PWM Haptic

radio/src/targets/taranis/hal.h

@@ -380,6 +380,7 @@
 // Haptic
 #if defined(REVPLUS)
   #define RCC_AHB1Periph_GPIOHAPTIC     RCC_AHB1Periph_GPIOB
+  #define GPIO_PinSource_HAPTIC         GPIO_PinSource8
   #define GPIO_HAPTIC                   GPIOB
   #define PIN_HAPTIC                    GPIO_Pin_8
 #else

radio/src/targets/taranis/haptic_driver.cpp

@@ -39,8 +39,7 @@
 void hapticOff(void)
 {
 #if defined(REVPLUS)
-  GPIO_ResetBits(GPIO_HAPTIC, PIN_HAPTIC); // Temp, TODO PWM support
-  return;
+  TIM10->CCR1 = 0;
 #else
   GPIO_ResetBits(GPIO_HAPTIC, PIN_HAPTIC);
 #endif
@@ -48,9 +47,11 @@ void hapticOff(void)
 
 #if defined(REVPLUS)
 void hapticOn(uint32_t pwmPercent)
-{  // pwmPercent 0-100
-  GPIO_SetBits(GPIO_HAPTIC, PIN_HAPTIC); // Temp, TODO PWM support
-  return;
+{
+  if (pwmPercent > 100) {
+    pwmPercent = 100;
+  }
+  TIM10->CCR1 = pwmPercent;
 }
 #else
 void hapticOn()
@@ -62,14 +63,24 @@ void hapticOn()
 
 void hapticInit(void)
 {
-  GPIO_InitTypeDef GPIO_InitStructure;
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOHAPTIC, ENABLE);
-
-  /* GPIO  Configuration*/
+  GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_InitStructure.GPIO_Pin = PIN_HAPTIC;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
   GPIO_Init(GPIO_HAPTIC, &GPIO_InitStructure);
+
+  GPIO_PinAFConfig(GPIO_HAPTIC, GPIO_PinSource_HAPTIC, GPIO_AF_TIM10);
+
+  RCC->APB2ENR |= RCC_APB2ENR_TIM10EN ;       // Enable clock
+  TIM10->ARR = 100 ;
+  TIM10->PSC = (PERI2_FREQUENCY * TIMER_MULT_APB2) / 10000 - 1;
+  TIM10->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 ;    // PWM
+  TIM10->CCER = TIM_CCER_CC1E ;
+
+  TIM10->CCR1 = 0 ;
+  TIM10->EGR = 0 ;
+  TIM10->CR1 = TIM_CR1_CEN ;              // Counter enable
 }