WebSVN - NaviCtrl - Diff - Rev 196 and 360


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 
 
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
 
// + features that can be used to identify the program may not be altered or defaced by the customer.
 
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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
 
volatile 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;
 
        IENABLE;
 
        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)
        {
                TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit
                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;
        }
 
        if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)
        {
                TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit
                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;
        }
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
// 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_IPInputConnected =  GPIO_IPInputConnected_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_IPInputConnected =      GPIO_IPInputConnected_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
 
        VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2);
        VIC_ITCmd(TIM2_ITLine, ENABLE);
 
        TIM2->OC1R = 10;
        TIM2->OC2R = 20;
 
        // 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;
       
        TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer
        TIM_CounterCmd(TIM2, TIM_START); // start the timer
       
        UART1_PutString("ok");
}
 
void TIMER2_Deinit(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;   
 
        UART1_PutString("\r\n Timer2 deinit...");
 
        VIC_ITCmd(TIM2_ITLine, DISABLE);
        TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer
        TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer
        TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, DISABLE);  // disable interrupts for the OC 1 & 2
        TIM_DeInit(TIM2);
        SCU_APBPeriphClockConfig(__TIM23, DISABLE);
 
        // configure the servo pins as input
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_4;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;
    GPIO_InitStructure.GPIO_IPInputConnected =  GPIO_IPInputConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO6, &GPIO_InitStructure);
 
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_5;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_OpenCollector;
        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO6, &GPIO_InitStructure);
}
 

Rev 196	Rev 360
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	-
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	-
7	// + FOR NON COMMERCIAL USE ONLY	-
8	// + www.MikroKopter.com	5	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		7	// + Software Nutzungsbedingungen (english version: see below)
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
15	// + Verkauf von Luftbildaufnahmen, usw.	-
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
22	// + eindeutig als Ursprung verlinkt werden	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
25	// + Benutzung auf eigene Gefahr	22	// + des Mitverschuldens offen.
-		23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
-		24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
-		26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + mit unserer Zustimmung zulässig	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
-		30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	32	// + Software LICENSING TERMS
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
34	// + this list of conditions and the following disclaimer.	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
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
36	// + from this software without specific prior written permission.	37	// + The Software may only be used with the Licensor's products.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
38	// + for non-commercial use (directly or indirectly)	-
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + with our written permission	40	// + agreement shall be the property of the Licensor.
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + clearly linked as origin	-
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
44	//	-
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	43	// + The customer shall be responsible for taking reasonable precautions
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
55	// + POSSIBILITY OF SUCH DAMAGE.	53	// + #### END OF LICENSING TERMS ####
-		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include "91x_lib.h"	56	#include "91x_lib.h"
58	#include "timer2.h"	57	#include "timer2.h"
59	#include "uart1.h"	58	#include "uart1.h"
60	#include "spi_slave.h"	59	#include "spi_slave.h"
61	#include "config.h"	60	#include "config.h"
62		61
63	#define CR1_OLVL1_MASK 0x0100	62	#define CR1_OLVL1_MASK 0x0100
64	#define CR1_OLVL2_MASK 0x0200	63	#define CR1_OLVL2_MASK 0x0200
65		64
66	volatile ServoParams_t ServoParams;	65	volatile ServoParams_t ServoParams;
67		66
68	#define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC	67	#define TIM2_FREQ 625000 // 625kHz, the same clock like at the FC
69	// frame len 22.5 ms = 14063 * 1.6 us	68	// frame len 22.5 ms = 14063 * 1.6 us
70	// stop pulse: 0.3 ms = 188 * 1.6 us	69	// stop pulse: 0.3 ms = 188 * 1.6 us
71	// min servo pulse: 0.6 ms = 375 * 1.6 us	70	// min servo pulse: 0.6 ms = 375 * 1.6 us
72	// max servo pulse: 2.4 ms = 1500 * 1.6 us	71	// max servo pulse: 2.4 ms = 1500 * 1.6 us
73	// resolution: 1500 - 375 = 1125 steps	72	// resolution: 1500 - 375 = 1125 steps
74	#define PPM_STOPPULSE 188	73	#define PPM_STOPPULSE 188
75	//#define PPM_FRAMELEN 14063	74	//#define PPM_FRAMELEN 14063
76	#define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel	75	#define PPM_FRAMELEN (1757 * ServoParams.Refresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel
77	#define MINSERVOPULSE 375	76	#define MINSERVOPULSE 375
78	#define MAXSERVOPULSE 1500	77	#define MAXSERVOPULSE 1500
79	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)	78	#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE)
80		79
81	//----------------------------------------------------------------------------------------------------	80	//----------------------------------------------------------------------------------------------------
82	void TIM2_IRQHandler(void)	81	void TIM2_IRQHandler(void)
83	{	82	{
84	#define MULTIPLYER 4	83	#define MULTIPLYER 4
85	static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position	84	static s16 ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position
86	static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position	85	static s16 ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position
87		86
88	static u16 LowPulseTime1 = 14063;	87	static u16 LowPulseTime1 = 14063;
89	static u16 LowPulseTime2 = 14063;	88	static u16 LowPulseTime2 = 14063;
90		89
91	s16 ServoNickValue = 0;	90	s16 ServoNickValue = 0;
92	s16 ServoRollValue = 0;	91	s16 ServoRollValue = 0;
93		92
94	u16 pulselen;	93	u16 pulselen;
95		94
96	IENABLE;	95	IENABLE;
97		96
98	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)	97	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC1) == SET)
99	{	98	{
100	TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit	99	TIM_ClearFlag(TIM2, TIM_FLAG_OC1); // clear irq pending bit
101	if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse	100	if (TIM2->CR1 & CR1_OLVL1_MASK) // start of high pulse
102	{	101	{
103	pulselen = MINSERVOPULSE + SERVORANGE/2;	102	pulselen = MINSERVOPULSE + SERVORANGE/2;
104	ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset	103	ServoNickOffset = (ServoNickOffset * 3 + (s16)ServoParams.NickControl * MULTIPLYER) / 4; // lowpass offset
105	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)	104	ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765)
106	if(ServoParams.CompInvert & 0x01)	105	if(ServoParams.CompInvert & 0x01)
107	{ // inverting movement of servo FromFlightCtrl.AngleNick	106	{ // inverting movement of servo FromFlightCtrl.AngleNick
108	ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );	107	ServoNickValue += (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );
109	}	108	}
110	else	109	else
111	{ // non inverting movement of servo FromFlightCtrl.AngleNick	110	{ // non inverting movement of servo FromFlightCtrl.AngleNick
112	ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );	111	ServoNickValue -= (s16)( ( (s32)ServoParams.NickComp * MULTIPLYER * (FromFlightCtrl.AngleNick) ) / (256L) );
113	}	112	}
114	// limit servo value to its parameter range definition	113	// limit servo value to its parameter range definition
115	if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) )	114	if(ServoNickValue < ((s16)ServoParams.NickMin * MULTIPLYER) )
116	{	115	{
117	ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER;	116	ServoNickValue = (s16)ServoParams.NickMin * MULTIPLYER;
118	}	117	}
119	else	118	else
120	if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) )	119	if(ServoNickValue > ((s16)ServoParams.NickMax * MULTIPLYER) )
121	{	120	{
122	ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER;	121	ServoNickValue = (s16)ServoParams.NickMax * MULTIPLYER;
123	}	122	}
124		123
125	pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	124	pulselen += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
126	DebugOut.Analog[7] = ServoNickValue / MULTIPLYER;	125	DebugOut.Analog[7] = ServoNickValue / MULTIPLYER;
127	LowPulseTime1 = PPM_FRAMELEN - pulselen;	126	LowPulseTime1 = PPM_FRAMELEN - pulselen;
128	TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse	127	TIM2->CR1 &= ~CR1_OLVL1_MASK; // make next a low pulse
129	}	128	}
130	else // start of low pulse	129	else // start of low pulse
131	{	130	{
132	pulselen = LowPulseTime1;	131	pulselen = LowPulseTime1;
133	TIM2->CR1 \|= CR1_OLVL1_MASK; // make next a high pulse	132	TIM2->CR1 \|= CR1_OLVL1_MASK; // make next a high pulse
134	}	133	}
135	TIM2->OC1R += pulselen;	134	TIM2->OC1R += pulselen;
136	}	135	}
137		136
138	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)	137	if(TIM_GetFlagStatus(TIM2, TIM_FLAG_OC2) == SET)
139	{	138	{
140	TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit	139	TIM_ClearFlag(TIM2, TIM_FLAG_OC2); // clear irq pending bit
141	if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse	140	if (TIM2->CR1 & CR1_OLVL2_MASK) // was high pulse
142	{	141	{
143	pulselen = MINSERVOPULSE + SERVORANGE/2;	142	pulselen = MINSERVOPULSE + SERVORANGE/2;
144	ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset	143	ServoRollOffset = (ServoRollOffset * 3 + (s16)ServoParams.RollControl * MULTIPLYER) / 4; // lowpass offset
145	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)	144	ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765)
146	if(ServoParams.CompInvert & 0x02)	145	if(ServoParams.CompInvert & 0x02)
147	{ // inverting movement of servo FromFlightCtrl.AngleRoll	146	{ // inverting movement of servo FromFlightCtrl.AngleRoll
148	ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );	147	ServoRollValue += (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );
149	}	148	}
150	else	149	else
151	{ // non inverting movement of servo FromFlightCtrl.AngleRoll	150	{ // non inverting movement of servo FromFlightCtrl.AngleRoll
152	ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );	151	ServoRollValue -= (s16)( ( (s32)ServoParams.RollComp * MULTIPLYER * (FromFlightCtrl.AngleRoll) ) / (256L) );
153	}	152	}
154	// limit servo value to its parameter range definition	153	// limit servo value to its parameter range definition
155	if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) )	154	if(ServoRollValue < ((s16)ServoParams.RollMin * MULTIPLYER) )
156	{	155	{
157	ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER;	156	ServoRollValue = (s16)ServoParams.RollMin * MULTIPLYER;
158	}	157	}
159	else	158	else
160	if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) )	159	if(ServoRollValue > ((s16)ServoParams.RollMax * MULTIPLYER) )
161	{	160	{
162	ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER;	161	ServoRollValue = (s16)ServoParams.RollMax * MULTIPLYER;
163	}	162	}
164		163
165	pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position	164	pulselen += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position
166	DebugOut.Analog[8] = ServoRollValue / MULTIPLYER;	165	DebugOut.Analog[8] = ServoRollValue / MULTIPLYER;
167	LowPulseTime2 = PPM_FRAMELEN - pulselen;	166	LowPulseTime2 = PPM_FRAMELEN - pulselen;
168	TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse	167	TIM2->CR1 &= ~CR1_OLVL2_MASK; // make next a low pulse
169	}	168	}
170	else	169	else
171	{	170	{
172	pulselen = LowPulseTime2;	171	pulselen = LowPulseTime2;
173	TIM2->CR1 \|= CR1_OLVL2_MASK; // make next a high pulse	172	TIM2->CR1 \|= CR1_OLVL2_MASK; // make next a high pulse
174	}	173	}
175	TIM2->OC2R += pulselen;	174	TIM2->OC2R += pulselen;
176	}	175	}
177		176
178	IDISABLE;	177	IDISABLE;
179	}	178	}
180		179
181	//----------------------------------------------------------------------------------------------------	180	//----------------------------------------------------------------------------------------------------
182	// Servo Timer	181	// Servo Timer
183	//----------------------------------------------------------------------------------------------------	182	//----------------------------------------------------------------------------------------------------
184	void TIMER2_Init(void)	183	void TIMER2_Init(void)
185	{	184	{
186	GPIO_InitTypeDef GPIO_InitStructure;	185	GPIO_InitTypeDef GPIO_InitStructure;
187	TIM_InitTypeDef TIM_InitStructure;	186	TIM_InitTypeDef TIM_InitStructure;
188		187
189	UART1_PutString("\r\n Timer2 init...");	188	UART1_PutString("\r\n Timer2 init...");
190		189
191	SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock	190	SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock
192		191
193	// configure the servo pins	192	// configure the servo pins
194	GPIO_StructInit(&GPIO_InitStructure);	193	GPIO_StructInit(&GPIO_InitStructure);
195	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	194	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
196	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;	195	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
197	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;	196	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
198	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;	197	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
199	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1	198	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP1
200	GPIO_Init(GPIO6, &GPIO_InitStructure);	199	GPIO_Init(GPIO6, &GPIO_InitStructure);
201		200
202	GPIO_StructInit(&GPIO_InitStructure);	201	GPIO_StructInit(&GPIO_InitStructure);
203	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	202	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
204	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	203	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
205	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	204	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
206	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;	205	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
207	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2	206	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //TIM2_OCMP2
208	GPIO_Init(GPIO6, &GPIO_InitStructure);	207	GPIO_Init(GPIO6, &GPIO_InitStructure);
209		208
210	SCU_APBPeriphClockConfig(__TIM23, ENABLE);	209	SCU_APBPeriphClockConfig(__TIM23, ENABLE);
211		210
212	TIM_DeInit(TIM2);	211	TIM_DeInit(TIM2);
213	TIM_StructInit(&TIM_InitStructure);	212	TIM_StructInit(&TIM_InitStructure);
214	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
215	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
216	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
217	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
218	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
219	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
220	TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ;	219	TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ;
221		220
222	TIM_Init(TIM2, &TIM_InitStructure);	221	TIM_Init(TIM2, &TIM_InitStructure);
223		222
224	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
225		224
226	VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2);	225	VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2);
227	VIC_ITCmd(TIM2_ITLine, ENABLE);	226	VIC_ITCmd(TIM2_ITLine, ENABLE);
228		227
229	TIM2->OC1R = 10;	228	TIM2->OC1R = 10;
230	TIM2->OC2R = 20;	229	TIM2->OC2R = 20;
231		230
232	// set servo params to defaults	231	// set servo params to defaults
233	ServoParams.Refresh = 5;	232	ServoParams.Refresh = 5;
234	ServoParams.CompInvert = 0;	233	ServoParams.CompInvert = 0;
235	ServoParams.NickControl = 127;	234	ServoParams.NickControl = 127;
236	ServoParams.NickComp = 40;	235	ServoParams.NickComp = 40;
237	ServoParams.NickMin = 50;	236	ServoParams.NickMin = 50;
238	ServoParams.NickMax = 205;	237	ServoParams.NickMax = 205;
239	ServoParams.RollControl = 127;	238	ServoParams.RollControl = 127;
240	ServoParams.RollComp = 40;	239	ServoParams.RollComp = 40;
241	ServoParams.RollMin = 50;	240	ServoParams.RollMin = 50;
242	ServoParams.RollMax = 205;	241	ServoParams.RollMax = 205;
243		242
244	TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer	243	TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer
245	TIM_CounterCmd(TIM2, TIM_START); // start the timer	244	TIM_CounterCmd(TIM2, TIM_START); // start the timer
246		245
247	UART1_PutString("ok");	246	UART1_PutString("ok");
248	}	247	}
249		248
250	void TIMER2_Deinit(void)	249	void TIMER2_Deinit(void)
251	{	250	{
252	GPIO_InitTypeDef GPIO_InitStructure;	251	GPIO_InitTypeDef GPIO_InitStructure;
253		252
254	UART1_PutString("\r\n Timer2 deinit...");	253	UART1_PutString("\r\n Timer2 deinit...");
255		254
256	VIC_ITCmd(TIM2_ITLine, DISABLE);	255	VIC_ITCmd(TIM2_ITLine, DISABLE);
257	TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer	256	TIM_CounterCmd(TIM2, TIM_STOP); // stop the timer
258	TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer	257	TIM_CounterCmd(TIM2, TIM_CLEAR); // stop the timer
259	TIM_ITConfig(TIM2, TIM_IT_OC1\|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2	258	TIM_ITConfig(TIM2, TIM_IT_OC1\|TIM_IT_OC2, DISABLE); // disable interrupts for the OC 1 & 2
260	TIM_DeInit(TIM2);	259	TIM_DeInit(TIM2);
261	SCU_APBPeriphClockConfig(__TIM23, DISABLE);	260	SCU_APBPeriphClockConfig(__TIM23, DISABLE);
262		261
263	// configure the servo pins as input	262	// configure the servo pins as input
264	GPIO_StructInit(&GPIO_InitStructure);	263	GPIO_StructInit(&GPIO_InitStructure);
265	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	264	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
266	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;	265	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
267	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	266	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
268	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;	267	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;
269	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	268	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
270	GPIO_Init(GPIO6, &GPIO_InitStructure);	269	GPIO_Init(GPIO6, &GPIO_InitStructure);
271		270
272	GPIO_StructInit(&GPIO_InitStructure);	271	GPIO_StructInit(&GPIO_InitStructure);
273	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	272	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
274	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	273	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
275	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	274	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
276	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;	275	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;
277	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	276	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
278	GPIO_Init(GPIO6, &GPIO_InitStructure);	277	GPIO_Init(GPIO6, &GPIO_InitStructure);
279	}	278	}
280		279

Subversion Repositories NaviCtrl

(root)/tags/V2.12a/timer2.c @ 920 - Rev 196 → 360