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PIOS_PWM example code measures servo signal pulse width in microseconds (uS).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@263 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
c409a62978
commit
075dcf5aee
@ -93,7 +93,7 @@ int main()
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/* Analog to digital converter initialise */
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//PIOS_ADC_Init();
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//PIOS_PWM_Init();
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PIOS_PWM_Init();
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PIOS_USB_Init(0);
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@ -148,6 +148,7 @@ static void TaskTesting(void *pvParameters)
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for(;;)
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{
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/* This blocks the task until the BMP085 EOC */
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/*
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PIOS_BMP085_StartADC(TemperatureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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@ -157,8 +158,9 @@ static void TaskTesting(void *pvParameters)
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
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*/
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vTaskDelay(xDelay);
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u uS\r", PIOS_PWM_Get());
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/* This blocks the task until there is something on the buffer */
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/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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@ -200,7 +202,7 @@ static void TaskTesting(void *pvParameters)
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1?: %d, AUX2?: %d, AUX3?: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
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//vTaskDelay(xDelay);
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vTaskDelay(xDelay);
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}
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}
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@ -32,16 +32,16 @@
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#if !defined(PIOS_DONT_USE_PWM)
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/* Local Variables */
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volatile uint16_t IC3Value = 0;
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volatile uint16_t DutyCycle = 0;
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volatile uint32_t Frequency = 0;
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static volatile uint16_t ic3_readvalue1 = 0, ic3_readvalue2 = 0;
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static volatile uint16_t capture_number = 0;
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static volatile uint32_t CAPTURE = 0;
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static volatile uint32_t TIM3_FREQ = 0;
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/**
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* Initialises all the LED's
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*/
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void PIOS_PWM_Init(void)
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{
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/* Setup RCC */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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@ -53,43 +53,39 @@ void PIOS_PWM_Init(void)
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
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/* TIM3 channel 2 pin (PA.01) configuration */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//GPIO_Mode_AF_OD
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Pin = RECEIVER1_PIN;
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GPIO_Init(RECEIVER1_GPIO_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = RECEIVER8_PIN;
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GPIO_Init(RECEIVER8_GPIO_PORT, &GPIO_InitStructure);
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/* TIM3 configuration: PWM Input mode ------------------------
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The Rising edge is used as active edge,
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The TIM3 CCR2 is used to compute the frequency value
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The TIM3 CCR1 is used to compute the duty cycle value
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------------------------------------------------------------ */
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInitStructure.TIM_Channel = RECEIVER1_CH;
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TIM_PWMIConfig(TIM3, &TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInit(RECEIVER8_TIM_PORT, &TIM_ICInitStructure);
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/* Select the TIM3 Input Trigger: TI2FP2 */
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TIM_SelectInputTrigger(TIM3, TIM_TS_TI2FP2);
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/* Select the slave Mode: Reset Mode */
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TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);
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/* Enable the Master/Slave Mode */
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TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);
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TIM_InternalClockConfig(RECEIVER8_TIM_PORT);
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;//17; // fCK_PSC / (17 + 1) 1ms = 4000
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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_TimeBaseInit(RECEIVER8_TIM_PORT, &TIM_TimeBaseStructure);
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/* TIM enable counter */
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TIM_Cmd(TIM3, ENABLE);
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TIM_Cmd(RECEIVER8_TIM_PORT, ENABLE);
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/* Enable the CC3 Interrupt Request */
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TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
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/* Enable the CC2 Interrupt Request */
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TIM_ITConfig(RECEIVER8_TIM_PORT, TIM_IT_CC2, ENABLE);
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}
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/**
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@ -97,25 +93,53 @@ void PIOS_PWM_Init(void)
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*/
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void TIM3_IRQHandler(void)
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{
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/* Clear TIM3 Capture compare interrupt pending bit */
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TIM_ClearITPendingBit(TIM3, TIM_IT_CC3);
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if(TIM_GetITStatus(RECEIVER8_TIM_PORT, TIM_IT_CC2) == SET) {
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/* Clear TIM3 Capture compare interrupt pending bit */
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TIM_ClearITPendingBit(RECEIVER8_TIM_PORT, TIM_IT_CC2);
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/* Get the Input Capture value */
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IC3Value = TIM_GetCapture3(TIM3);
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if(capture_number == 0) {
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/* Get the Input Capture value */
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ic3_readvalue1 = TIM_GetCapture2(RECEIVER8_TIM_PORT);
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capture_number = 1;
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#if 0
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if (IC3Value != 0)
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{
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/* Duty cycle computation */
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DutyCycle = (TIM_GetCapture1(TIM3) * 100) / IC3Value;
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInit(RECEIVER8_TIM_PORT, &TIM_ICInitStructure);
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/* Frequency computation */
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Frequency = 72000000 / IC3Value;
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} else {
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DutyCycle = 0;
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Frequency = 0;
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} else if(capture_number == 1) {
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/* Get the Input Capture value */
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ic3_readvalue2 = TIM_GetCapture2(RECEIVER8_TIM_PORT);
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInitStructure.TIM_Channel = RECEIVER8_CH;
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TIM_ICInit(RECEIVER8_TIM_PORT, &TIM_ICInitStructure);
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/* Capture computation */
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if (ic3_readvalue2 > ic3_readvalue1) {
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CAPTURE = (ic3_readvalue2 - ic3_readvalue1);
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} else {
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CAPTURE = ((0xFFFF - ic3_readvalue1) + ic3_readvalue2);
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}
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capture_number = 0;
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}
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}
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#endif
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}
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uint32_t PIOS_PWM_Get(void)
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{
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return CAPTURE;
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}
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#endif
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@ -26,12 +26,8 @@
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#ifndef PIOS_PWM_H
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#define PIOS_PWM_H
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/* Global variables */
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extern volatile uint16_t IC3Value;
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extern volatile uint16_t DutyCycle;
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extern volatile uint32_t Frequency;
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/* Public Functions */
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extern void PIOS_PWM_Init(void);
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extern uint32_t PIOS_PWM_Get(void);
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#endif /* PIOS_PWM_H */
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