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fix actuators pwm

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This commit is contained in:
Felix Ruess
2010-09-28 10:45:27 +00:00
parent c58056d5c9
commit 5aa0f3e50a
3 changed files with 12 additions and 10 deletions
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sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
+3 -1
View File
@@ -25,11 +25,13 @@
#define ACTUATORS_PWM_H
#include "std.h"
#include "actuators.h"
#define ACTUATORS_PWM_NB 6
extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
extern void actuators_init(void);
//already declared in actuators.h
//extern void actuators_init(void);
#include "actuators_pwm_arch.h"
sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
+7 -7
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of Paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
#include "booz/actuators/actuators_pwm.h"
#include "actuators/actuators_pwm.h"
#include <stm32/gpio.h>
#include <stm32/rcc.h>
@@ -43,8 +43,8 @@ void actuators_pwm_arch_init(void) {
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);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC |
RCC_APB2Periph_AFIO, ENABLE);
/* GPIO C */
/* PC6=servo1 PC7=servo2 PC8=servo3 PC9=servo4 */
GPIO_InitTypeDef GPIO_InitStructure;
@@ -53,7 +53,7 @@ void actuators_pwm_arch_init(void) {
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);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
/* GPIO B */
/* PB8=servo5 PB9=servo6 */
@@ -69,7 +69,7 @@ void actuators_pwm_arch_init(void) {
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;
sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
+2 -2
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of Paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/