4_RCC RCC_GPIOA #define PWM_SERVO_4_GPIO GPIOA #define PWM_SERVO_4_PIN GPIO3 #define PWM_SERVO_4_AF GPIO_AF1 diff --git a/sw/airborne/boards/stm32f4_discovery.h b/sw/airborne/boards/stm32f4_discovery.h index 8ca6d3c9884..5935a0eacfe 100644 --- a/sw/airborne/boards/stm32f4_discovery.h +++ b/sw/airborne/boards/stm32f4_discovery.h @@ -393,7 +393,6 @@ #if USE_PWM0 #define PWM_SERVO_0 0 #define PWM_SERVO_0_TIMER TIM1 -#define PWM_SERVO_0_RCC RCC_GPIOE #define PWM_SERVO_0_GPIO GPIOE #define PWM_SERVO_0_PIN GPIO9 #define PWM_SERVO_0_AF GPIO_AF1 @@ -406,7 +405,6 @@ #if USE_PWM1 #define PWM_SERVO_1 1 #define PWM_SERVO_1_TIMER TIM1 -#define PWM_SERVO_1_RCC RCC_GPIOE #define PWM_SERVO_1_GPIO GPIOE #define PWM_SERVO_1_PIN GPIO11 #define PWM_SERVO_1_AF GPIO_AF1 @@ -419,7 +417,6 @@ #if USE_PWM2 #define PWM_SERVO_2 2 #define PWM_SERVO_2_TIMER TIM1 -#define PWM_SERVO_2_RCC RCC_GPIOE #define PWM_SERVO_2_GPIO GPIOE #define PWM_SERVO_2_PIN GPIO13 #define PWM_SERVO_2_AF GPIO_AF1 @@ -432,7 +429,6 @@ #if USE_PWM3 #define PWM_SERVO_3 3 #define PWM_SERVO_3_TIMER TIM1 -#define PWM_SERVO_3_RCC RCC_GPIOE #define PWM_SERVO_3_GPIO GPIOE #define PWM_SERVO_3_PIN GPIO14 #define PWM_SERVO_3_AF GPIO_AF1 @@ -445,7 +441,6 @@ #if USE_PWM4 #define PWM_SERVO_4 4 #define PWM_SERVO_4_TIMER TIM9 -#define PWM_SERVO_4_RCC RCC_GPIOE #define PWM_SERVO_4_GPIO GPIOE #define PWM_SERVO_4_PIN GPIO5 #define PWM_SERVO_4_AF GPIO_AF3 @@ -458,7 +453,6 @@ #if USE_PWM5 #define PWM_SERVO_5 5 #define PWM_SERVO_5_TIMER TIM9 -#define PWM_SERVO_5_RCC RCC_GPIOE #define PWM_SERVO_5_GPIO GPIOE #define PWM_SERVO_5_PIN GPIO6 #define PWM_SERVO_5_AF GPIO_AF3 @@ -472,7 +466,6 @@ #if USE_PWM6 #define PWM_SERVO_6 6 #define PWM_SERVO_6_TIMER TIM5 -#define PWM_SERVO_6_RCC RCC_GPIOA #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO3 #define PWM_SERVO_6_AF GPIO_AF2 @@ -485,7 +478,6 @@ #if USE_PWM7 #define PWM_SERVO_7 7 #define PWM_SERVO_7_TIMER TIM5 -#define PWM_SERVO_7_RCC RCC_GPIOA #define PWM_SERVO_7_GPIO GPIOA #define PWM_SERVO_7_PIN GPIO2 #define PWM_SERVO_7_AF GPIO_AF2 @@ -498,7 +490,6 @@ #if USE_PWM8 #define PWM_SERVO_8 8 #define PWM_SERVO_8_TIMER TIM5 -#define PWM_SERVO_8_RCC RCC_GPIOA #define PWM_SERVO_8_GPIO GPIOA #define PWM_SERVO_8_PIN GPIO1 #define PWM_SERVO_8_AF GPIO_AF2 @@ -511,7 +502,6 @@ #if USE_PWM9 #define PWM_SERVO_9 9 #define PWM_SERVO_9_TIMER TIM5 -#define PWM_SERVO_9_RCC RCC_GPIOA #define PWM_SERVO_9_GPIO GPIOA #define PWM_SERVO_9_PIN GPIO0 #define PWM_SERVO_9_AF GPIO_AF2 @@ -525,7 +515,6 @@ #if USE_PWM10 #define PWM_SERVO_10 10 #define PWM_SERVO_10_TIMER TIM12 -#define PWM_SERVO_10_RCC RCC_GPIOB #define PWM_SERVO_10_GPIO GPIOB #define PWM_SERVO_10_PIN GPIO14 #define PWM_SERVO_10_AF GPIO_AF9 @@ -538,7 +527,6 @@ #if USE_PWM11 #define PWM_SERVO_11 11 #define PWM_SERVO_11_TIMER TIM12 -#define PWM_SERVO_11_RCC RCC_GPIOB #define PWM_SERVO_11_GPIO GPIOB #define PWM_SERVO_11_PIN GPIO15 #define PWM_SERVO_11_AF GPIO_AF9