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LibrePilot/flight/PiOS/STM32F10x/pios_servo.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SERVO RC Servo Functions
* @brief Code to do set RC servo output
* @{
*
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* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo routines (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
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*
*****************************************************************************/
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/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
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*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
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*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#include "pios_servo_priv.h"
#include "pios_tim_priv.h"
/* Private Function Prototypes */
static const struct pios_servo_cfg * servo_cfg;
/**
* Initialise Servos
*/
int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
{
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) {
return -1;
}
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/* Store away the requested configuration */
servo_cfg = cfg;
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/* Configure the channels to be in output compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
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/* Set up for output compare function */
switch(chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
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TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
}
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return 0;
}
/**
* Set the servo update rate (Max 500Hz)
* \param[in] array of rates in Hz
* \param[in] maximum number of banks
*/
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
{
if (!servo_cfg) {
return;
}
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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uint8_t set = 0;
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for(uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
bool new = true;
const struct pios_tim_channel * chan = &servo_cfg->channels[i];
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/* See if any previous channels use that same timer */
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for(uint8_t j = 0; (j < i) && new; j++)
new &= chan->timer != servo_cfg->channels[j].timer;
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if(new) {
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
set++;
}
}
}
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
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* \param[in] Position Servo position in microseconds
*/
void PIOS_Servo_Set(uint8_t servo, uint16_t position)
{
/* Make sure servo exists */
if (!servo_cfg || servo >= servo_cfg->num_channels) {
return;
}
/* Update the position */
const struct pios_tim_channel * chan = &servo_cfg->channels[servo];
switch(chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, position);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, position);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, position);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, position);
break;
}
}