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Code Issues Releases Activity

Added pios_servo. Straight from ST examples.

Browse Source 
Updated printf-stdarg to use debug port.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@53 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2009-12-03 21:30:53 +00:00 committed by gussy
parent 7a39f5f55c
commit e174898bf2
9 changed files with 219 additions and 5 deletions
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1
flight/Makefile
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@ -93,6 +93,7 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_adc.c
SRC += $(PIOSSTM32F10X)/pios_servo.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_settings.c

7
flight/PiOS/Common/pios_settings.c
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@ -44,8 +44,10 @@ SettingsTypeDef Settings;
/* String Reading: ini_gets("Section", "Key", "DefaultValue", StrBuffer, sizearray(StrBuffer), IniFile); */
void LoadSettings(void)
{
/* Unused yet, until we load strings
char StrBuffer[100];
long Result;
*/
/* Section: GPS */
Settings.GPS.Baudrate = (uint32_t) ini_getl("GPS", "Baudrate", GPS_BAUDRATE, SETTINGS_FILE);
@ -56,6 +58,11 @@ void LoadSettings(void)
/* Section: Auxillary_USART */
Settings.AuxUSART.Enabled = (bool) ini_getl("Auxillary_USART", "Enabled", AUXUART_ENABLED, SETTINGS_FILE);
Settings.AuxUSART.Baudrate = (uint32_t) ini_getl("Auxillary_USART", "Baudrate", AUXUART_BAUDRATE, SETTINGS_FILE);
/* Section: Servos */
Settings.Servos.PositionMin = (uint16_t) ini_getl("Servos", "PositionMin", SERVOS_POSITION_MIN, SETTINGS_FILE);
Settings.Servos.PositionMin = (uint16_t) ini_getl("Servos", "PositionMin", SERVOS_POSITION_MIN, SETTINGS_FILE);
Settings.Servos.PositionMax = (uint16_t) ini_getl("Servos", "PositionMax", SERVOS_POSITION_MAX, SETTINGS_FILE);
}
/**

2
flight/PiOS/Common/printf-stdarg.c
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@ -45,7 +45,7 @@ static void printchar(char **str, int c)
++(*str);
}
else COMSendChar(1, c); // (void)putchar(c);
else COMSendChar(COM_DEBUG_UART, c); // (void)putchar(c);
}

157
flight/PiOS/STM32F10x/pios_servo.c Normal file
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@ -0,0 +1,157 @@
/**
******************************************************************************
*
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief RC Servo routines
* @see The GNU Public License (GPL) Version 3
* @defgroup PIOS_SERVO RC Servo Functions
* @{
*
*****************************************************************************/
/*
* 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
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
/* Private Function Prototypes */
/* Local Variables */
static volatile uint16_t ServoPosition[SERVO_NUM_TIMER_SLOTS];
/**
* Initialise Servos
*/
void PIOS_Servo_Init(void)
{
/* Initialise GPIOs as alternate function push/pull */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = SERVO1_PIN | SERVO2_PIN | SERVO3_PIN | SERVO4_PIN;
GPIO_Init(SERVO1TO4_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = SERVO5_PIN | SERVO6_PIN | SERVO7_PIN | SERVO8_PIN;
GPIO_Init(SERVO5TO8_PORT, &GPIO_InitStructure);
/* Initialise RCC Clocks (TIM4 and TIM8) */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
/* Initialise Timers TIM4 and TIM8 */
/* With a resolution of 1uS, period of 20mS (50Hz) */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (PERIPHERAL_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Period = (20000 - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
/* Setup each timer seperatly */
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM4 */
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = SERVOS_POSITION_INITIAL;
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
/* TIM8 */
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = SERVOS_POSITION_INITIAL;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM8, ENABLE);
TIM_Cmd(TIM8, ENABLE);
}
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in milliseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
{
/* Make sure servo exists */
if (Servo < NUM_SERVO_OUTPUTS && Servo >= 0)
{
/* Clip servo position */
if(Position < Settings.Servos.PositionMin) {
Position = Settings.Servos.PositionMin;
}
if(Position > Settings.Servos.PositionMax) {
Position = Settings.Servos.PositionMax;
}
/* Update the position */
ServoPosition[Servo] = Position;
switch(Servo)
{
case 0:
TIM_SetCompare1(TIM4, Position);
break;
case 1:
TIM_SetCompare2(TIM4, Position);
break;
case 2:
TIM_SetCompare3(TIM4, Position);
break;
case 3:
TIM_SetCompare4(TIM4, Position);
break;
case 4:
TIM_SetCompare1(TIM8, Position);
break;
case 5:
TIM_SetCompare2(TIM8, Position);
break;
case 6:
TIM_SetCompare3(TIM8, Position);
break;
case 7:
TIM_SetCompare4(TIM8, Position);
break;
}
}
}

5
flight/PiOS/inc/pios_board.h
View File

@ -169,17 +169,16 @@
//-------------------------
// Servo outputs
//-------------------------
#define SERVO1_4_PORT GPIOB
#define SERVO1TO4_PORT GPIOB
#define SERVO1_PIN GPIO_Pin_6
#define SERVO2_PIN GPIO_Pin_7
#define SERVO3_PIN GPIO_Pin_8
#define SERVO4_PIN GPIO_Pin_9
#define SERVO5_8_PORT GPIOC
#define SERVO5TO8_PORT GPIOC
#define SERVO5_PIN GPIO_Pin_6
#define SERVO6_PIN GPIO_Pin_7
#define SERVO7_PIN GPIO_Pin_8
#define SERVO8_PIN GPIO_Pin_9
#define NUM_SERVO_OUTPUTS 8
//-------------------------

37
flight/PiOS/inc/pios_servo.h Normal file
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@ -0,0 +1,37 @@
/**
******************************************************************************
*
* @file pios_servo.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief RC Servo functions header.
* @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
* (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
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SERVO_H
#define PIOS_SERVO_H
/* Local Defines */
#define SERVO_NUM_TIMER_SLOTS 8
#define SERVOS_POSITION_INITIAL 1500
/* Public Functions */
extern void PIOS_Servo_Init(void);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
#endif /* PIOS_SERVO_H */

10
flight/PiOS/inc/pios_settings.h
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@ -27,7 +27,6 @@
#define PIOS_SETTINGS_H
/* Default Values */
/* GPSUART Default Values */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
@ -35,6 +34,9 @@
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#define SERVOS_POSITION_MIN 800
#define SERVOS_POSITION_MAX 2200
/* Global types */
typedef struct {
uint32_t Baudrate;
@ -49,10 +51,16 @@ typedef struct {
uint32_t Baudrate;
} USARTSettingsTypeDef;
typedef struct {
uint16_t PositionMax;
uint16_t PositionMin;
} ServosSettingsTypeDef;
typedef struct {
GPSSettingsTypeDef GPS;
TelemSettingsTypeDef Telem;
USARTSettingsTypeDef AuxUSART;
ServosSettingsTypeDef Servos;
} SettingsTypeDef;
/*Global Variables */

1
flight/PiOS/pios.h
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@ -56,6 +56,7 @@
#include "pios_usart.h"
#include "pios_irq.h"
#include "pios_adc.h"
#include "pios_servo.h"
/* PIOS Hardware Includes (Common) */
#include "pios_settings.h"

4
flight/doc/SDCard Files/Settings.ini
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@ -13,3 +13,7 @@ Baudrate = 19200
# !!WARNING!! Enabling this will DISABLE RC input 5 and 6
Enabled = 0
Baudrate = 19200
[Servos]
PositionMin = 800
PositionMax = 2200