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https://bitbucket.org/librepilot/librepilot.git
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2881370eab
system git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2571 ebee16cc-31ac-478f-84a7-5cbb03baadba
201 lines
6.2 KiB
C
201 lines
6.2 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) 2010.
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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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/* Project Includes */
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#include "pios.h"
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#include "pios_servo_priv.h"
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/* Private Function Prototypes */
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uint16_t servo_positions[8];
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/**
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* Initialise Servos
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*/
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void PIOS_Servo_Init(void)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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#if defined(PIOS_INCLUDE_SERVO)
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for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) {
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GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init;
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TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init;
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struct pios_servo_channel channel = pios_servo_cfg.channels[i];
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/* Enable appropriate clock to timer module */
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switch((int32_t) channel.timer) {
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case (int32_t)TIM1:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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break;
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case (int32_t)TIM2:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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break;
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case (int32_t)TIM3:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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break;
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case (int32_t)TIM4:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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break;
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case (int32_t)TIM5:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
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break;
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case (int32_t)TIM6:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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break;
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case (int32_t)TIM7:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
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break;
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case (int32_t)TIM8:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
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break;
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}
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/* Enable GPIO */
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GPIO_InitStructure.GPIO_Pin = channel.pin;
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GPIO_Init(channel.port, &GPIO_InitStructure);
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/* Enable time base */
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TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
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channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1;
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/* Set up for output compare function */
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switch(channel.channel) {
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case TIM_Channel_1:
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TIM_OC1Init(channel.timer, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(channel.timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(channel.timer, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(channel.timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(channel.timer, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(channel.timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(channel.timer, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable);
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break;
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}
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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TIM_ARRPreloadConfig(channel.timer, ENABLE);
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TIM_CtrlPWMOutputs(channel.timer, ENABLE);
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TIM_Cmd(channel.timer, ENABLE);
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}
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if(pios_servo_cfg.remap) {
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/* Warning, I don't think this will work for multiple remaps at once */
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GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE);
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}
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#endif // PIOS_INCLUDE_SERVO
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#endif // PIOS_ENABLE_DEBUG_PINS
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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] onetofour Rate for outputs 1 to 4 (Hz)
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* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
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*/
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void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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#if defined(PIOS_INCLUDE_SERVO)
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_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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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) {
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struct pios_servo_channel channel = pios_servo_cfg.channels[i];
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/* Enable time base */
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switch((int32_t)channel.timer) {
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case (int32_t)TIM1:
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case (int32_t)TIM2:
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case (int32_t)TIM3:
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case (int32_t)TIM4:
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
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break;
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case (int32_t)TIM5:
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case (int32_t)TIM6:
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case (int32_t)TIM7:
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case (int32_t)TIM8:
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / fivetoeight) - 1);
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break;
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}
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TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
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}
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#endif // PIOS_INCLUDE_SERVO
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#endif // PIOS_ENABLE_DEBUG_PINS
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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 milliseconds
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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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#ifndef PIOS_ENABLE_DEBUG_PINS
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#if defined(PIOS_INCLUDE_SERVO)
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/* Make sure servo exists */
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if (Servo < pios_servo_cfg.num_channels && Servo >= 0) {
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/* Update the position */
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switch(pios_servo_cfg.channels[Servo].channel) {
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case TIM_Channel_1:
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servo_positions[Servo] = Position;
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TIM_SetCompare1(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case TIM_Channel_2:
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servo_positions[Servo] = Position;
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TIM_SetCompare2(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case TIM_Channel_3:
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servo_positions[Servo] = Position;
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TIM_SetCompare3(pios_servo_cfg.channels[Servo].timer, Position);
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break;
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case TIM_Channel_4:
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servo_positions[Servo] = Position;
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TIM_SetCompare4(pios_servo_cfg.channels[Servo].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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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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