From 2da65014c7206bfe10c968bdf28096847b4acc62 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 16 Jul 2011 03:25:33 -0500 Subject: [PATCH] Fix typo in servo doxygen header --- flight/PiOS/STM32F10x/pios_servo.c | 68 +++++++++++++++--------------- 1 file changed, 34 insertions(+), 34 deletions(-) diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c index 28aa6dc13..229f371ce 100644 --- a/flight/PiOS/STM32F10x/pios_servo.c +++ b/flight/PiOS/STM32F10x/pios_servo.c @@ -6,25 +6,25 @@ * @brief Code to do set RC servo output * @{ * - * @file pios_servo.c + * @file pios_servo.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief RC Servo routines (STM32 dependent) * @see The GNU Public License (GPL) Version 3 - * + * *****************************************************************************/ -/* - * 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 +/* + * 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 + * + * 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., + * + * 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 */ @@ -41,15 +41,15 @@ void PIOS_Servo_Init(void) { #ifndef PIOS_ENABLE_DEBUG_PINS #if defined(PIOS_INCLUDE_SERVO) - - + + for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) { GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init; TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init; struct pios_servo_channel channel = pios_servo_cfg.channels[i]; - + /* Enable appropriate clock to timer module */ switch((int32_t) channel.timer) { case (int32_t)TIM1: @@ -81,12 +81,12 @@ void PIOS_Servo_Init(void) /* Enable GPIO */ GPIO_InitStructure.GPIO_Pin = channel.pin; GPIO_Init(channel.port, &GPIO_InitStructure); - + /* Enable time base */ TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); - + channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1; - + /* Set up for output compare function */ switch(channel.channel) { case TIM_Channel_1: @@ -106,19 +106,19 @@ void PIOS_Servo_Init(void) TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable); break; } - + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); TIM_ARRPreloadConfig(channel.timer, ENABLE); TIM_CtrlPWMOutputs(channel.timer, ENABLE); - TIM_Cmd(channel.timer, ENABLE); - - } - + TIM_Cmd(channel.timer, ENABLE); + + } + if(pios_servo_cfg.remap) { /* Warning, I don't think this will work for multiple remaps at once */ GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE); } - + #endif // PIOS_INCLUDE_SERVO #endif // PIOS_ENABLE_DEBUG_PINS @@ -137,19 +137,19 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; - + uint8_t set = 0; - - for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) { + + for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) { bool new = true; struct pios_servo_channel channel = pios_servo_cfg.channels[i]; - + /* See if any previous channels use that same timer */ - for(uint8_t j = 0; (j < i) && new; j++) + for(uint8_t j = 0; (j < i) && new; j++) new &= channel.timer != pios_servo_cfg.channels[j].timer; - + if(new) { - TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1); + TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1); TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); set++; } @@ -161,7 +161,7 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) /** * Set servo position * \param[in] Servo Servo number (0-7) -* \param[in] Position Servo position in milliseconds +* \param[in] Position Servo position in microseconds */ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) { @@ -184,7 +184,7 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) case TIM_Channel_4: TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position); break; - } + } } #endif // PIOS_INCLUDE_SERVO #endif // PIOS_ENABLE_DEBUG_PINS