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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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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 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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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 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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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 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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| 60 | |||
| 61 | #define CR1_OLVL1_MASK 0x0100 |
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| 62 | #define CR1_OLVL2_MASK 0x0200 |
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| 63 | |||
| 120 | killagreg | 64 | ServoParams_t ServoParams; |
| 65 | |||
| 66 | #define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC |
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| 119 | killagreg | 67 | // frame len 22.5 ms = 14063 * 1.6 us |
| 68 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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| 69 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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| 70 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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| 71 | // resolution: 1500 - 375 = 1125 steps |
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| 72 | #define PPM_STOPPULSE 188 |
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| 73 | #define PPM_FRAMELEN 14063 |
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| 120 | killagreg | 74 | //#define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
| 119 | killagreg | 75 | #define MINSERVOPULSE 375 |
| 76 | #define MAXSERVOPULSE 1500 |
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| 77 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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| 78 | |||
| 79 | //---------------------------------------------------------------------------------------------------- |
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| 80 | void TIM2_IRQHandler(void) |
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| 81 | { |
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| 82 | //static s16 ServoValue1 = 0; |
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| 83 | //static s16 ServoValue2 = 0; |
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| 84 | static u16 LowPulseTime1 = PPM_FRAMELEN; |
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| 85 | static u16 LowPulseTime2 = PPM_FRAMELEN; |
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| 86 | |||
| 87 | u16 pulselen; |
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| 88 | |||
| 89 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
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| 90 | { |
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| 91 | if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
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| 92 | { |
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| 93 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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| 120 | killagreg | 94 | // input code for nick servo here |
| 119 | killagreg | 95 | LowPulseTime1 = PPM_FRAMELEN - pulselen; |
| 96 | TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse |
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| 97 | } |
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| 98 | else // start of low pulse |
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| 99 | { |
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| 100 | pulselen = LowPulseTime1; |
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| 101 | TIM2->CR1 |= CR1_OLVL1_MASK; // make next a high pulse |
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| 102 | } |
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| 103 | TIM2->OC1R += pulselen; |
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| 104 | TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit |
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| 105 | } |
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| 106 | |||
| 107 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET) |
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| 108 | { |
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| 109 | if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse |
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| 110 | { |
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| 111 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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| 120 | killagreg | 112 | // input code for roll servo here |
| 119 | killagreg | 113 | LowPulseTime2 = PPM_FRAMELEN - pulselen; |
| 120 | killagreg | 114 | TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse |
| 119 | killagreg | 115 | } |
| 116 | else |
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| 117 | { |
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| 118 | pulselen = LowPulseTime2; |
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| 120 | killagreg | 119 | TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse |
| 119 | killagreg | 120 | } |
| 121 | TIM2->OC2R += pulselen; |
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| 122 | TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
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| 123 | } |
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| 124 | |||
| 125 | // write any value to VIC0 Vector address register |
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| 126 | VIC0->VAR = 0xFF; |
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| 127 | } |
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| 128 | |||
| 129 | //---------------------------------------------------------------------------------------------------- |
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| 130 | // Servo Timer |
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| 131 | //---------------------------------------------------------------------------------------------------- |
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| 132 | void TIMER2_Init(void) |
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| 133 | { |
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| 134 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 135 | TIM_InitTypeDef TIM_InitStructure; |
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| 136 | |||
| 120 | killagreg | 137 | UART1_PutString("\r\n Timer2 init..."); |
| 119 | killagreg | 138 | |
| 139 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 140 | |||
| 141 | // configure the servo pins |
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| 142 | GPIO_StructInit(&GPIO_InitStructure); |
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| 143 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 144 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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| 145 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 146 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 147 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
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| 148 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 149 | |||
| 150 | GPIO_StructInit(&GPIO_InitStructure); |
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| 151 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 152 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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| 153 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 154 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 155 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
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| 156 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 157 | |||
| 158 | SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
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| 159 | |||
| 120 | killagreg | 160 | TIM_DeInit(TIM2); |
| 119 | killagreg | 161 | TIM_StructInit(&TIM_InitStructure); |
| 120 | killagreg | 162 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode |
| 163 | TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM |
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| 164 | TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM |
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| 165 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used |
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| 166 | TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match |
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| 167 | TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match |
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| 119 | killagreg | 168 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
| 120 | killagreg | 169 | |
| 119 | killagreg | 170 | TIM_Init(TIM2, &TIM_InitStructure); |
| 171 | |||
| 120 | killagreg | 172 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
| 173 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
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| 119 | killagreg | 174 | |
| 175 | VIC_Config(TIM2_ITLine, VIC_IRQ, 3); |
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| 176 | VIC_ITCmd(TIM2_ITLine, ENABLE); |
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| 177 | |||
| 178 | // set servo params to defaults |
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| 179 | ServoParams.Refresh = 5; |
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| 180 | ServoParams.NickOffset = 127; |
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| 181 | ServoParams.NickComp = 40; |
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| 182 | ServoParams.NickMin = 50; |
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| 183 | ServoParams.NickMax = 205; |
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| 184 | ServoParams.RollOffset = 127; |
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| 185 | ServoParams.RollComp = 40; |
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| 186 | ServoParams.RollMin = 50; |
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| 187 | ServoParams.RollMax = 205; |
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| 188 | |||
| 120 | killagreg | 189 | UART1_PutString("ok"); |
| 119 | killagreg | 190 | } |
| 191 |