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| Rev 141 | Rev 143 | ||
|---|---|---|---|
| Line 219... | Line 219... | ||
| 219 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
219 | TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM2_FREQ; |
| Line 220... | Line 220... | ||
| 220 | 220 | ||
| Line 221... | Line 221... | ||
| 221 | TIM_Init(TIM2, &TIM_InitStructure); |
221 | TIM_Init(TIM2, &TIM_InitStructure); |
| 222 | - | ||
| Line 223... | Line 222... | ||
| 223 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
222 | |
| 224 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
223 | TIM_ITConfig(TIM2, TIM_IT_OC1|TIM_IT_OC2, ENABLE); // enable interrupts for the OC 1 & 2 |
| Line -... | Line 224... | ||
| - | 224 | ||
| - | 225 | VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
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| - | 226 | VIC_ITCmd(TIM2_ITLine, ENABLE); |
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| 225 | 227 | ||
| 226 | VIC_Config(TIM2_ITLine, VIC_IRQ, PRIORITY_TIMER2); |
228 | TIM2->OC1R = 10; |
| 227 | VIC_ITCmd(TIM2_ITLine, ENABLE); |
229 | TIM2->OC2R = 20; |
| 228 | 230 | ||
| 229 | // set servo params to defaults |
231 | // set servo params to defaults |
| 230 | ServoParams.Refresh = 5; |
232 | ServoParams.Refresh = 5; |
| 231 | ServoParams.CompInvert = 0; |
233 | ServoParams.CompInvert = 0; |
| 232 | ServoParams.NickControl = 127; |
234 | ServoParams.NickControl = 127; |
| 233 | ServoParams.NickComp = 40; |
235 | ServoParams.NickComp = 40; |
| 234 | ServoParams.NickMin = 50; |
236 | ServoParams.NickMin = 50; |
| 235 | ServoParams.NickMax = 205; |
237 | ServoParams.NickMax = 205; |
| - | 238 | ServoParams.RollControl = 127; |
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| - | 239 | ServoParams.RollComp = 40; |
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| - | 240 | ServoParams.RollMin = 50; |
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| 236 | ServoParams.RollControl = 127; |
241 | ServoParams.RollMax = 205; |
| 237 | ServoParams.RollComp = 40; |
242 | |
| 238 | ServoParams.RollMin = 50; |
243 | TIM_CounterCmd(TIM2, TIM_CLEAR); // reset timer |
| Line 239... | Line 244... | ||
| 239 | ServoParams.RollMax = 205; |
244 | TIM_CounterCmd(TIM2, TIM_START); // start the timer |
| 240 | 245 | ||
| 241 | UART1_PutString("ok"); |
246 | UART1_PutString("ok"); |
| Line 242... | Line 247... | ||
| 242 | } |
247 | } |
| 243 | 248 | ||
| - | 249 | void TIMER2_Deinit(void) |
|
| 244 | void TIMER2_Deinit(void) |
250 | { |
| 245 | { |
251 | GPIO_InitTypeDef GPIO_InitStructure; |
| 246 | GPIO_InitTypeDef GPIO_InitStructure; |
252 | |
| Line 247... | Line 253... | ||
| 247 | 253 | VIC_ITCmd(TIM2_ITLine, DISABLE); |
|