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Enable SERVO5/SERVO6 on TIM4 for lisa passthrough

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This commit is contained in:
Allen Ibara
2010-07-15 18:04:37 +00:00
parent f3fd4848b8
commit 276a4d0778
2 changed files with 36 additions and 11 deletions
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sw/airborne/booz/actuators/booz_actuators_pwm.h
+1 -1
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@@ -26,7 +26,7 @@
#include "std.h"
#define BOOZ_ACTUATORS_PWM_NB 4
#define BOOZ_ACTUATORS_PWM_NB 6
extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
#include "actuators/booz_actuators_pwm_hw.h"
sw/airborne/booz/arch/stm32/actuators/booz_actuators_pwm_hw.c
+35 -10
View File
@@ -35,56 +35,79 @@
void booz_actuators_pwm_hw_init(void) {
/* TIM3 clock enable */
/* TIM3 and TIM4 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* GPIOB and GPIOC clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC |
RCC_APB2Periph_AFIO, ENABLE);
/* GPIO */
/* GPIO C */
/* PC6=servo1 PC7=servo2 PC8=servo3 PC9=servo4 */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* need to remate alternate function, pins 37, 38, 39, 40 on LQFP64 */
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
/* TIM */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* GPIO B */
/* PB8=servo5 PB9=servo6 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Prescaler = (PCLK / ONE_MHZ_CLK) - 1; // 1uS
TIM_TimeBaseStructure.TIM_Period = (ONE_MHZ_CLK / SERVO_HZ) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: All Channels */
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; // default low (no pulse)
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
/* PWM1 Mode configuration: Channel1 */
/* PWM1 Mode configuration: TIM3 Channel1 */
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
/* PWM1 Mode configuration: TIM3 Channel2 */
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
/* PWM1 Mode configuration: TIM3 Channel3 */
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
/* PWM1 Mode configuration: TIM3 Channel4 */
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* TIM3 enable counter */
/* PWM1 Mode configuration: TIM4 Channel3 */
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: TIM4 Channel4 */
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
/* TIM3 enable */
TIM_ARRPreloadConfig(TIM3, ENABLE);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
TIM_Cmd(TIM3, ENABLE);
/* TIM4 enable */
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE);
}
/* set pulse widths from actuator values, assumed to be in us */
@@ -93,4 +116,6 @@ void booz_actuators_pwm_commit(void) {
TIM_SetCompare2(TIM3, booz_actuators_pwm_values[1]);
TIM_SetCompare3(TIM3, booz_actuators_pwm_values[2]);
TIM_SetCompare4(TIM3, booz_actuators_pwm_values[3]);
TIM_SetCompare3(TIM4, booz_actuators_pwm_values[4]);
TIM_SetCompare4(TIM4, booz_actuators_pwm_values[5]);
}