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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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119 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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119 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
119 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + 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 |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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119 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include "91x_lib.h" |
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57 | #include "timer2.h" |
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58 | #include "uart1.h" |
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121 | killagreg | 59 | #include "spi_slave.h" |
136 | killagreg | 60 | #include "config.h" |
378 | holgerb | 61 | #include "led.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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475 | holgerb | 84 | /* |
121 | killagreg | 85 | #define MULTIPLYER 4 |
86 | static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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87 | static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
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88 | |||
89 | static u16 LowPulseTime1 = 14063; |
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90 | static u16 LowPulseTime2 = 14063; |
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119 | killagreg | 91 | |
121 | killagreg | 92 | s16 ServoNickValue = 0; |
93 | s16 ServoRollValue = 0; |
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94 | |||
119 | killagreg | 95 | u16 pulselen; |
96 | |||
195 | killagreg | 97 | IENABLE; |
98 | |||
119 | killagreg | 99 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET) |
100 | { |
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154 | killagreg | 101 | TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit |
119 | killagreg | 102 | if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse |
103 | { |
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104 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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121 | killagreg | 105 | ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset |
106 | ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
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107 | if(ServoParams.CompInvert & 0x01) |
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108 | { // inverting movement of servo FromFlightCtrl.AngleNick |
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109 | ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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110 | } |
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111 | else |
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112 | { // non inverting movement of servo FromFlightCtrl.AngleNick |
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113 | ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) ); |
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114 | } |
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115 | // limit servo value to its parameter range definition |
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116 | if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) ) |
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117 | { |
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118 | ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER; |
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119 | } |
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120 | else |
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121 | if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) ) |
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122 | { |
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123 | ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER; |
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124 | } |
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125 | |||
126 | pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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480 | holgerb | 127 | // DebugOut.Analog[7] = ServoNickValue / MULTIPLYER; |
119 | killagreg | 128 | LowPulseTime1 = PPM_FRAMELEN - pulselen; |
129 | TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse |
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130 | } |
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131 | else // start of low pulse |
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132 | { |
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133 | pulselen = LowPulseTime1; |
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134 | TIM2->CR1 |= CR1_OLVL1_MASK; // make next a high pulse |
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135 | } |
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136 | TIM2->OC1R += pulselen; |
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137 | } |
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138 | |||
139 | if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET) |
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140 | { |
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154 | killagreg | 141 | TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit |
119 | killagreg | 142 | if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse |
143 | { |
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144 | pulselen = MINSERVOPULSE + SERVORANGE/2; |
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121 | killagreg | 145 | ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset |
146 | ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
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147 | if(ServoParams.CompInvert & 0x02) |
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148 | { // inverting movement of servo FromFlightCtrl.AngleRoll |
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149 | ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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150 | } |
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151 | else |
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152 | { // non inverting movement of servo FromFlightCtrl.AngleRoll |
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153 | ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) ); |
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154 | } |
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155 | // limit servo value to its parameter range definition |
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156 | if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) ) |
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157 | { |
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158 | ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER; |
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159 | } |
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160 | else |
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161 | if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) ) |
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162 | { |
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163 | ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER; |
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164 | } |
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165 | |||
166 | pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
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480 | holgerb | 167 | // DebugOut.Analog[8] = ServoRollValue / MULTIPLYER; |
119 | killagreg | 168 | LowPulseTime2 = PPM_FRAMELEN - pulselen; |
120 | killagreg | 169 | TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse |
119 | killagreg | 170 | } |
171 | else |
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172 | { |
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173 | pulselen = LowPulseTime2; |
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120 | killagreg | 174 | TIM2->CR1 |= CR1_OLVL2_MASK; // make next a high pulse |
119 | killagreg | 175 | } |
176 | TIM2->OC2R += pulselen; |
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177 | } |
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195 | killagreg | 178 | IDISABLE; |
489 | killagreg | 179 | */ |
378 | holgerb | 180 | VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register |
119 | killagreg | 181 | } |
182 | |||
183 | //---------------------------------------------------------------------------------------------------- |
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184 | // Servo Timer |
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185 | //---------------------------------------------------------------------------------------------------- |
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186 | void TIMER2_Init(void) |
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187 | { |
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489 | killagreg | 188 | /* |
119 | killagreg | 189 | GPIO_InitTypeDef GPIO_InitStructure; |
190 | TIM_InitTypeDef TIM_InitStructure; |
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191 | |||
461 | holgerb | 192 | UART1_PutString(" Timer2 init..."); |
119 | killagreg | 193 | |
194 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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195 | |||
196 | // configure the servo pins |
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197 | GPIO_StructInit(&GPIO_InitStructure); |
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198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 201 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
119 | killagreg | 202 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1 |
203 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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204 | |||
205 | GPIO_StructInit(&GPIO_InitStructure); |
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206 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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207 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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208 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 209 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
119 | killagreg | 210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2 |
211 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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212 | |||
213 | SCU_APBPeriphClockConfig(__TIM23, ENABLE); |
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214 | |||
120 | killagreg | 215 | TIM_DeInit(TIM2); |
119 | killagreg | 216 | TIM_StructInit(&TIM_InitStructure); |
120 | killagreg | 217 | TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode |
218 | TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM |
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219 | TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM |
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220 | TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used |
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221 | TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match |
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222 | TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match |
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119 | killagreg | 223 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
120 | killagreg | 224 | |
119 | killagreg | 225 | TIM_Init(TIM2, &TIM_InitStructure); |
226 | |||
120 | killagreg | 227 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
119 | killagreg | 228 | |
136 | killagreg | 229 | VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
378 | holgerb | 230 | //## VIC_ITCmd(TIM2_ITLine, ENABLE); |
119 | killagreg | 231 | |
143 | killagreg | 232 | TIM2->OC1R = 10; |
233 | TIM2->OC2R = 20; |
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234 | |||
119 | killagreg | 235 | // set servo params to defaults |
121 | killagreg | 236 | ServoParams.Refresh = 5; |
237 | ServoParams.CompInvert = 0; |
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238 | ServoParams.NickControl = 127; |
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119 | killagreg | 239 | ServoParams.NickComp = 40; |
240 | ServoParams.NickMin = 50; |
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241 | ServoParams.NickMax = 205; |
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121 | killagreg | 242 | ServoParams.RollControl = 127; |
119 | killagreg | 243 | ServoParams.RollComp = 40; |
244 | ServoParams.RollMin = 50; |
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143 | killagreg | 245 | ServoParams.RollMax = 205; |
246 | |||
247 | TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer |
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248 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
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249 | |||
461 | holgerb | 250 | UART1_PutString("ok\r\n"); |
489 | killagreg | 251 | */ |
119 | killagreg | 252 | } |
253 | |||
139 | killagreg | 254 | void TIMER2_Deinit(void) |
255 | { |
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475 | holgerb | 256 | } |
257 | /* |
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141 | killagreg | 258 | GPIO_InitTypeDef GPIO_InitStructure; |
259 | |||
180 | killagreg | 260 | UART1_PutString("\r\n Timer2 deinit..."); |
261 | |||
139 | killagreg | 262 | VIC_ITCmd(TIM2_ITLine, DISABLE); |
263 | TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer |
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143 | killagreg | 264 | TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer |
139 | killagreg | 265 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2 |
266 | TIM_DeInit(TIM2); |
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141 | killagreg | 267 | SCU_APBPeriphClockConfig(__TIM23, DISABLE); |
268 | |||
269 | // configure the servo pins as input |
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270 | GPIO_StructInit(&GPIO_InitStructure); |
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271 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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272 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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273 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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196 | killagreg | 274 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
141 | killagreg | 275 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
276 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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277 | |||
278 | GPIO_StructInit(&GPIO_InitStructure); |
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279 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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280 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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281 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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196 | killagreg | 282 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
141 | killagreg | 283 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
284 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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139 | killagreg | 285 | } |
489 | killagreg | 286 | */ |