Revision: 5050
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5050Author: aibara
Date: 2010-07-15 04:29:49 +0000 (Thu, 15 Jul 2010)
Log Message:
-----------
PWM output for channels 1-4 for lisa stm32 passthrough
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
paparazzi3/trunk/sw/airborne/booz/arch/stm32/actuators/booz_actuators_pwm_hw.c
paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
2010-07-14 03:09:25 UTC (rev 5049)
+++ paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
2010-07-15 04:29:49 UTC (rev 5050)
@@ -56,10 +56,14 @@
pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
# Actuators
-pt.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-pt.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
-pt.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#pt.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+#pt.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
+#pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+#pt.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#
+#pt.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+#pt.CFLAGS += -DUSE_I2C1
-pt.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-pt.CFLAGS += -DUSE_I2C1
+# PWM actuator
+pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
+pt.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_hw.c
Modified: paparazzi3/trunk/sw/airborne/booz/arch/stm32/actuators/booz_actuators_pwm_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/actuators/booz_actuators_pwm_hw.c
2010-07-14 03:09:25 UTC (rev 5049)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/actuators/booz_actuators_pwm_hw.c
2010-07-15 04:29:49 UTC (rev 5050)
@@ -29,11 +29,12 @@
#include <stm32/misc.h>
#include <stm32/tim.h>
+#define PCLK 72000000
+#define ONE_MHZ_CLK 1000000
+#define SERVO_HZ 40
+
void booz_actuators_pwm_hw_init(void) {
- /* System clock */
- /* PCLK1 = HCLK/4 */
- RCC_PCLK1Config(RCC_HCLK_Div4);
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOB and GPIOC clock enable */
@@ -52,50 +53,44 @@
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* Time base configuration */
- TIM_TimeBaseStructure.TIM_Period = 56249;
- TIM_TimeBaseStructure.TIM_Prescaler = 15;
+ 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);
- uint16_t CCR1_Val = 2250;
- uint16_t CCR2_Val = 2250;
- uint16_t CCR3_Val = 2250;
- /* PWM1 Mode configuration: Channel1 */
+ /* PWM1 Mode configuration: All Channels */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
+ TIM_OCInitStructure.TIM_Pulse = 0; // default low (no pulse)
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
+ /* PWM1 Mode configuration: Channel1 */
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
-
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
-
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
-
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
-
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
-
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
+ /* PWM1 Mode configuration: Channel4 */
+ TIM_OC4Init(TIM3, &TIM_OCInitStructure);
+ TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
+
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
}
+/* set pulse widths from actuator values, assumed to be in us */
void booz_actuators_pwm_commit(void) {
- TIM_SetCompare1 (TIM3, booz_actuators_pwm_values[0]);
- TIM_SetCompare2 (TIM3, booz_actuators_pwm_values[1]);
- TIM_SetCompare3 (TIM3, booz_actuators_pwm_values[2]);
-
+ TIM_SetCompare1(TIM3, booz_actuators_pwm_values[0]);
+ TIM_SetCompare2(TIM3, booz_actuators_pwm_values[1]);
+ TIM_SetCompare3(TIM3, booz_actuators_pwm_values[2]);
+ TIM_SetCompare4(TIM3, booz_actuators_pwm_values[3]);
}
Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
2010-07-14 03:09:25 UTC (rev 5049)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
2010-07-15 04:29:49 UTC (rev 5050)
@@ -5,6 +5,8 @@
#include "math/pprz_algebra_int.h"
#include "airframe.h"
+#define LISA_PWM_NB 6
+
/*
* Testing
*/
@@ -92,11 +94,7 @@
struct __attribute__ ((packed)) AutopilotMessagePTDown
{
- int16_t command_pitch;
- int16_t command_roll;
- int16_t command_yaw;
- int16_t command_thrust;
- int16_t actuators[SERVOS_NB];
+ uint16_t pwm_outputs_usecs[LISA_PWM_NB];
};
union AutopilotMessagePT
Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
2010-07-14 03:09:25 UTC (rev 5049)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
2010-07-15 04:29:49 UTC (rev 5050)
@@ -138,8 +138,8 @@
static void passthrough_down_fill(struct AutopilotMessagePTDown *msg_out)
{
- for (int i = 0; i < SERVOS_NB; i++) {
- msg_out->actuators[i] = actuators[i];
+ for (int i = 0; i < LISA_PWM_NB; i++) {
+ msg_out->pwm_outputs_usecs[i] = actuators[i];
}
}