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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 | |||
| 64 | // frame len 22.5 ms = 14063 * 1.6 us |
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| 65 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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| 66 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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| 67 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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| 68 | // resolution: 1500 - 375 = 1125 steps |
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| 69 | |||
| 70 | |||
| 71 | ServoParams_t ServoParams; |
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| 72 | |||
| 73 | #define PPM_STOPPULSE 188 |
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| 74 | #define PPM_FRAMELEN 14063 |
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| 75 | //#define PPM_FRAMELEN (1757 * ParamSet.ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
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| 76 | #define MINSERVOPULSE 375 |
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| 77 | #define MAXSERVOPULSE 1500 |
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| 78 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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| 79 | |||
| 80 | //---------------------------------------------------------------------------------------------------- |
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| 81 | void TIM2_IRQHandler(void) |
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| 82 | { |
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| 83 | //static s16 ServoValue1 = 0; |
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| 84 | //static s16 ServoValue2 = 0; |
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| 85 | static u16 LowPulseTime1 = PPM_FRAMELEN; |
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| 86 | static u16 LowPulseTime2 = PPM_FRAMELEN; |
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| 87 | |||
| 88 | u16 pulselen; |
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| 89 | |||
| 90 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
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| 91 | { |
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| 92 | if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
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| 93 | { |
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| 94 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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| 95 | LowPulseTime1 = PPM_FRAMELEN - pulselen; |
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| 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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| 112 | LowPulseTime2 = PPM_FRAMELEN - pulselen; |
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| 113 | TIM2->CR1 &= ~CR1_OLVL2_MASK; // make low pulse |
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| 114 | } |
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| 115 | else |
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| 116 | { |
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| 117 | pulselen = LowPulseTime2; |
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| 118 | TIM2->CR1 |= CR1_OLVL2_MASK; |
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| 119 | } |
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| 120 | TIM2->OC2R += pulselen; |
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| 121 | TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
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| 122 | } |
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| 123 | |||
| 124 | // write any value to VIC0 Vector address register |
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| 125 | VIC0->VAR = 0xFF; |
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| 126 | } |
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| 127 | |||
| 128 | //---------------------------------------------------------------------------------------------------- |
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| 129 | // Servo Timer |
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| 130 | //---------------------------------------------------------------------------------------------------- |
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| 131 | void TIMER2_Init(void) |
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| 132 | { |
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| 133 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 134 | TIM_InitTypeDef TIM_InitStructure; |
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| 135 | |||
| 136 | UART1_PutString("Timer2 init..."); |
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| 137 | |||
| 138 | #define TIM2_FREQ 625000 // 625kHz |
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| 139 | |||
| 140 | |||
| 141 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 142 | |||
| 143 | // configure the servo pins |
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| 144 | GPIO_StructInit(&GPIO_InitStructure); |
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| 145 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 146 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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| 147 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 148 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 149 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
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| 150 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 151 | |||
| 152 | GPIO_StructInit(&GPIO_InitStructure); |
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| 153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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| 155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 156 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 157 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
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| 158 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 159 | |||
| 160 | SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
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| 161 | |||
| 162 | TIM_StructInit(&TIM_InitStructure); |
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| 163 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; |
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| 164 | TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; |
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| 165 | TIM_InitStructure.TIM_OC2_Modes = TIM_TIMING; |
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| 166 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; |
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| 167 | TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; |
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| 168 | TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; |
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| 169 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
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| 170 | TIM_Init(TIM2, &TIM_InitStructure); |
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| 171 | |||
| 172 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); |
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| 173 | TIM_CounterCmd(TIM2, TIM_START); |
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| 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 | |||
| 189 | UART1_PutString("ok\n\r"); |
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| 190 | } |
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| 191 |