actuators_shared_arch.h

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/*
 * Copyright (C) 2010 The Paparazzi Team
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * 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.
 */

#ifndef ACTUATORS_PWM_SHARED_ARCH_H
#define ACTUATORS_PWM_SHARED_ARCH_H

#include "std.h"

#include BOARD_CONFIG

#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/cm3/nvic.h>
#include "mcu_arch.h"

#define ONE_MHZ_CLK 1000000

/* Default timer base frequency is 1MHz */
#if ! defined(PWM_BASE_FREQ)
#define PWM_BASE_FREQ ONE_MHZ_CLK
#endif


#ifndef SERVO_HZ
#define SERVO_HZ 40
#endif

// Update rate can be adapted for each timer
#ifndef TIM1_SERVO_HZ
#define TIM1_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM2_SERVO_HZ
#define TIM2_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM3_SERVO_HZ
#define TIM3_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM4_SERVO_HZ
#define TIM4_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM5_SERVO_HZ
#define TIM5_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM8_SERVO_HZ
#define TIM8_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM9_SERVO_HZ
#define TIM9_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM12_SERVO_HZ
#define TIM12_SERVO_HZ SERVO_HZ
#endif

extern void actuators_pwm_arch_channel_init(uint32_t timer_peripheral, enum tim_oc_id oc_id);
extern void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask);

#endif /* ACTUATORS_PWM_SHARED_ARCH_H */