Subversion Repositories NaviCtrl

#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)

//----------------------------------------------------------------------------------------------------

//----------------------------------------------------------------------------------------------------

void TIM2_IRQHandler(void)

void TIM2_IRQHandler(void)

{

/*

        #define MULTIPLYER 4

        #define MULTIPLYER 4

        static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position

        static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position

        static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position

        static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position

                        TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse

                        TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse

                }

                }

                TIM2->OC2R += pulselen;

                TIM2->OC2R += pulselen;

        }

        }

        IDISABLE;

        IDISABLE;

        VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register

        VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register

}

}

//----------------------------------------------------------------------------------------------------

//----------------------------------------------------------------------------------------------------

// Servo Timer

// Servo Timer

//----------------------------------------------------------------------------------------------------

//----------------------------------------------------------------------------------------------------

void TIMER2_Init(void)

void TIMER2_Init(void)

/*

        GPIO_InitTypeDef GPIO_InitStructure;

        GPIO_InitTypeDef GPIO_InitStructure;

        TIM_InitTypeDef   TIM_InitStructure;

        TIM_InitTypeDef   TIM_InitStructure;

        TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer

        TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer

        TIM_CounterCmd(TIM2, TIM_START); // start the timer

        TIM_CounterCmd(TIM2, TIM_START); // start the timer

        UART1_PutString("ok\r\n");

        UART1_PutString("ok\r\n");

*/

}

}

{

void TIMER2_Deinit(void)

}

{

/*

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_Init(GPIO6, &GPIO_InitStructure);

    GPIO_Init(GPIO6, &GPIO_InitStructure);

}

}