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LibrePilot/flight/PiOS/STM32F10x/pios_servo.c

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/**
******************************************************************************
*
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo routines
* @see The GNU Public License (GPL) Version 3
* @defgroup PIOS_SERVO RC Servo Functions
* @{
*
*****************************************************************************/
/*
* 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.
*
* 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.
*
* 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"
/* Private Function Prototypes */
/* Local Variables */
static volatile uint16_t ServoPosition[SERVO_NUM_TIMER_SLOTS];
/**
* Initialise Servos
*/
void PIOS_Servo_Init(void)
{
/* Initialise GPIOs as alternate function push/pull */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = SERVO1_PIN | SERVO2_PIN | SERVO3_PIN | SERVO4_PIN;
GPIO_Init(SERVO1TO4_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = SERVO5_PIN | SERVO6_PIN | SERVO7_PIN | SERVO8_PIN;
GPIO_Init(SERVO5TO8_PORT, &GPIO_InitStructure);
/* Initialise RCC Clocks (TIM4 and TIM8) */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
/* Initialise Timers TIM4 and TIM8 */
/* With a resolution of 1uS, period of 20mS (50Hz) */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (MASTER_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Period = (20000 - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
/* Setup each timer separately */
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM4 */
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = SERVOS_POSITION_INITIAL;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
/* TIM8 */
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = SERVOS_POSITION_INITIAL;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM8, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
TIM_Cmd(TIM8, ENABLE);
}
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in milliseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
{
/* Make sure servo exists */
if (Servo < NUM_SERVO_OUTPUTS && Servo >= 0)
{
/* Clip servo position */
if(Position < Settings.Servos.PositionMin) {
Position = Settings.Servos.PositionMin;
}
if(Position > Settings.Servos.PositionMax) {
Position = Settings.Servos.PositionMax;
}
/* Update the position */
ServoPosition[Servo] = Position;
switch(Servo)
{
case 0:
TIM_SetCompare1(TIM4, Position);
break;
case 1:
TIM_SetCompare2(TIM4, Position);
break;
case 2:
TIM_SetCompare3(TIM4, Position);
break;
case 3:
TIM_SetCompare4(TIM4, Position);
break;
case 4:
TIM_SetCompare1(TIM8, Position);
break;
case 5:
TIM_SetCompare2(TIM8, Position);
break;
case 6:
TIM_SetCompare3(TIM8, Position);
break;
case 7:
TIM_SetCompare4(TIM8, Position);
break;
}
}
}