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OP-291 PIOS/Servo: Refer to channels by TIM_Channel_x to be consistent with PWM
system git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2571 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -485,37 +485,37 @@ const struct pios_servo_channel pios_servo_channels[] = {
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 4,
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.channel = TIM_Channel_4,
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.pin = GPIO_Pin_9,
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},
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 3,
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.channel = TIM_Channel_3,
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.pin = GPIO_Pin_8,
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},
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{
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.timer = TIM4,
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.port = GPIOB,
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.channel = 2,
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.channel = TIM_Channel_2,
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.pin = GPIO_Pin_7,
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},
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{
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.timer = TIM1,
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.port = GPIOA,
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.channel = 1,
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.channel = TIM_Channel_1,
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.pin = GPIO_Pin_8,
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},
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{ /* needs to remap to alternative function */
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.timer = TIM3,
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.port = GPIOB,
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.channel = 1,
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.channel = TIM_Channel_1,
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.pin = GPIO_Pin_4,
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},
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{
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.timer = TIM2,
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.port = GPIOA,
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.channel = 3,
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.channel = TIM_Channel_3,
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.pin = GPIO_Pin_2,
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},
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};
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@ -34,6 +34,7 @@
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/* Private Function Prototypes */
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uint16_t servo_positions[8];
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/**
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* Initialise Servos
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*/
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@ -176,16 +177,20 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
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/* Update the position */
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switch(pios_servo_cfg.channels[Servo].channel) {
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case 1:
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case TIM_Channel_1:
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servo_positions[Servo] = Position;
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TIM_SetCompare1(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case 2:
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case TIM_Channel_2:
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servo_positions[Servo] = Position;
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TIM_SetCompare2(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case 3:
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case TIM_Channel_3:
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servo_positions[Servo] = Position;
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TIM_SetCompare3(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case 4:
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case TIM_Channel_4:
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servo_positions[Servo] = Position;
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TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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}
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