mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
3c021c09d9
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
194 lines
6.3 KiB
C
194 lines
6.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_SERVO RC Servo Functions
|
|
* @brief Code to do set RC servo output
|
|
* @{
|
|
*
|
|
* @file pios_servo.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief RC Servo routines (STM32 dependent)
|
|
* @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
|
|
*/
|
|
|
|
/* Project Includes */
|
|
#include "pios.h"
|
|
|
|
#if defined(PIOS_INCLUDE_SERVO)
|
|
|
|
/* Private Function Prototypes */
|
|
|
|
/* Local Variables */
|
|
static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS];
|
|
|
|
/**
|
|
* Initialise Servos
|
|
*/
|
|
void PIOS_Servo_Init(void)
|
|
{
|
|
#ifndef PIOS_ENABLE_DEBUG_PINS
|
|
/* 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_2MHz;
|
|
GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
|
|
#ifndef PIOS_COM_AUX
|
|
GPIO_InitStructure.GPIO_Pin |= PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2;
|
|
#endif
|
|
GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure);
|
|
GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
|
|
GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &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 = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1);
|
|
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
|
|
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
|
|
|
|
/* Setup each timer separately */
|
|
TIM_OCInitTypeDef TIM_OCInitStructure;
|
|
|
|
/* TIM4 */
|
|
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 = PIOS_SERVOS_INITIAL_POSITION;
|
|
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_CtrlPWMOutputs(TIM4, ENABLE);
|
|
TIM_Cmd(TIM4, ENABLE);
|
|
|
|
/* TIM8 */
|
|
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 = PIOS_SERVOS_INITIAL_POSITION;
|
|
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_CtrlPWMOutputs(TIM8, ENABLE);
|
|
TIM_Cmd(TIM8, ENABLE);
|
|
#endif // PIOS_ENABLE_DEBUG_PINS
|
|
}
|
|
|
|
/**
|
|
* Set the servo update rate (Max 500Hz)
|
|
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
|
|
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
|
|
*/
|
|
void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
|
|
{
|
|
#ifndef PIOS_ENABLE_DEBUG_PINS
|
|
/* (Re)-Initialise Timers TIM4 and TIM8 */
|
|
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
|
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
|
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
|
|
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
|
|
|
#if 0
|
|
/* Clipping */
|
|
if (onetofour > 500) {
|
|
onetofour = 500;
|
|
}
|
|
if (fivetoeight > 500) {
|
|
fivetoeight = 500;
|
|
}
|
|
#endif
|
|
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
|
|
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
|
|
|
|
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
|
TIM_TimeBaseStructure.TIM_Period = ((1000000 / fivetoeight) - 1);
|
|
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
|
|
#endif // PIOS_ENABLE_DEBUG_PINS
|
|
}
|
|
|
|
/**
|
|
* 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)
|
|
{
|
|
#ifndef PIOS_ENABLE_DEBUG_PINS
|
|
/* Make sure servo exists */
|
|
if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0) {
|
|
/* 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;
|
|
}
|
|
}
|
|
#endif // PIOS_ENABLE_DEBUG_PINS
|
|
}
|
|
|
|
#endif
|