WebSVN - NaviCtrl - Diff - Rev 136 and 139


/*#######################################################################################*/
/* !!! 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Benutzung auf eigene Gefahr
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#include "91x_lib.h"
#include "timer2.h"
#include "uart1.h"
#include "spi_slave.h"
#include "config.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)
{
        #define MULTIPLYER 4
        static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position
        static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position
       
        static u16 LowPulseTime1 = 14063;
        static u16 LowPulseTime2 = 14063;
 
        s16 ServoNickValue = 0;
        s16 ServoRollValue = 0;
 
        u16 pulselen;
 
        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)
        {
                if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse
                {
                        pulselen = MINSERVOPULSE + SERVORANGE/2;
                        ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset
                        ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
                        if(ServoParams.CompInvert & 0x01)
                        {       // inverting movement of servo FromFlightCtrl.AngleNick
                                ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );
                        }
                        else
                        {       // non inverting movement of servo FromFlightCtrl.AngleNick
                                ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );
                        }
                        // limit servo value to its parameter range definition
                        if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) )
                        {
                                ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER;
                        }
                        else
                        if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) )
                        {
                                ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER;
                        }
 
                        pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
                        DebugOut.Analog[7] = ServoNickValue / MULTIPLYER;
                        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;
                        ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset
                        ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
                        if(ServoParams.CompInvert & 0x02)
                        {       // inverting movement of servo FromFlightCtrl.AngleRoll
                                ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );
                        }
                        else
                        {       // non inverting movement of servo FromFlightCtrl.AngleRoll
                                ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );
                        }
                        // limit servo value to its parameter range definition
                        if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) )
                        {
                                ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER;
                        }
                        else
                        if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) )
                        {
                                ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER;
                        }
 
                        pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
                        DebugOut.Analog[8] = ServoRollValue / MULTIPLYER;
                        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, PRIORITY_TIMER2);
        VIC_ITCmd(TIM2_ITLine, ENABLE);
 
        // set servo params to defaults
        ServoParams.Refresh = 5;
        ServoParams.CompInvert = 0;
        ServoParams.NickControl = 127;
        ServoParams.NickComp = 40;
        ServoParams.NickMin = 50;
        ServoParams.NickMax = 205;
        ServoParams.RollControl = 127;
        ServoParams.RollComp = 40;
        ServoParams.RollMin = 50;
        ServoParams.RollMax = 205;             
 
        UART1_PutString("ok");
}
 
void TIMER2_Deinit(void)
{
        VIC_ITCmd(TIM2_ITLine, DISABLE);
        TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer
        TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE);  // disable interrupts for the OC 1 & 2
        TIM_DeInit(TIM2);
}
 
Subversion Repositories NaviCtrl

(root)/tags/V2.06b/timer2.c @ 652 - Rev 136 → 139
