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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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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
119 | killagreg | 7 | // + FOR NON COMMERCIAL USE ONLY |
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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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
119 | killagreg | 29 | // + mit unserer Zustimmung zulässig |
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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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
119 | killagreg | 44 | // |
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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121 | killagreg | 60 | #include "spi_slave.h" |
136 | killagreg | 61 | #include "config.h" |
119 | killagreg | 62 | |
63 | #define CR1_OLVL1_MASK 0x0100 |
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64 | #define CR1_OLVL2_MASK 0x0200 |
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65 | |||
141 | killagreg | 66 | volatile ServoParams_t ServoParams; |
120 | killagreg | 67 | |
68 | #define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC |
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119 | killagreg | 69 | // frame len 22.5 ms = 14063 * 1.6 us |
70 | // stop pulse: 0.3 ms = 188 * 1.6 us |
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71 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
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72 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
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73 | // resolution: 1500 - 375 = 1125 steps |
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74 | #define PPM_STOPPULSE 188 |
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121 | killagreg | 75 | //#define PPM_FRAMELEN 14063 |
76 | #define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
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119 | killagreg | 77 | #define MINSERVOPULSE 375 |
78 | #define MAXSERVOPULSE 1500 |
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79 | #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
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80 | |||
81 | //---------------------------------------------------------------------------------------------------- |
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82 | void TIM2_IRQHandler(void) |
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83 | { |
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121 | killagreg | 84 | #define MULTIPLYER 4 |
85 | static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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86 | static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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87 | |||
88 | static u16 LowPulseTime1 = 14063; |
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89 | static u16 LowPulseTime2 = 14063; |
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119 | killagreg | 90 | |
121 | killagreg | 91 | s16 ServoNickValue = 0; |
92 | s16 ServoRollValue = 0; |
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93 | |||
119 | killagreg | 94 | u16 pulselen; |
95 | |||
96 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
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97 | { |
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154 | killagreg | 98 | TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit |
119 | killagreg | 99 | if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
100 | { |
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101 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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121 | killagreg | 102 | ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset |
103 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
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104 | if(ServoParams.CompInvert & 0x01) |
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105 | { // inverting movement of servo FromFlightCtrl.AngleNick |
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106 | ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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107 | } |
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108 | else |
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109 | { // non inverting movement of servo FromFlightCtrl.AngleNick |
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110 | ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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111 | } |
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112 | // limit servo value to its parameter range definition |
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113 | if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) ) |
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114 | { |
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115 | ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER; |
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116 | } |
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117 | else |
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118 | if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) ) |
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119 | { |
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120 | ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER; |
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121 | } |
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122 | |||
123 | pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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124 | DebugOut.Analog[7] = ServoNickValue / MULTIPLYER; |
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119 | killagreg | 125 | LowPulseTime1 = PPM_FRAMELEN - pulselen; |
126 | TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse |
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127 | } |
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128 | else // start of low pulse |
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129 | { |
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130 | pulselen = LowPulseTime1; |
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131 | TIM2->CR1 |= CR1_OLVL1_MASK; // make next a high pulse |
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132 | } |
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133 | TIM2->OC1R += pulselen; |
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134 | } |
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135 | |||
136 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET) |
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137 | { |
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154 | killagreg | 138 | TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
119 | killagreg | 139 | if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse |
140 | { |
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141 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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121 | killagreg | 142 | ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset |
143 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
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144 | if(ServoParams.CompInvert & 0x02) |
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145 | { // inverting movement of servo FromFlightCtrl.AngleRoll |
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146 | ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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147 | } |
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148 | else |
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149 | { // non inverting movement of servo FromFlightCtrl.AngleRoll |
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150 | ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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151 | } |
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152 | // limit servo value to its parameter range definition |
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153 | if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) ) |
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154 | { |
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155 | ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER; |
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156 | } |
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157 | else |
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158 | if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) ) |
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159 | { |
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160 | ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER; |
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161 | } |
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162 | |||
163 | pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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164 | DebugOut.Analog[8] = ServoRollValue / MULTIPLYER; |
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119 | killagreg | 165 | LowPulseTime2 = PPM_FRAMELEN - pulselen; |
120 | killagreg | 166 | TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse |
119 | killagreg | 167 | } |
168 | else |
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169 | { |
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170 | pulselen = LowPulseTime2; |
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120 | killagreg | 171 | TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse |
119 | killagreg | 172 | } |
173 | TIM2->OC2R += pulselen; |
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174 | } |
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175 | |||
176 | // write any value to VIC0 Vector address register |
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177 | VIC0->VAR = 0xFF; |
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178 | } |
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179 | |||
180 | //---------------------------------------------------------------------------------------------------- |
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181 | // Servo Timer |
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182 | //---------------------------------------------------------------------------------------------------- |
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183 | void TIMER2_Init(void) |
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184 | { |
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185 | GPIO_InitTypeDef GPIO_InitStructure; |
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186 | TIM_InitTypeDef TIM_InitStructure; |
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187 | |||
120 | killagreg | 188 | UART1_PutString("\r\n Timer2 init..."); |
119 | killagreg | 189 | |
190 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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191 | |||
192 | // configure the servo pins |
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193 | GPIO_StructInit(&GPIO_InitStructure); |
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194 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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195 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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196 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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197 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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198 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
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199 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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200 | |||
201 | GPIO_StructInit(&GPIO_InitStructure); |
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202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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205 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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206 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
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207 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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208 | |||
209 | SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
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210 | |||
120 | killagreg | 211 | TIM_DeInit(TIM2); |
119 | killagreg | 212 | TIM_StructInit(&TIM_InitStructure); |
120 | killagreg | 213 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode |
214 | TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM |
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215 | TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM |
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216 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used |
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217 | TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match |
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218 | TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match |
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119 | killagreg | 219 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
120 | killagreg | 220 | |
119 | killagreg | 221 | TIM_Init(TIM2, &TIM_InitStructure); |
222 | |||
120 | killagreg | 223 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
119 | killagreg | 224 | |
136 | killagreg | 225 | VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
119 | killagreg | 226 | VIC_ITCmd(TIM2_ITLine, ENABLE); |
227 | |||
143 | killagreg | 228 | TIM2->OC1R = 10; |
229 | TIM2->OC2R = 20; |
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230 | |||
119 | killagreg | 231 | // set servo params to defaults |
121 | killagreg | 232 | ServoParams.Refresh = 5; |
233 | ServoParams.CompInvert = 0; |
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234 | ServoParams.NickControl = 127; |
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119 | killagreg | 235 | ServoParams.NickComp = 40; |
236 | ServoParams.NickMin = 50; |
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237 | ServoParams.NickMax = 205; |
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121 | killagreg | 238 | ServoParams.RollControl = 127; |
119 | killagreg | 239 | ServoParams.RollComp = 40; |
240 | ServoParams.RollMin = 50; |
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143 | killagreg | 241 | ServoParams.RollMax = 205; |
242 | |||
243 | TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer |
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244 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
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245 | |||
120 | killagreg | 246 | UART1_PutString("ok"); |
119 | killagreg | 247 | } |
248 | |||
139 | killagreg | 249 | void TIMER2_Deinit(void) |
250 | { |
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141 | killagreg | 251 | GPIO_InitTypeDef GPIO_InitStructure; |
252 | |||
180 | killagreg | 253 | UART1_PutString("\r\n Timer2 deinit..."); |
254 | |||
139 | killagreg | 255 | VIC_ITCmd(TIM2_ITLine, DISABLE); |
256 | TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer |
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143 | killagreg | 257 | TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer |
139 | killagreg | 258 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2 |
259 | TIM_DeInit(TIM2); |
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141 | killagreg | 260 | SCU_APBPeriphClockConfig(__TIM23, DISABLE); |
261 | |||
262 | // configure the servo pins as input |
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263 | GPIO_StructInit(&GPIO_InitStructure); |
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264 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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265 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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266 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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267 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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268 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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269 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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270 | |||
271 | GPIO_StructInit(&GPIO_InitStructure); |
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272 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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273 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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274 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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275 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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276 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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277 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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139 | killagreg | 278 | } |