actuators_pwm_arch.c

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/*
 * Copyright (C) 2010-2012 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.
 */

#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include "std.h"
#include BOARD_CONFIG
#include "generated/airframe.h"

/* 40 Hz */
#ifndef SERVOS_PERIOD
#define SERVOS_PERIOD SERVOS_TICS_OF_USEC(25000)
#endif

const uint8_t pwm_latch_value = 0
#if defined PWM_SERVO_0
                                | PWM_SERVO_0_LATCH
#endif
#if defined PWM_SERVO_1
                                | PWM_SERVO_1_LATCH
#endif
#if defined PWM_SERVO_2
                                | PWM_SERVO_2_LATCH
#endif
#if defined PWM_SERVO_3
                                | PWM_SERVO_3_LATCH
#endif
#if defined PWM_SERVO_4
                                | PWM_SERVO_4_LATCH
#endif
#if defined PWM_SERVO_5
                                | PWM_SERVO_5_LATCH
#endif
                                ;

void actuators_pwm_arch_init(void)
{

  /* configure pins for PWM */
#if defined PWM_SERVO_0
  PWM_SERVO_0_PINSEL = (PWM_SERVO_0_PINSEL & PWM_SERVO_0_PINSEL_MASK) | PWM_SERVO_0_PINSEL_VAL << PWM_SERVO_0_PINSEL_BIT;
#endif
#if defined PWM_SERVO_1
  PWM_SERVO_1_PINSEL = (PWM_SERVO_1_PINSEL & PWM_SERVO_1_PINSEL_MASK) | PWM_SERVO_1_PINSEL_VAL << PWM_SERVO_1_PINSEL_BIT;
#endif
#if defined PWM_SERVO_2
  PWM_SERVO_2_PINSEL = (PWM_SERVO_2_PINSEL & PWM_SERVO_2_PINSEL_MASK) | PWM_SERVO_2_PINSEL_VAL << PWM_SERVO_2_PINSEL_BIT;
#endif
#if defined PWM_SERVO_3
  PWM_SERVO_3_PINSEL = (PWM_SERVO_3_PINSEL & PWM_SERVO_3_PINSEL_MASK) | PWM_SERVO_3_PINSEL_VAL << PWM_SERVO_3_PINSEL_BIT;
#endif
#if defined PWM_SERVO_4
  PWM_SERVO_4_PINSEL = (PWM_SERVO_4_PINSEL & PWM_SERVO_4_PINSEL_MASK) | PWM_SERVO_4_PINSEL_VAL << PWM_SERVO_4_PINSEL_BIT;
#endif
#if defined PWM_SERVO_5
  PWM_SERVO_5_PINSEL = (PWM_SERVO_5_PINSEL & PWM_SERVO_5_PINSEL_MASK) | PWM_SERVO_5_PINSEL_VAL << PWM_SERVO_5_PINSEL_BIT;
#endif

  /* set servo refresh rate */
  PWMMR0 = SERVOS_PERIOD;

  /* FIXME: For now, this prescaler needs to match the TIMER0 prescaler, as the
  higher level code treats them the same */
  PWMPR = 1;

  /* enable all 6 PWM outputs in single edge mode*/
  PWMPCR = 0
#if defined PWM_SERVO_0
           | PWM_SERVO_0_ENA
#endif
#if defined PWM_SERVO_1
           | PWM_SERVO_1_ENA
#endif
#if defined PWM_SERVO_2
           | PWM_SERVO_2_ENA
#endif
#if defined PWM_SERVO_3
           | PWM_SERVO_3_ENA
#endif
#if defined PWM_SERVO_4
           | PWM_SERVO_4_ENA
#endif
#if defined PWM_SERVO_5
           | PWM_SERVO_5_ENA
#endif
           ;

  /* commit PWMMRx changes */
  PWMLER = PWMLER_LATCH0;

  /* enable PWM timer in PWM mode */
  PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;


}