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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "91x_lib.h" |
| #include "timer2.h" |
| #include "uart1.h" |
| #include "spi_slave.h" |
| #include "config.h" |
| |
| #define CR1_OLVL1_MASK 0x0100 |
| #define CR1_OLVL2_MASK 0x0200 |
| |
| volatile ServoParams_t ServoParams; |
| |
| #define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define PPM_STOPPULSE 188 |
| //#define PPM_FRAMELEN 14063 |
| #define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| |
| //---------------------------------------------------------------------------------------------------- |
| void TIM2_IRQHandler(void) |
| { |
| #define MULTIPLYER 4 |
| static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
| static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
| |
| static u16 LowPulseTime1 = 14063; |
| static u16 LowPulseTime2 = 14063; |
| |
| s16 ServoNickValue = 0; |
| s16 ServoRollValue = 0; |
| |
| u16 pulselen; |
| |
| IENABLE; |
| |
| if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
| { |
| TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit |
| if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
| { |
| pulselen = MINSERVOPULSE + SERVORANGE/2; |
| ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(ServoParams.CompInvert & 0x01) |
| { // inverting movement of servo FromFlightCtrl.AngleNick |
| ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo FromFlightCtrl.AngleNick |
| ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) ) |
| { |
| ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) ) |
| { |
| ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER; |
| } |
| |
| pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| DebugOut.Analog[7] = ServoNickValue / MULTIPLYER; |
| LowPulseTime1 = PPM_FRAMELEN - pulselen; |
| TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse |
| } |
| else // start of low pulse |
| { |
| pulselen = LowPulseTime1; |
| TIM2->CR1 |= CR1_OLVL1_MASK; // make next a high pulse |
| } |
| TIM2->OC1R += pulselen; |
| } |
| |
| if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET) |
| { |
| TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
| if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse |
| { |
| pulselen = MINSERVOPULSE + SERVORANGE/2; |
| ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(ServoParams.CompInvert & 0x02) |
| { // inverting movement of servo FromFlightCtrl.AngleRoll |
| ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo FromFlightCtrl.AngleRoll |
| ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) ) |
| { |
| ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) ) |
| { |
| ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER; |
| } |
| |
| pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| DebugOut.Analog[8] = ServoRollValue / MULTIPLYER; |
| LowPulseTime2 = PPM_FRAMELEN - pulselen; |
| TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse |
| } |
| else |
| { |
| pulselen = LowPulseTime2; |
| TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse |
| } |
| TIM2->OC2R += pulselen; |
| } |
| |
| IDISABLE; |
| } |
| |
| //---------------------------------------------------------------------------------------------------- |
| // Servo Timer |
| //---------------------------------------------------------------------------------------------------- |
| void TIMER2_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| TIM_InitTypeDef TIM_InitStructure; |
| |
| UART1_PutString("\r\n Timer2 init..."); |
| |
| SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
| |
| // configure the servo pins |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
| |
| TIM_DeInit(TIM2); |
| TIM_StructInit(&TIM_InitStructure); |
| TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode |
| TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM |
| TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM |
| TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used |
| TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match |
| TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match |
| TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
| |
| TIM_Init(TIM2, &TIM_InitStructure); |
| |
| TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
| |
| VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
| VIC_ITCmd(TIM2_ITLine, ENABLE); |
| |
| TIM2->OC1R = 10; |
| TIM2->OC2R = 20; |
| |
| // set servo params to defaults |
| ServoParams.Refresh = 5; |
| ServoParams.CompInvert = 0; |
| ServoParams.NickControl = 127; |
| ServoParams.NickComp = 40; |
| ServoParams.NickMin = 50; |
| ServoParams.NickMax = 205; |
| ServoParams.RollControl = 127; |
| ServoParams.RollComp = 40; |
| ServoParams.RollMin = 50; |
| ServoParams.RollMax = 205; |
| |
| TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer |
| TIM_CounterCmd(TIM2, TIM_START); // start the timer |
| |
| UART1_PutString("ok"); |
| } |
| |
| void TIMER2_Deinit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART1_PutString("\r\n Timer2 deinit..."); |
| |
| VIC_ITCmd(TIM2_ITLine, DISABLE); |
| TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer |
| TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer |
| TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2 |
| TIM_DeInit(TIM2); |
| SCU_APBPeriphClockConfig(__TIM23, DISABLE); |
| |
| // configure the servo pins as input |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| } |