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Rev 141 | Rev 143 | ||
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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; |
|
- | 239 | ServoParams.RollComp = 40; |
|
- | 240 | ServoParams.RollMin = 50; |
|
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); |