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Code Issues Releases Activity

Small re-factorings.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@230 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-03-03 10:55:49 +00:00 committed by gussy
parent 0500fe88c9
commit a5d56cd537
2 changed files with 132 additions and 130 deletions
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2
flight/OpenPilot/System/inc/pios_board.h
View File

@ -230,7 +230,7 @@
#define RECEIVER8_PIN GPIO_Pin_5 // PB5
#define RECEIVER8_TIM_PORT TIM3
#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
#define NUM_RECEIVER_INPUTS 6
#define NUM_RECEIVER_INPUTS 8
//-------------------------
// Servo outputs

20
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -122,6 +122,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
#if 0
/* Clipping */
if(onetofour > 500) {
onetofour = 500;
@ -129,6 +130,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
if(fivetoeight > 500) {
fivetoeight = 500;
}
#endif
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
@ -141,7 +143,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Servo Servo number (1-8)
* \param[in] Position Servo position in milliseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
@ -162,28 +164,28 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
switch(Servo)
{
case 0:
case 1:
TIM_SetCompare1(TIM4, Position);
break;
case 1:
case 2:
TIM_SetCompare2(TIM4, Position);
break;
case 2:
case 3:
TIM_SetCompare3(TIM4, Position);
break;
case 3:
case 4:
TIM_SetCompare4(TIM4, Position);
break;
case 4:
case 5:
TIM_SetCompare1(TIM8, Position);
break;
case 5:
case 6:
TIM_SetCompare2(TIM8, Position);
break;
case 6:
case 7:
TIM_SetCompare3(TIM8, Position);
break;
case 7:
case 8:
TIM_SetCompare4(TIM8, Position);
break;
}