servos_4015_hw_new.c File Reference

#include "subsystems/actuators.h"
#include "armVIC.h"
#include "generated/airframe.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	PWMMR_SERV0   PWMMR5
#define	PWMMR_SERV1   PWMMR2
#define	PWMLER_LATCH_SERV0   PWMLER_LATCH5
#define	PWMLER_LATCH_SERV1   PWMLER_LATCH2
#define	PWMMCR_MRI_SERV0   PWMMCR_MR5I
#define	PWMMCR_MRI_SERV1   PWMMCR_MR2I
#define	PWMPCR_ENA_SERV0   PWMPCR_ENA5
#define	PWMPCR_ENA_SERV1   PWMPCR_ENA2
#define	PWMIR_MRI_SERV0   PWMIR_MR5I
#define	PWMIR_MRI_SERV1   PWMIR_MR2I
#define	PWM_VIC_SLOT   3
#define	SERVO_REFRESH_TICS   SERVOS_TICS_OF_USEC(25000)

Functions
void	actuators_4015_init (void)
void	PWM_ISR (void)

Variables
uint16_t	servos_values [_4015_NB_CHANNELS]
static uint8_t	servos_idx = 0
static uint32_t	servos_delay

Macro Definition Documentation

#define PWM_VIC_SLOT   3

Definition at line 43 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init().

#define PWMIR_MRI_SERV0   PWMIR_MR5I

Definition at line 39 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

#define PWMIR_MRI_SERV1   PWMIR_MR2I

Definition at line 40 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

#define PWMLER_LATCH_SERV0   PWMLER_LATCH5

Definition at line 33 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().

#define PWMLER_LATCH_SERV1   PWMLER_LATCH2

Definition at line 34 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().

#define PWMMCR_MRI_SERV0   PWMMCR_MR5I

Definition at line 35 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

#define PWMMCR_MRI_SERV1   PWMMCR_MR2I

Definition at line 36 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().

#define PWMMR_SERV0   PWMMR5

Definition at line 31 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().

#define PWMMR_SERV1   PWMMR2

Definition at line 32 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().

#define PWMPCR_ENA_SERV0   PWMPCR_ENA5

Definition at line 37 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init().

#define PWMPCR_ENA_SERV1   PWMPCR_ENA2

Definition at line 38 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init().

#define SERVO_REFRESH_TICS   SERVOS_TICS_OF_USEC(25000)

Definition at line 94 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

Function Documentation

void actuators_4015_init

(

void

)

Definition at line 46 of file servos_4015_hw_new.c.

References _4015_NB_CHANNELS, _VIC_ADDR, _VIC_CNTL, IO0DIR, IO1DIR, PWM_ISR(), PWM_VIC_SLOT, PWMLER, PWMLER_LATCH0, PWMLER_LATCH_SERV0, PWMLER_LATCH_SERV1, PWMMCR, PWMMCR_MR0R, PWMMCR_MRI_SERV1, PWMMR0, PWMMR_SERV0, PWMMR_SERV1, PWMPCR, PWMPCR_ENA_SERV0, PWMPCR_ENA_SERV1, PWMPR, PWMTCR, PWMTCR_COUNTER_ENABLE, PWMTCR_PWM_ENABLE, SERVOS_TICS_OF_USEC, servos_values, VIC_BIT, VIC_ENABLE, VIC_PWM, VICIntEnable, and VICIntSelect.

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void PWM_ISR

(

void

)

Definition at line 100 of file servos_4015_hw_new.c.

References _4015_NB_CHANNELS, IO1CLR, IO1SET, ISR_ENTRY, ISR_EXIT, PWMIR, PWMIR_MRI_SERV0, PWMIR_MRI_SERV1, PWMLER, PWMLER_LATCH0, PWMLER_LATCH_SERV0, PWMLER_LATCH_SERV1, PWMMCR, PWMMCR_MR0R, PWMMCR_MRI_SERV0, PWMMCR_MRI_SERV1, PWMMR0, PWMMR_SERV0, PWMMR_SERV1, SERVO_REFRESH_TICS, servos_delay, servos_idx, servos_values, and VICVectAddr.

Referenced by actuators_4015_init().

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Variable Documentation

uint32_t servos_delay

static

Definition at line 98 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

uint8_t servos_idx = 0

static

Definition at line 97 of file servos_4015_hw_new.c.

Referenced by PWM_ISR().

uint16_t servos_values[_4015_NB_CHANNELS]

Definition at line 29 of file servos_4015_hw_new.c.

Referenced by actuators_4015_init(), and PWM_ISR().