Here is the code:
Code: Select all
/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "ch.h"
#include "hal.h"
#include "rt_test_root.h"
#include "oslib_test_root.h"
/*
* This is a periodic thread that does absolutely nothing except flashing
* a LED.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palSetLine(LINE_LED1);
chThdSleepMilliseconds(50);
palSetLine(LINE_LED2);
chThdSleepMilliseconds(50);
palSetLine(LINE_LED3);
chThdSleepMilliseconds(200);
palClearLine(LINE_LED1);
chThdSleepMilliseconds(50);
palClearLine(LINE_LED2);
chThdSleepMilliseconds(50);
palClearLine(LINE_LED3);
chThdSleepMilliseconds(200);
}
}
static PWMConfig pwmcfg = {
10000,
1000,
NULL,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL}
},
0,
0,
0
};
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
pwmStart(&PWMD5, &pwmcfg);
/*
* Activates the serial driver 1 using the driver default configuration.
*/
//sdStart(&SD3, NULL);
/*
* Creates the example thread.
*/
//chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO+1, Thread1, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (1) {
pwmEnableChannel(&PWMD5, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 1000)); // 10% duty cycle
pwmEnableChannel(&PWMD5, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 1000)); // 10% duty cycle
pwmEnableChannel(&PWMD5, 2, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 1000)); // 10% duty cycle
pwmEnableChannel(&PWMD5, 3, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 1000)); // 10% duty cycle
chThdSleepMilliseconds(500);
pwmEnableChannel(&PWMD5, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 9000)); // 90% duty cycle
pwmEnableChannel(&PWMD5, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 9000)); // 90% duty cycle
pwmEnableChannel(&PWMD5, 2, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 9000)); // 90% duty cycle
pwmEnableChannel(&PWMD5, 3, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 9000)); // 90% duty cycle
chThdSleepMilliseconds(500);
}
}
And here is the console text:
Code: Select all
Open On-Chip Debugger 0.11.0+dev-00433-g97db87c22 (2021-10-28-12:22)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
Warn : Interface already configured, ignoring
Error: already specified hl_layout stlink
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
srst_only separate srst_nogate srst_open_drain connect_deassert_srst
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 1800 kHz
Info : STLINK V2J46S7 (API v2) VID:PID 0483:3748
Info : Target voltage: 3.251968
Info : stm32h7x.cpu0: Cortex-M7 r1p1 processor detected
Info : stm32h7x.cpu0: target has 8 breakpoints, 4 watchpoints
Info : starting gdb server for stm32h7x.cpu0 on 3333
Info : Listening on port 3333 for gdb connections
Info : accepting 'gdb' connection on tcp/3333
target halted due to debug-request, current mode: Thread
xPSR: 0x21000000 pc: 0x08001ea2 psp: 0x200007ec
Info : Device: STM32H74x/75x
Info : flash size probed value 2048
Info : STM32H7 flash has dual banks
Info : Bank (0) size is 1024 kb, base address is 0x08000000
Warn : Prefer GDB command "target extended-remote :3333" instead of "target remote :3333"
target halted due to debug-request, current mode: Thread
xPSR: 0x21000000 pc: 0x08001ea2 psp: 0x200007ec
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x080003b8 msp: 0x20000400
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x080003b8 msp: 0x20000400
Info : Padding image section 0 at 0x08002b14 with 12 bytes (bank write end alignment)
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x080003b8 msp: 0x20000400
Please note that this is being run on a pixhawk 6x pro with Jetson carrier board. I've had to edit board files.
Could you please assist me in finding a solution to this problem? - Thanks, John
