H7 timer/pwm output support

src/main/drivers/serial_softserial.c

@@ -169,7 +169,7 @@ static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
 
 static void serialTimerConfigureTimebase(TCH_t * tch, uint32_t baud)
 {
-    uint32_t baseClock = SystemCoreClock / timerClockDivisor(tch->timHw->tim);
+    uint32_t baseClock = timerClock(tch->timHw->tim);
     uint32_t clock = baseClock;
     uint32_t timerPeriod;
 

src/main/drivers/timer.c

@@ -240,7 +240,7 @@ uint32_t timerGetBaseClock(TCH_t * tch)
 
 uint32_t timerGetBaseClockHW(const timerHardware_t * timHw)
 {
-    return SystemCoreClock / timerClockDivisor(timHw->tim);
+    return timerClock(timHw->tim);
 }
 
 bool timerPWMConfigChannelDMA(TCH_t * tch, void * dmaBuffer, uint8_t dmaBufferElementSize, uint32_t dmaBufferElementCount)

src/main/drivers/timer.h

@@ -157,7 +157,7 @@ typedef enum {
     TYPE_TIMER
 } channelType_t;
 
-uint8_t timerClockDivisor(TIM_TypeDef *tim);
+uint32_t timerClock(TIM_TypeDef *tim);
 uint32_t timerGetBaseClockHW(const timerHardware_t * timHw);
 
 const timerHardware_t * timerGetByUsageFlag(timerUsageFlag_e flag);

src/main/drivers/timer_stm32f30x.c

@@ -48,10 +48,10 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     [16] = { .tim = TIM17, .rcc = RCC_APB2(TIM17), .irq = TIM1_TRG_COM_TIM17_IRQn },
 };
 
-uint8_t timerClockDivisor(TIM_TypeDef *tim)
+uint32_t timerClock(TIM_TypeDef *tim)
 {
     UNUSED(tim);
-    return 1;
+    return SystemCoreClock;
 }
 
 _TIM_IRQ_HANDLER(TIM1_CC_IRQHandler, 1);

src/main/drivers/timer_stm32f4xx.c

@@ -95,16 +95,16 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
 #endif
 };
 
-uint8_t timerClockDivisor(TIM_TypeDef *tim)
+uint32_t timerClock(TIM_TypeDef *tim)
 {
 #if defined (STM32F411xE)
     UNUSED(tim);
-    return 1;
+    return SystemCoreClock;
 #elif defined (STM32F40_41xxx) || defined (STM32F427_437xx) || defined (STM32F446xx)
     if (tim == TIM1 || tim == TIM8 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
-        return 1;
+        return SystemCoreClock;
     } else {
-        return 2;
+        return SystemCoreClock / 2;
     }
 #else
     #error "No timer clock defined correctly for the MCU"

src/main/drivers/timer_stm32f7xx.c

@@ -48,12 +48,6 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     [13] = { .tim = TIM14, .rcc = RCC_APB1(TIM14), .irq = TIM8_TRG_COM_TIM14_IRQn},
 };
 
-uint8_t timerClockDivisor(TIM_TypeDef *tim)
-{
-    UNUSED(tim);
-    return 1;
-}
-
 uint32_t timerClock(TIM_TypeDef *tim)
 {
     UNUSED(tim);

src/main/drivers/timer_stm32h7xx.c

@@ -48,16 +48,48 @@ const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
     [13] = { .tim = TIM17, .rcc = RCC_APB2(TIM17),  .irq = TIM17_IRQn},
 };
 
-uint8_t timerClockDivisor(TIM_TypeDef *tim)
-{
-    UNUSED(tim);
-    return 1;
-}
-
 uint32_t timerClock(TIM_TypeDef *tim)
 {
-    UNUSED(tim);
-    return SystemCoreClock;
+    int timpre;
+    uint32_t pclk;
+    uint32_t ppre;
+
+    // Implement the table:
+    // RM0433 (Rev 6) Table 52.
+    // RM0455 (Rev 3) Table 55.
+    // "Ratio between clock timer and pclk"
+    // (Tables are the same, just D2 or CD difference)
+
+#if defined(STM32H743xx) || defined(STM32H750xx) || defined(STM32H723xx) || defined(STM32H725xx)
+#define PERIPH_PRESCALER(bus) ((RCC->D2CFGR & RCC_D2CFGR_D2PPRE ## bus) >> RCC_D2CFGR_D2PPRE ## bus ## _Pos)
+#elif defined(STM32H7A3xx) || defined(STM32H7A3xxQ)
+#define PERIPH_PRESCALER(bus) ((RCC->CDCFGR2 & RCC_CDCFGR2_CDPPRE ## bus) >> RCC_CDCFGR2_CDPPRE ## bus ## _Pos)
+#else
+#error Unknown MCU type
+#endif
+
+    if (tim == TIM1 || tim == TIM8 || tim == TIM15 || tim == TIM16 || tim == TIM17) {
+        // Timers on APB2
+        pclk = HAL_RCC_GetPCLK2Freq();
+        ppre = PERIPH_PRESCALER(2);
+    } else {
+        // Timers on APB1
+        pclk = HAL_RCC_GetPCLK1Freq();
+        ppre = PERIPH_PRESCALER(1);
+    }
+
+    timpre = (RCC->CFGR & RCC_CFGR_TIMPRE) ? 1 : 0;
+
+    int index = (timpre << 3) | ppre;
+
+    static uint8_t periphToKernel[16] = { // The mutiplier table
+        1, 1, 1, 1, 2, 2, 2, 2, // TIMPRE = 0
+        1, 1, 1, 1, 2, 4, 4, 4  // TIMPRE = 1
+    };
+
+    return pclk * periphToKernel[index];
+
+#undef PERIPH_PRESCALER
 }
 
 _TIM_IRQ_HANDLER(TIM1_CC_IRQHandler, 1);
@@ -66,8 +98,6 @@ _TIM_IRQ_HANDLER(TIM3_IRQHandler, 3);
 _TIM_IRQ_HANDLER(TIM4_IRQHandler, 4);
 _TIM_IRQ_HANDLER(TIM5_IRQHandler, 5);
 _TIM_IRQ_HANDLER(TIM8_CC_IRQHandler, 8);
-//_TIM_IRQ_HANDLER(TIM1_BRK_TIM9_IRQHandler, 9);
-//_TIM_IRQ_HANDLER(TIM1_TRG_COM_TIM11_IRQHandler, 11);
 _TIM_IRQ_HANDLER(TIM8_BRK_TIM12_IRQHandler, 12);
 _TIM_IRQ_HANDLER(TIM15_IRQHandler, 15);
 _TIM_IRQ_HANDLER(TIM16_IRQHandler, 16);

src/main/target/MATEKH743/target.c

@@ -33,8 +33,30 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2
 //BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6000,   DEVHW_MPU6000,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
 const timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM2,  CH1, PA0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1
-    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S2
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 2),   // S2
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S4
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6
+
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),   // S8
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1),   // S9
+
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
+
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 0),    // LED_2812
+    DEF_TIM(TIM2,  CH1, PA15, TIM_USE_BEEPER, 0, 0),  // BEEPER PWM
+
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PPM, 0, 0),   // RX6 PPM
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_ANY, 0, 0),   // TX6    
+    DEF_TIM(TIM16, CH1, PB8,  TIM_USE_ANY, 0, 0),   // RX4
+    DEF_TIM(TIM17, CH1, PB9,  TIM_USE_ANY, 0, 0),   // TX4
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);