Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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actuators_pwm_arch.h
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1 /*
2  * Copyright (C) 2013 AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
3  * Utah State University, http://aggieair.usu.edu/
4  *
5  * Michal Podhradsky (michal.podhradsky@aggiemail.usu.edu)
6  * Calvin Coopmans (c.r.coopmans@ieee.org)
7  *
8  *
9  * This file is part of paparazzi.
10  *
11  * paparazzi is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2, or (at your option)
14  * any later version.
15  *
16  * paparazzi is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU General Public License for more details.
20  *
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22  * along with paparazzi; see the file COPYING. If not, write to
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25  */
33 #ifndef ACTUATORS_PWM_ARCH_H
34 #define ACTUATORS_PWM_ARCH_H
35 
36 #include "std.h"
37 #include "hal.h"
38 
39 #include BOARD_CONFIG
40 
41 #ifndef ACTUATORS_PWM_NB
42 #define ACTUATORS_PWM_NB 8
43 #endif
44 
45 /* Default timer base frequency is 1MHz */
46 #ifndef PWM_FREQUENCY
47 #define PWM_FREQUENCY 1000000
48 #endif
49 
51 #ifndef SERVO_HZ
52 #define SERVO_HZ 40
53 #endif
54 
55 // Update rate can be adapted for each timer
56 #ifndef TIM1_SERVO_HZ
57 #define TIM1_SERVO_HZ SERVO_HZ
58 #endif
59 #ifndef TIM2_SERVO_HZ
60 #define TIM2_SERVO_HZ SERVO_HZ
61 #endif
62 #ifndef TIM3_SERVO_HZ
63 #define TIM3_SERVO_HZ SERVO_HZ
64 #endif
65 #ifndef TIM4_SERVO_HZ
66 #define TIM4_SERVO_HZ SERVO_HZ
67 #endif
68 #ifndef TIM5_SERVO_HZ
69 #define TIM5_SERVO_HZ SERVO_HZ
70 #endif
71 #ifndef TIM8_SERVO_HZ
72 #define TIM8_SERVO_HZ SERVO_HZ
73 #endif
74 #ifndef TIM9_SERVO_HZ
75 #define TIM9_SERVO_HZ SERVO_HZ
76 #endif
77 #ifndef TIM12_SERVO_HZ
78 #define TIM12_SERVO_HZ SERVO_HZ
79 #endif
80 
82 
83 extern void actuators_pwm_commit(void);
84 
85 #define ActuatorPwmSet(_i, _v) { actuators_pwm_values[_i] = _v; }
86 #define ActuatorsPwmCommit actuators_pwm_commit
87 
88 #endif /* ACTUATORS_PWM_ARCH_H */
int32_t actuators_pwm_values[ACTUATORS_PWM_NB]
#define ACTUATORS_PWM_NB
signed long int32_t
Definition: types.h:19
void actuators_pwm_commit(void)
Set pulse widths from actuator values, assumed to be in us.