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https://bitbucket.org/librepilot/librepilot.git
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86 lines
2.3 KiB
C
86 lines
2.3 KiB
C
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/**
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******************************************************************************
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*
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* @file pios_debug.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief RC Servo routines
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_SERVO RC Servo Functions
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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/* Private Function Prototypes */
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/**
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* Initialise Debug-features
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*/
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void PIOS_DEBUG_Init(void)
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{
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// Initialise Servo pins as standard output pins
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Pin = SERVO1_PIN | SERVO2_PIN | SERVO3_PIN | SERVO4_PIN;
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GPIO_Init(SERVO1TO4_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = SERVO5_PIN | SERVO6_PIN | SERVO7_PIN | SERVO8_PIN;
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GPIO_Init(SERVO5TO8_PORT, &GPIO_InitStructure);
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}
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/**
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* Set debug-pin high
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* \param pin 0 for S1 output
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*/
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void PIOS_DEBUG_PinHigh(uint8_t pin)
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{
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if (pin < 4)
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{
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SERVO1TO4_PORT->BSRR = (SERVO1_PIN<<pin);
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}
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else if (pin <= 7)
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{
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SERVO5TO8_PORT->BSRR = (SERVO5_PIN<<(pin-4));
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}
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}
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/**
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* Set debug-pin low
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* \param pin 0 for S1 output
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*/
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void PIOS_DEBUG_PinLow(uint8_t pin)
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{
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if (pin < 4)
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{
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SERVO1TO4_PORT->BRR = (SERVO1_PIN<<pin);
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}
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else if (pin <= 7)
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{
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SERVO5TO8_PORT->BRR = (SERVO5_PIN<<(pin-4));
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}
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}
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