2010-09-27 09:28:45 +02:00
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_SERVO RC Servo Functions
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* @brief Code to do set RC servo output
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* @{
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*
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* @file pios_servo.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief RC Servo routines (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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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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#if defined(PIOS_INCLUDE_SERVO)
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/* Private Function Prototypes */
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/* Local Variables */
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static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS];
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/**
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* Initialise Servos
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*/
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void PIOS_Servo_Init(void)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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/* Initialise GPIOs as alternate function push/pull */
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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_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
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#ifndef PIOS_COM_AUX
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GPIO_InitStructure.GPIO_Pin |= PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2;
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#endif
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GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
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GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &GPIO_InitStructure);
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/* Initialise RCC Clocks (TIM4 and TIM8) */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
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/* Initialise Timers TIM4 and TIM8 */
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/* With a resolution of 1uS, period of 20mS (50Hz) */
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1);
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TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
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TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
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/* Setup each timer separately */
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TIM_OCInitTypeDef TIM_OCInitStructure;
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/* TIM4 */
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OCInitStructure.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION;
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TIM_OC1Init(TIM4, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
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TIM_OC2Init(TIM4, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
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TIM_OC3Init(TIM4, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
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TIM_OC4Init(TIM4, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
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TIM_ARRPreloadConfig(TIM4, ENABLE);
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TIM_CtrlPWMOutputs(TIM4, ENABLE);
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TIM_Cmd(TIM4, ENABLE);
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/* TIM8 */
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OCInitStructure.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION;
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TIM_OC1Init(TIM8, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
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TIM_OC2Init(TIM8, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
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TIM_OC3Init(TIM8, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
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TIM_OC4Init(TIM8, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
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TIM_ARRPreloadConfig(TIM8, ENABLE);
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TIM_CtrlPWMOutputs(TIM8, ENABLE);
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TIM_Cmd(TIM8, ENABLE);
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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/**
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* Set the servo update rate (Max 500Hz)
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* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
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* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
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*/
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void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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/* (Re)-Initialise Timers TIM4 and TIM8 */
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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#if 0
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/* Clipping */
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if (onetofour > 500) {
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onetofour = 500;
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}
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if (fivetoeight > 500) {
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fivetoeight = 500;
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}
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#endif
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
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TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / fivetoeight) - 1);
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TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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/**
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* Set servo position
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* \param[in] Servo Servo number (0-7)
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* \param[in] Position Servo position in milliseconds
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*/
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void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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/* Make sure servo exists */
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if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0) {
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/* Update the position */
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ServoPosition[Servo] = Position;
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switch (Servo) {
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case 0:
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TIM_SetCompare1(TIM4, Position);
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break;
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case 1:
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TIM_SetCompare2(TIM4, Position);
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break;
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case 2:
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TIM_SetCompare3(TIM4, Position);
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break;
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case 3:
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TIM_SetCompare4(TIM4, Position);
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break;
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case 4:
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TIM_SetCompare1(TIM8, Position);
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break;
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case 5:
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TIM_SetCompare2(TIM8, Position);
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break;
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case 6:
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TIM_SetCompare3(TIM8, Position);
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break;
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case 7:
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TIM_SetCompare4(TIM8, Position);
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break;
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}
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}
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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#endif
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