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https://bitbucket.org/librepilot/librepilot.git
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adcd47a31b
Added PIOS_USB_COM. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba
122 lines
3.7 KiB
C
122 lines
3.7 KiB
C
/**
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******************************************************************************
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*
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* @file pios_pwm.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PWM Input functions
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_PWM PWM Input Functions
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* @{
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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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/* Project Includes */
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#include "pios.h"
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#if !defined(PIOS_DONT_USE_PWM)
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/* Local Variables */
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volatile uint16_t IC3Value = 0;
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volatile uint16_t DutyCycle = 0;
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volatile uint32_t Frequency = 0;
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/**
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* Initialises all the LED's
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*/
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void PIOS_PWM_Init(void)
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{
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/* Setup RCC */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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/* Enable the TIM3 global Interrupt */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* TIM3 channel 2 pin (PA.01) configuration */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//GPIO_Mode_AF_OD
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Pin = RECEIVER1_PIN;
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GPIO_Init(RECEIVER1_GPIO_PORT, &GPIO_InitStructure);
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/* TIM3 configuration: PWM Input mode ------------------------
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The Rising edge is used as active edge,
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The TIM3 CCR2 is used to compute the frequency value
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The TIM3 CCR1 is used to compute the duty cycle value
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------------------------------------------------------------ */
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TIM_ICInitTypeDef TIM_ICInitStructure;
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
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TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
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TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
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TIM_ICInitStructure.TIM_ICFilter = 0x0;
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TIM_ICInitStructure.TIM_Channel = RECEIVER1_CH;
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TIM_PWMIConfig(TIM3, &TIM_ICInitStructure);
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/* Select the TIM3 Input Trigger: TI2FP2 */
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TIM_SelectInputTrigger(TIM3, TIM_TS_TI2FP2);
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/* Select the slave Mode: Reset Mode */
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TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);
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/* Enable the Master/Slave Mode */
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TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);
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/* TIM enable counter */
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TIM_Cmd(TIM3, ENABLE);
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/* Enable the CC3 Interrupt Request */
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TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
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}
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/**
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* This function handles TIM3 global interrupt request.
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*/
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void TIM3_IRQHandler(void)
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{
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/* Clear TIM3 Capture compare interrupt pending bit */
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TIM_ClearITPendingBit(TIM3, TIM_IT_CC3);
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/* Get the Input Capture value */
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IC3Value = TIM_GetCapture3(TIM3);
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#if 0
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if (IC3Value != 0)
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{
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/* Duty cycle computation */
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DutyCycle = (TIM_GetCapture1(TIM3) * 100) / IC3Value;
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/* Frequency computation */
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Frequency = 72000000 / IC3Value;
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} else {
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DutyCycle = 0;
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Frequency = 0;
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}
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#endif
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}
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#endif
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