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BetaFlight统一硬件配置文件研读之timer命令

news 2025/8/15 19:53:55

BetaFlight统一硬件配置文件研读之timer命令

1. 源由
2. 代码分析
3. 实例分析
4. 配置情况
- 4.1 AFn配置查表
- 4.2 timer
- 4.3 timer show
- 4.4 timer pin list
5. 参考资料

统一硬件配置文件的设计是一种非常好的设计模式，可以将硬件和软件的工作进行解耦。

1. 源由

cli命令中timer是对硬件引脚和timer资源进行绑定的一个操作，主要用于以下设备：

电机
PPM接收机
LED灯带
伺服器

2. 代码分析

cliTimer├──> "timer"│   └──> printTimer(DUMP_MASTER, NULL); return├──> "timer list"│   └──> "NOT IMPLEMENTED YET"├──> <USE_TIMER_MAP_PRINT> "timer map"│   └──> showTimerMap(); return├──> "timer show"│   └──> showTimers(); return├──> <!pch || !strToPin(pch, &ioTag)> error return //边界检查├──> <!IOGetByTag(ioTag)> error return //有效性检查├──> [find existing entry, or go for next available] error return //如果entry满，失败├──> <!pch> printTimerDetails(ioTag, timerIOConfig(timerIOIndex)->index, false, DUMP_MASTER, cliDumpPrintLinef); return└──> <pch> ├──> "list"│   ├──> for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++) │   ├──> cliPrintLinef("# AF%d: TIM%d CH%d%s", timer->alternateFunction, timerGetTIMNumber(timer->tim), CC_INDEX_FROM_CHANNEL(timer->channel) + 1,timer->output & TIMER_OUTPUT_N_CHANNEL ? "N" : "");│   └──> return├──> "none"│   └──> timerIndex = TIMER_INDEX_UNDEFINED;├──> "af"│   ├──> for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++)│   ├──> for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++)│   └──> <timer->alternateFunction == alternateFunction> timerIndex = index;├──> [assign new io timer]│   ├──> int oldTimerIndex = isExistingTimerOpt ? timerIOConfig(timerIOIndex)->index - 1 : -1;│   ├──> timerIOConfigMutable(timerIOIndex)->ioTag = timerIndex == TIMER_INDEX_UNDEFINED ? IO_TAG_NONE : ioTag;│   ├──> timerIOConfigMutable(timerIOIndex)->index = timerIndex + 1;│   └──> timerIOConfigMutable(timerIOIndex)->dmaopt = DMA_OPT_UNUSED;├──> <timerIndex == oldTimerIndex>│   └──> cliPrintLinef("# timer %c%02d: no change: %s", IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag), orgvalString)└──> <timerIndex != oldTimerIndex>└──> cliPrintLinef("# timer %c%02d: changed from %s to %s", IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag), orgvalString, optvalString);

3. 实例分析

# timer
timer A10 AF1
# pin A10: TIM1 CH3 (AF1)
timer B00 AF2
# pin B00: TIM3 CH3 (AF2)
timer B01 AF2
# pin B01: TIM3 CH4 (AF2)
timer A00 AF2
# pin A00: TIM5 CH1 (AF2)
timer A01 AF2
# pin A01: TIM5 CH2 (AF2)
timer A02 AF2
# pin A02: TIM5 CH3 (AF2)
timer A03 AF2
# pin A03: TIM5 CH4 (AF2)
timer D12 AF2
# pin D12: TIM4 CH1 (AF2)
timer D13 AF2
# pin D13: TIM4 CH2 (AF2)
timer D14 AF2
# pin D14: TIM4 CH3 (AF2)
timer D15 AF2
# pin D15: TIM4 CH4 (AF2)
timer E05 AF4
# pin E05: TIM15 CH1 (AF4)
timer E06 AF4
# pin E06: TIM15 CH2 (AF4)
timer A08 AF1
# pin A08: TIM1 CH1 (AF1)

4. 配置情况

# help timer
timer - show/set timers<> | <pin> list | <pin> [af<alternate function>|none|<option(deprecated)>] | list | show

4.1 AFn配置查表

在这里插入图片描述

4.2 timer

# timer
timer A10 AF1
# pin A10: TIM1 CH3 (AF1)
timer B00 AF2
# pin B00: TIM3 CH3 (AF2)
timer B01 AF2
# pin B01: TIM3 CH4 (AF2)
timer A00 AF2
# pin A00: TIM5 CH1 (AF2)
timer A01 AF2
# pin A01: TIM5 CH2 (AF2)
timer A02 AF2
# pin A02: TIM5 CH3 (AF2)
timer A03 AF2
# pin A03: TIM5 CH4 (AF2)
timer D12 AF2
# pin D12: TIM4 CH1 (AF2)
timer D13 AF2
# pin D13: TIM4 CH2 (AF2)
timer D14 AF2
# pin D14: TIM4 CH3 (AF2)
timer D15 AF2
# pin D15: TIM4 CH4 (AF2)
timer E05 AF4
# pin E05: TIM15 CH1 (AF4)
timer E06 AF4
# pin E06: TIM15 CH2 (AF4)
timer A08 AF1
# pin A08: TIM1 CH1 (AF1)

4.3 timer show

# timer showCurrently active Timers:
-----------------------
TIM1:CH1 : LED_STRIP
TIM2: FREE
TIM3: FREE
TIM4: FREE
TIM5: FREE
TIM6: FREE
TIM7: FREE
TIM8:CH1 : DSHOT_BITBANG 2CH2 : DSHOT_BITBANG 1
TIM12: FREE
TIM13: FREE
TIM14: FREE
TIM15: FREE
TIM16: FREE
TIM17: FREE