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277 lines
9.5 KiB
C
277 lines
9.5 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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// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
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static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
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// used to skip updates when pulse length is higher than update cycle
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static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
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static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
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// timer associated to each bank
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static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
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// index of bank used for each pin
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static uint8_t *pios_servo_pin_bank;
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#define PIOS_SERVO_TIMER_CLOCK 1000000
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#define PIOS_SERVO_SAFE_MARGIN 50
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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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pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
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uint8_t bank = 0;
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for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
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const struct pios_tim_channel *chan = &servo_cfg->channels[i];
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bool new = true;
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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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}
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if (new) {
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PIOS_Assert(bank < PIOS_SERVO_BANKS);
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for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
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if (servo_cfg->channels[j].timer == chan->timer) {
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pios_servo_pin_bank[j] = bank;
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}
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}
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pios_servo_bank_timer[bank] = chan->timer;
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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, DISABLE);
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bank++;
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}
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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, &servo_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, &servo_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, &servo_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, &servo_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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}
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return 0;
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}
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void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
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{
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PIOS_Assert(bank < PIOS_SERVO_BANKS);
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pios_servo_bank_mode[bank] = mode;
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if (pios_servo_bank_timer[bank]) {
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for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
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if (pios_servo_pin_bank[i] == bank) {
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const struct pios_tim_channel *chan = &servo_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_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
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break;
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case TIM_Channel_2:
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TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
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break;
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case TIM_Channel_3:
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TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
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break;
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case TIM_Channel_4:
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TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
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break;
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}
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}
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}
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// Setup the timer accordingly
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TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
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TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
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}
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}
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void PIOS_Servo_Update()
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{
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for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
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const TIM_TypeDef *timer = pios_servo_bank_timer[i];
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if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
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// a pulse to be generated is longer than cycle period. skip this update.
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if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
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TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
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pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
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}
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}
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pios_servo_bank_max_pulse[i] = 0;
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}
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for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
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uint8_t bank = pios_servo_pin_bank[i];
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uint8_t mode = pios_servo_bank_mode[bank];
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if (mode == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
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/* Update the position */
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const struct pios_tim_channel *chan = &servo_cfg->channels[i];
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switch (chan->timer_chan) {
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case TIM_Channel_1:
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TIM_SetCompare1(chan->timer, 0);
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break;
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case TIM_Channel_2:
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TIM_SetCompare2(chan->timer, 0);
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break;
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case TIM_Channel_3:
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TIM_SetCompare3(chan->timer, 0);
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break;
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case TIM_Channel_4:
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TIM_SetCompare4(chan->timer, 0);
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break;
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}
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}
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}
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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] array of timer clocks 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, const uint32_t *clock, uint8_t banks)
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{
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PIOS_Assert(banks <= PIOS_SERVO_BANKS);
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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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for (uint8_t i = 0; i < banks && i < PIOS_SERVO_BANKS; i++) {
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const TIM_TypeDef *timer = pios_servo_bank_timer[i];
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if (timer) {
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uint32_t new_clock = PIOS_SERVO_TIMER_CLOCK;
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if (clock[i]) {
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new_clock = clock[i];
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}
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// Choose the correct prescaler value for the APB the timer is attached
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if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / new_clock) - 1;
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} else {
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / new_clock) - 1;
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}
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TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
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TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
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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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uint16_t val = position;
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uint16_t margin = chan->timer->ARR / 50; // Leave 2% of period as margin to prevent overlaps
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if (val > (chan->timer->ARR - margin)) {
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val = chan->timer->ARR - margin;
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}
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uint8_t bank = pios_servo_pin_bank[servo];
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if (pios_servo_bank_max_pulse[bank] < val) {
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pios_servo_bank_max_pulse[bank] = val;
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}
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switch (chan->timer_chan) {
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case TIM_Channel_1:
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TIM_SetCompare1(chan->timer, val);
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break;
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case TIM_Channel_2:
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TIM_SetCompare2(chan->timer, val);
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break;
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case TIM_Channel_3:
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TIM_SetCompare3(chan->timer, val);
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break;
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case TIM_Channel_4:
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TIM_SetCompare4(chan->timer, val);
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break;
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}
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}
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uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
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{
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if (pin < servo_cfg->num_channels) {
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return pios_servo_pin_bank[pin];
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} else {
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return 0;
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}
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}
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#endif /* PIOS_INCLUDE_SERVO */
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