Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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servos_4015_MAT_hw.c
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1 /*
2  * Copyright (C) 2006 Antoine Drouin
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
28 #include "subsystems/actuators.h"
29 #include "paparazzi.h"
30 #include "generated/airframe.h"
31 
34 
35 #define START_TIMEOUT 0xFFFF;
36 
38 {
39  /* select clock pin as MAT0.1 output */
40  IO0DIR |= _BV(SERVO_CLOCK_PIN);
42 
43  /* select reset pin as GPIO output */
44  IO1DIR |= _BV(SERVO_RESET_PIN);
45  PINSEL2 &= ~(_BV(3)); /* P1.25-16 are used as GPIO */
46  /* assert RESET */
47  IO1SET = _BV(SERVO_RESET_PIN);
48 
49  /* DATA pin output */
50  IO1DIR |= _BV(SERVO_DATA_PIN);
51 
52  /* enable match 1 interrupt */
53  T0MCR |= TMCR_MR1_I;
54 
55  /* lower clock */
56  T0EMR &= ~TEMR_EM1;
57  /* set high on match 1 */
58  T0EMR |= TEMR_EMC1_2;
59 
60  /* set first pulse in a while */
63  /* Set all servos at their midpoints */
64  /* compulsory for unaffected servos */
65  uint8_t i;
66  for (i = 0 ; i < _4015_NB_CHANNELS ; i++) {
68  }
69 
71 }
72 
73 
75 
unsigned short uint16_t
Definition: types.h:16
#define IO1SET
Definition: LPC21xx.h:338
#define SERVO_CLOCK_PINSEL
Definition: hb_1.1.h:30
#define SERVOS_TICS_OF_USEC(s)
#define SERVO_CLOCK_PINSEL_BIT
Definition: hb_1.1.h:32
#define T0MCR
Definition: LPC21xx.h:55
uint32_t servos_delay
#define TMCR_MR1_I
Definition: lpcTMR.h:62
#define SERVO_CLOCK_PIN
Definition: hb_1.1.h:29
#define _4015_NB_CHANNELS
Hardware independent API for actuators (servos, motor controllers).
#define SERVO_DATA_PIN
Definition: tiny_0.99.h:50
void actuators_4015_init(void)
unsigned long uint32_t
Definition: types.h:18
#define T0EMR
Definition: LPC21xx.h:65
#define T0MR1
Definition: LPC21xx.h:57
#define IO0DIR
Definition: LPC21xx.h:335
uint8_t servos_4015_idx
#define SERVO_REFRESH_TICS
unsigned char uint8_t
Definition: types.h:14
uint16_t servos_values[_4015_NB_CHANNELS]
#define PINSEL2
Definition: LPC21xx.h:349
#define TEMR_EMC1_2
Definition: lpcTMR.h:159
#define TEMR_EM1
Definition: lpcTMR.h:150
#define SERVO_RESET_PIN
Definition: hb_1.1.h:34
#define SERVO_CLOCK_PINSEL_VAL
Definition: hb_1.1.h:31
#define START_TIMEOUT
#define IO1DIR
Definition: LPC21xx.h:339