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| Rev | Author | Line No. | Line |
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| 119 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 119 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 119 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 119 | killagreg | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "timer2.h" |
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| 59 | #include "uart1.h" |
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| 121 | killagreg | 60 | #include "spi_slave.h" |
| 136 | killagreg | 61 | #include "config.h" |
| 119 | killagreg | 62 | |
| 63 | #define CR1_OLVL1_MASK 0x0100 |
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| 64 | #define CR1_OLVL2_MASK 0x0200 |
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| 65 | |||
| 141 | killagreg | 66 | volatile ServoParams_t ServoParams; |
| 120 | killagreg | 67 | |
| 68 | #define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC |
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| 119 | killagreg | 69 | // frame len 22.5 ms = 14063 * 1.6 us |
| 70 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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| 71 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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| 72 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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| 73 | // resolution: 1500 - 375 = 1125 steps |
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| 74 | #define PPM_STOPPULSE 188 |
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| 121 | killagreg | 75 | //#define PPM_FRAMELEN 14063 |
| 76 | #define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
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| 119 | killagreg | 77 | #define MINSERVOPULSE 375 |
| 78 | #define MAXSERVOPULSE 1500 |
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| 79 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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| 80 | |||
| 81 | //---------------------------------------------------------------------------------------------------- |
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| 82 | void TIM2_IRQHandler(void) |
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| 83 | { |
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| 121 | killagreg | 84 | #define MULTIPLYER 4 |
| 85 | static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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| 86 | static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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| 87 | |||
| 88 | static u16 LowPulseTime1 = 14063; |
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| 89 | static u16 LowPulseTime2 = 14063; |
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| 119 | killagreg | 90 | |
| 121 | killagreg | 91 | s16 ServoNickValue = 0; |
| 92 | s16 ServoRollValue = 0; |
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| 93 | |||
| 119 | killagreg | 94 | u16 pulselen; |
| 95 | |||
| 195 | killagreg | 96 | IENABLE; |
| 97 | |||
| 119 | killagreg | 98 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
| 99 | { |
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| 154 | killagreg | 100 | TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit |
| 119 | killagreg | 101 | if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
| 102 | { |
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| 103 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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| 121 | killagreg | 104 | ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset |
| 105 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 106 | if(ServoParams.CompInvert & 0x01) |
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| 107 | { // inverting movement of servo FromFlightCtrl.AngleNick |
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| 108 | ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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| 109 | } |
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| 110 | else |
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| 111 | { // non inverting movement of servo FromFlightCtrl.AngleNick |
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| 112 | ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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| 113 | } |
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| 114 | // limit servo value to its parameter range definition |
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| 115 | if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) ) |
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| 116 | { |
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| 117 | ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER; |
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| 118 | } |
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| 119 | else |
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| 120 | if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) ) |
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| 121 | { |
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| 122 | ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER; |
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| 123 | } |
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| 124 | |||
| 125 | pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 126 | DebugOut.Analog[7] = ServoNickValue / MULTIPLYER; |
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| 119 | killagreg | 127 | LowPulseTime1 = PPM_FRAMELEN - pulselen; |
| 128 | TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse |
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| 129 | } |
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| 130 | else // start of low pulse |
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| 131 | { |
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| 132 | pulselen = LowPulseTime1; |
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| 133 | TIM2->CR1 |= CR1_OLVL1_MASK; // make next a high pulse |
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| 134 | } |
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| 135 | TIM2->OC1R += pulselen; |
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| 136 | } |
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| 137 | |||
| 138 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET) |
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| 139 | { |
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| 154 | killagreg | 140 | TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
| 119 | killagreg | 141 | if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse |
| 142 | { |
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| 143 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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| 121 | killagreg | 144 | ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset |
| 145 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
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| 146 | if(ServoParams.CompInvert & 0x02) |
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| 147 | { // inverting movement of servo FromFlightCtrl.AngleRoll |
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| 148 | ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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| 149 | } |
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| 150 | else |
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| 151 | { // non inverting movement of servo FromFlightCtrl.AngleRoll |
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| 152 | ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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| 153 | } |
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| 154 | // limit servo value to its parameter range definition |
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| 155 | if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) ) |
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| 156 | { |
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| 157 | ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER; |
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| 158 | } |
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| 159 | else |
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| 160 | if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) ) |
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| 161 | { |
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| 162 | ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER; |
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| 163 | } |
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| 164 | |||
| 165 | pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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| 166 | DebugOut.Analog[8] = ServoRollValue / MULTIPLYER; |
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| 119 | killagreg | 167 | LowPulseTime2 = PPM_FRAMELEN - pulselen; |
| 120 | killagreg | 168 | TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse |
| 119 | killagreg | 169 | } |
| 170 | else |
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| 171 | { |
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| 172 | pulselen = LowPulseTime2; |
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| 120 | killagreg | 173 | TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse |
| 119 | killagreg | 174 | } |
| 175 | TIM2->OC2R += pulselen; |
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| 176 | } |
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| 177 | |||
| 195 | killagreg | 178 | IDISABLE; |
| 119 | killagreg | 179 | } |
| 180 | |||
| 181 | //---------------------------------------------------------------------------------------------------- |
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| 182 | // Servo Timer |
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| 183 | //---------------------------------------------------------------------------------------------------- |
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| 184 | void TIMER2_Init(void) |
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| 185 | { |
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| 186 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 187 | TIM_InitTypeDef TIM_InitStructure; |
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| 188 | |||
| 120 | killagreg | 189 | UART1_PutString("\r\n Timer2 init..."); |
| 119 | killagreg | 190 | |
| 191 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 192 | |||
| 193 | // configure the servo pins |
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| 194 | GPIO_StructInit(&GPIO_InitStructure); |
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| 195 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 196 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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| 197 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 198 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 119 | killagreg | 199 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
| 200 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 201 | |||
| 202 | GPIO_StructInit(&GPIO_InitStructure); |
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| 203 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 204 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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| 205 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 206 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 119 | killagreg | 207 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
| 208 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 209 | |||
| 210 | SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
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| 211 | |||
| 120 | killagreg | 212 | TIM_DeInit(TIM2); |
| 119 | killagreg | 213 | TIM_StructInit(&TIM_InitStructure); |
| 120 | killagreg | 214 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode |
| 215 | TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM |
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| 216 | TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM |
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| 217 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used |
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| 218 | TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match |
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| 219 | TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match |
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| 119 | killagreg | 220 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
| 120 | killagreg | 221 | |
| 119 | killagreg | 222 | TIM_Init(TIM2, &TIM_InitStructure); |
| 223 | |||
| 120 | killagreg | 224 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
| 119 | killagreg | 225 | |
| 136 | killagreg | 226 | VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
| 119 | killagreg | 227 | VIC_ITCmd(TIM2_ITLine, ENABLE); |
| 228 | |||
| 143 | killagreg | 229 | TIM2->OC1R = 10; |
| 230 | TIM2->OC2R = 20; |
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| 231 | |||
| 119 | killagreg | 232 | // set servo params to defaults |
| 121 | killagreg | 233 | ServoParams.Refresh = 5; |
| 234 | ServoParams.CompInvert = 0; |
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| 235 | ServoParams.NickControl = 127; |
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| 119 | killagreg | 236 | ServoParams.NickComp = 40; |
| 237 | ServoParams.NickMin = 50; |
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| 238 | ServoParams.NickMax = 205; |
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| 121 | killagreg | 239 | ServoParams.RollControl = 127; |
| 119 | killagreg | 240 | ServoParams.RollComp = 40; |
| 241 | ServoParams.RollMin = 50; |
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| 143 | killagreg | 242 | ServoParams.RollMax = 205; |
| 243 | |||
| 244 | TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer |
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| 245 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
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| 246 | |||
| 120 | killagreg | 247 | UART1_PutString("ok"); |
| 119 | killagreg | 248 | } |
| 249 | |||
| 139 | killagreg | 250 | void TIMER2_Deinit(void) |
| 251 | { |
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| 141 | killagreg | 252 | GPIO_InitTypeDef GPIO_InitStructure; |
| 253 | |||
| 180 | killagreg | 254 | UART1_PutString("\r\n Timer2 deinit..."); |
| 255 | |||
| 139 | killagreg | 256 | VIC_ITCmd(TIM2_ITLine, DISABLE); |
| 257 | TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer |
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| 143 | killagreg | 258 | TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer |
| 139 | killagreg | 259 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2 |
| 260 | TIM_DeInit(TIM2); |
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| 141 | killagreg | 261 | SCU_APBPeriphClockConfig(__TIM23, DISABLE); |
| 262 | |||
| 263 | // configure the servo pins as input |
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| 264 | GPIO_StructInit(&GPIO_InitStructure); |
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| 265 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 266 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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| 267 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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| 196 | killagreg | 268 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 141 | killagreg | 269 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 270 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 271 | |||
| 272 | GPIO_StructInit(&GPIO_InitStructure); |
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| 273 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 274 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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| 275 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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| 196 | killagreg | 276 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 141 | killagreg | 277 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 278 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 139 | killagreg | 279 | } |