WebSVN - NaviCtrl - Diff - Rev 119 and 120


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + 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 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 this software (or part of it) to systems (other than 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"
 
#define CR1_OLVL1_MASK    0x0100
#define CR1_OLVL2_MASK    0x0200
 
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)
{
        //static s16 ServoValue1 = 0;
        //static s16 ServoValue2 = 0;   
        static u16 LowPulseTime1 = PPM_FRAMELEN;
        static u16 LowPulseTime2 = PPM_FRAMELEN;
 
        u16 pulselen;
 
        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)
        {
                if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse
                {
                        pulselen = MINSERVOPULSE + SERVORANGE/2;
                        // input code for nick servo here
                        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;
                TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit
        }
 
        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)
        {
                if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse
                {
                        pulselen = MINSERVOPULSE + SERVORANGE/2;
                        // input code for roll servo here
                        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;
                TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit
        }
 
        // write any value to VIC0 Vector address register
        VIC0->VAR = 0xFF;
}
 
//----------------------------------------------------------------------------------------------------
// 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_IPConnected =       GPIO_IPConnected_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_IPConnected =   GPIO_IPConnected_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
        TIM_CounterCmd(TIM2, TIM_START); // start the timer
 
        VIC_Config(TIM2_ITLine, VIC_IRQ, 3);
        VIC_ITCmd(TIM2_ITLine, ENABLE);
 
        // set servo params to defaults
        ServoParams.Refresh = 5;
        ServoParams.NickOffset = 127;
        ServoParams.NickComp = 40;
        ServoParams.NickMin = 50;
        ServoParams.NickMax = 205;
        ServoParams.RollOffset = 127;
        ServoParams.RollComp = 40;
        ServoParams.RollMin = 50;
        ServoParams.RollMax = 205;             
 
        UART1_PutString("ok");
}
 
 

Subversion Repositories NaviCtrl

(root)/tags/V0.24e/timer2.c @ 577 - Rev 119 → 120

Rev 119		Rev 120
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include "91x_lib.h"	57	#include "91x_lib.h"
58	#include "timer2.h"	58	#include "timer2.h"
59	#include "uart1.h"	59	#include "uart1.h"
60		60
61	#define CR1_OLVL1_MASK 0x0100	61	#define CR1_OLVL1_MASK 0x0100
62	#define CR1_OLVL2_MASK 0x0200	62	#define CR1_OLVL2_MASK 0x0200
-		63
-		64	ServoParams_t ServoParams;
-		65
63		66	#define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC
64	// frame len 22.5 ms = 14063 * 1.6 us	67	// frame len 22.5 ms = 14063 * 1.6 us
65	// stop pulse: 0.3 ms = 188 * 1.6 us	68	// stop pulse: 0.3 ms = 188 * 1.6 us
66	// min servo pulse: 0.6 ms = 375 * 1.6 us	69	// min servo pulse: 0.6 ms = 375 * 1.6 us
67	// max servo pulse: 2.4 ms = 1500 * 1.6 us	70	// max servo pulse: 2.4 ms = 1500 * 1.6 us
68	// resolution: 1500 - 375 = 1125 steps	71	// resolution: 1500 - 375 = 1125 steps
69		-
70		-
71	ServoParams_t ServoParams;	-
72		-
73	#define PPM_STOPPULSE 188	72	#define PPM_STOPPULSE 188
74	#define PPM_FRAMELEN 14063	73	#define PPM_FRAMELEN 14063
75	//#define PPM_FRAMELEN (1757 * ParamSet.ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel	74	//#define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
76	#define MINSERVOPULSE 375	75	#define MINSERVOPULSE 375
77	#define MAXSERVOPULSE 1500	76	#define MAXSERVOPULSE 1500
78	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)	77	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
79		78
80	//----------------------------------------------------------------------------------------------------	79	//----------------------------------------------------------------------------------------------------
81	void TIM2_IRQHandler(void)	80	void TIM2_IRQHandler(void)
82	{	81	{
83	//static s16 ServoValue1 = 0;	82	//static s16 ServoValue1 = 0;
84	//static s16 ServoValue2 = 0;	83	//static s16 ServoValue2 = 0;
85	static u16 LowPulseTime1 = PPM_FRAMELEN;	84	static u16 LowPulseTime1 = PPM_FRAMELEN;
86	static u16 LowPulseTime2 = PPM_FRAMELEN;	85	static u16 LowPulseTime2 = PPM_FRAMELEN;
87		86
88	u16 pulselen;	87	u16 pulselen;
89		88
90	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)	89	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)
91	{	90	{
92	if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse	91	if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse
93	{	92	{
94	pulselen = MINSERVOPULSE + SERVORANGE/2;	93	pulselen = MINSERVOPULSE + SERVORANGE/2;
-		94	// input code for nick servo here
95	LowPulseTime1 = PPM_FRAMELEN - pulselen;	95	LowPulseTime1 = PPM_FRAMELEN - pulselen;
96	TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse	96	TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse
97	}	97	}
98	else // start of low pulse	98	else // start of low pulse
99	{	99	{
100	pulselen = LowPulseTime1;	100	pulselen = LowPulseTime1;
101	TIM2->CR1 \|= CR1_OLVL1_MASK; // make next a high pulse	101	TIM2->CR1 \|= CR1_OLVL1_MASK; // make next a high pulse
102	}	102	}
103	TIM2->OC1R += pulselen;	103	TIM2->OC1R += pulselen;
104	TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit	104	TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit
105	}	105	}
106		106
107	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)	107	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)
108	{	108	{
109	if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse	109	if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse
110	{	110	{
111	pulselen = MINSERVOPULSE + SERVORANGE/2;	111	pulselen = MINSERVOPULSE + SERVORANGE/2;
-		112	// input code for roll servo here
112	LowPulseTime2 = PPM_FRAMELEN - pulselen;	113	LowPulseTime2 = PPM_FRAMELEN - pulselen;
113	TIM2->CR1 &= ~CR1_OLVL2_MASK; // make low pulse	114	TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse
114	}	115	}
115	else	116	else
116	{	117	{
117	pulselen = LowPulseTime2;	118	pulselen = LowPulseTime2;
118	TIM2->CR1 \|= CR1_OLVL2_MASK;	119	TIM2->CR1 \|= CR1_OLVL2_MASK; // make next a high pulse
119	}	120	}
120	TIM2->OC2R += pulselen;	121	TIM2->OC2R += pulselen;
121	TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit	122	TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit
122	}	123	}
123		124
124	// write any value to VIC0 Vector address register	125	// write any value to VIC0 Vector address register
125	VIC0->VAR = 0xFF;	126	VIC0->VAR = 0xFF;
126	}	127	}
127		128
128	//----------------------------------------------------------------------------------------------------	129	//----------------------------------------------------------------------------------------------------
129	// Servo Timer	130	// Servo Timer
130	//----------------------------------------------------------------------------------------------------	131	//----------------------------------------------------------------------------------------------------
131	void TIMER2_Init(void)	132	void TIMER2_Init(void)
132	{	133	{
133	GPIO_InitTypeDef GPIO_InitStructure;	134	GPIO_InitTypeDef GPIO_InitStructure;
134	TIM_InitTypeDef TIM_InitStructure;	135	TIM_InitTypeDef TIM_InitStructure;
135		136
136	UART1_PutString("Timer2 init...");	-
137		-
138	#define TIM2_FREQ 625000 // 625kHz	-
139		137	UART1_PutString("\r\n Timer2 init...");
140		138
141	SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock	139	SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock
142		140
143	// configure the servo pins	141	// configure the servo pins
144	GPIO_StructInit(&GPIO_InitStructure);	142	GPIO_StructInit(&GPIO_InitStructure);
145	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	143	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
146	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;	144	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
147	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;	145	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
148	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	146	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
149	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1	147	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1
150	GPIO_Init(GPIO6, &GPIO_InitStructure);	148	GPIO_Init(GPIO6, &GPIO_InitStructure);
151		149
152	GPIO_StructInit(&GPIO_InitStructure);	150	GPIO_StructInit(&GPIO_InitStructure);
153	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	151	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
154	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	152	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
155	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	153	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
156	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	154	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
157	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2	155	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2
158	GPIO_Init(GPIO6, &GPIO_InitStructure);	156	GPIO_Init(GPIO6, &GPIO_InitStructure);
159		157
160	SCU_APBPeriphClockConfig(__TIM23, ENABLE);	158	SCU_APBPeriphClockConfig(__TIM23, ENABLE);
-		159
161		160	TIM_DeInit(TIM2);
162	TIM_StructInit(&TIM_InitStructure);	161	TIM_StructInit(&TIM_InitStructure);
163	TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12;	162	TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_12; // Output Compare Channels 1 & 2 Mode
164	TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING;	163	TIM_InitStructure.TIM_OC1_Modes = TIM_WAVE; // OCMP1 pin is dedicated to the OC1 capability of the TIM
165	TIM_InitStructure.TIM_OC2_Modes = TIM_TIMING;	164	TIM_InitStructure.TIM_OC2_Modes = TIM_WAVE; // OCMP2 pin is dedicated to the OC2 capability of the TIM
166	TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB;	165	TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; // APB clock source is used
167	TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW;	166	TIM_InitStructure.TIM_Pulse_Level_1 = TIM_LOW; // output low at OCMP1 pin on compare match
168	TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW;	167	TIM_InitStructure.TIM_Pulse_Level_2 = TIM_LOW; // output low at OCMP2 pin on compare match
-		168	TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ;
169	TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ;	169
170	TIM_Init(TIM2, &TIM_InitStructure);	170	TIM_Init(TIM2, &TIM_InitStructure);
171		171
172	TIM_ITConfig(TIM2, TIM_IT_OC1\|TIM_IT_OC2, ENABLE);	172	TIM_ITConfig(TIM2, TIM_IT_OC1\|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2
173	TIM_CounterCmd(TIM2, TIM_START);	173	TIM_CounterCmd(TIM2, TIM_START); // start the timer
174		174
175	VIC_Config(TIM2_ITLine, VIC_IRQ, 3);	175	VIC_Config(TIM2_ITLine, VIC_IRQ, 3);
176	VIC_ITCmd(TIM2_ITLine, ENABLE);	176	VIC_ITCmd(TIM2_ITLine, ENABLE);
177		177
178	// set servo params to defaults	178	// set servo params to defaults
179	ServoParams.Refresh = 5;	179	ServoParams.Refresh = 5;
180	ServoParams.NickOffset = 127;	180	ServoParams.NickOffset = 127;
181	ServoParams.NickComp = 40;	181	ServoParams.NickComp = 40;
182	ServoParams.NickMin = 50;	182	ServoParams.NickMin = 50;
183	ServoParams.NickMax = 205;	183	ServoParams.NickMax = 205;
184	ServoParams.RollOffset = 127;	184	ServoParams.RollOffset = 127;
185	ServoParams.RollComp = 40;	185	ServoParams.RollComp = 40;
186	ServoParams.RollMin = 50;	186	ServoParams.RollMin = 50;
187	ServoParams.RollMax = 205;	187	ServoParams.RollMax = 205;
188		188
189	UART1_PutString("ok\n\r");	189	UART1_PutString("ok");
190	}	190	}
191		191
192		192