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