| 0,0 → 1,286 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "91x_lib.h" |
| #include "timer2.h" |
| #include "uart1.h" |
| #include "spi_slave.h" |
| #include "config.h" |
| #include "led.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; |
| */ |
| VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register |
| } |
| |
| //---------------------------------------------------------------------------------------------------- |
| // Servo Timer |
| //---------------------------------------------------------------------------------------------------- |
| void TIMER2_Init(void) |
| { |
| /* |
| GPIO_InitTypeDef GPIO_InitStructure; |
| TIM_InitTypeDef TIM_InitStructure; |
| |
| UART1_PutString(" 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\r\n"); |
| */ |
| } |
| |
| 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); |
| } |
| */ |