From 2871c75a798d963b19f75df13a5ef1728226dd65 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 10 Sep 2011 13:11:21 -0500 Subject: [PATCH] Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't checked the downstream code that the registers it uses to map from a context to event is invariant under timer channel. --- flight/OpenPilot/System/inc/pios_config.h | 4 +- flight/OpenPilot/System/pios_board.c | 2 +- flight/PiOS/STM32F10x/pios_tim.c | 42 +++++++++++++++++-- .../OpenPilotOSX.xcodeproj/project.pbxproj | 8 ++-- 4 files changed, 46 insertions(+), 10 deletions(-) diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index fce461483..8e37dc95a 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -46,8 +46,8 @@ #define PIOS_INCLUDE_SPEKTRUM //#define PIOS_INCLUDE_SBUS -//#define PIOS_INCLUDE_PWM -//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PWM +#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_TELEMETRY_RF diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 520f542fd..b424cf5e7 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -736,7 +736,7 @@ const struct pios_servo_cfg pios_servo_cfg = { /* * PWM Inputs */ -#if defined(PIOS_INCLUDE_PWM) +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) #include static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { { diff --git a/flight/PiOS/STM32F10x/pios_tim.c b/flight/PiOS/STM32F10x/pios_tim.c index 345c9e36e..dcdd07670 100644 --- a/flight/PiOS/STM32F10x/pios_tim.c +++ b/flight/PiOS/STM32F10x/pios_tim.c @@ -365,17 +365,23 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer) * Map all valid TIM IRQs to the common interrupt handler * and give it enough context to properly demux the various timers */ -static void PIOS_TIM_1_irq_handler (void) +void TIM1_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_UP_irq_handler"))); +static void PIOS_TIM_1_UP_irq_handler (void) { PIOS_TIM_generic_irq_handler (TIM1); } -void TIM1_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_irq_handler"))); +void TIM1_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_CC_irq_handler"))); +static void PIOS_TIM_1_CC_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM1); +} + +void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler"))); static void PIOS_TIM_2_irq_handler (void) { PIOS_TIM_generic_irq_handler (TIM2); } -void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler"))); void TIM3_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_3_irq_handler"))); static void PIOS_TIM_3_irq_handler (void) @@ -389,3 +395,33 @@ static void PIOS_TIM_4_irq_handler (void) PIOS_TIM_generic_irq_handler (TIM4); } +void TIM5_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_5_irq_handler"))); +static void PIOS_TIM_5_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM5); +} + +void TIM6_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_6_irq_handler"))); +static void PIOS_TIM_6_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM6); +} + +void TIM7_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_7_irq_handler"))); +static void PIOS_TIM_7_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM7); +} + +void TIM8_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_UP_irq_handler"))); +static void PIOS_TIM_8_UP_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM8); +} + +void TIM8_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_CC_irq_handler"))); +static void PIOS_TIM_8_CC_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM8); +} + diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 89d058503..16cc8cc6d 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -255,8 +255,6 @@ 65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = ""; }; 65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = ""; }; 65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = ""; }; - 65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = ""; }; - 65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = ""; }; 65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = ""; }; 65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = ""; }; 65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = ""; }; @@ -265,6 +263,8 @@ 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = ""; }; 65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = ""; }; 65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = ""; }; + 65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = ""; }; + 65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = ""; }; 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; }; 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = ""; }; @@ -8280,6 +8280,8 @@ 6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */, 6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */, 6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */, + 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */, + 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */, 6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */, 6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */, 6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */, @@ -8322,8 +8324,6 @@ 65E8F05911EFF25C00BBF654 /* Libraries */ = { isa = PBXGroup; children = ( - 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */, - 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */, 65E8F05A11EFF25C00BBF654 /* CMSIS */, 65E8F06B11EFF25C00BBF654 /* dosfs */, 65E8F07111EFF25C00BBF654 /* FreeRTOS */,