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https://bitbucket.org/librepilot/librepilot.git
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160 lines
4.6 KiB
C
160 lines
4.6 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_SERVO RC Servo Functions
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* @brief Code to do set RC servo output
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* @{
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*
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* @file pios_servo.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief RC Servo routines (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_SERVO
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#include "pios_servo_priv.h"
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#include "pios_tim_priv.h"
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/* Private Function Prototypes */
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static const struct pios_servo_cfg * servo_cfg;
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/**
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* Initialise Servos
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*/
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int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
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{
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uint32_t tim_id;
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if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) {
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return -1;
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}
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/* Store away the requested configuration */
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servo_cfg = cfg;
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/* Configure the channels to be in output compare mode */
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for (uint8_t i = 0; i < cfg->num_channels; i++) {
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const struct pios_tim_channel * chan = &cfg->channels[i];
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/* Set up for output compare function */
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switch(chan->timer_chan) {
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case TIM_Channel_1:
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TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
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TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
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break;
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}
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TIM_ARRPreloadConfig(chan->timer, ENABLE);
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TIM_CtrlPWMOutputs(chan->timer, ENABLE);
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TIM_Cmd(chan->timer, ENABLE);
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}
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return 0;
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}
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/**
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* Set the servo update rate (Max 500Hz)
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* \param[in] array of rates in Hz
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* \param[in] maximum number of banks
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*/
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void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
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{
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if (!servo_cfg) {
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return;
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}
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
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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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//
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uint8_t set = 0;
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for(uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
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bool new = true;
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const struct pios_tim_channel * chan = &servo_cfg->channels[i];
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/* See if any previous channels use that same timer */
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for(uint8_t j = 0; (j < i) && new; j++)
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new &= chan->timer != servo_cfg->channels[j].timer;
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if(new) {
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// Choose the correct prescaler value for the APB the timer is attached
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if (chan->timer==TIM1 || chan->timer==TIM8 || chan->timer==TIM9 || chan->timer==TIM10 || chan->timer==TIM11 ){
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
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}
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else {
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
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}
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
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TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
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set++;
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}
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}
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}
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/**
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* Set servo position
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* \param[in] Servo Servo number (0-7)
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* \param[in] Position Servo position in microseconds
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*/
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void PIOS_Servo_Set(uint8_t servo, uint16_t position)
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{
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/* Make sure servo exists */
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if (!servo_cfg || servo >= servo_cfg->num_channels) {
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return;
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}
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/* Update the position */
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const struct pios_tim_channel * chan = &servo_cfg->channels[servo];
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switch(chan->timer_chan) {
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case TIM_Channel_1:
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TIM_SetCompare1(chan->timer, position);
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break;
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case TIM_Channel_2:
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TIM_SetCompare2(chan->timer, position);
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break;
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case TIM_Channel_3:
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TIM_SetCompare3(chan->timer, position);
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break;
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case TIM_Channel_4:
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TIM_SetCompare4(chan->timer, position);
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break;
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}
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}
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#endif /* PIOS_INCLUDE_SERVO */
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