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quadrotor/timer.c

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More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
#include "timer.h"
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
#include "interrupt.h"
#include "uart.h"
* Make total stack size available as a symbol * Implement SWI handler to enable/disable interrupts * Implement event system to deal with kicking non-interrupt code
14 years ago
#include "event.h"
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014))
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
#define TIMER0BASE 0xE0004000
#define TIMER1BASE 0xE0008000
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
#define TIMER2BASE 0xE0070000
#define TIMER3BASE 0xE0074000
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
#define IR 0x00
#define TCR 0x04
#define TC 0x08
#define PR 0x0c
#define PC 0x10
#define MCR 0x14
#define MR0 0x18
#define MR1 0x1C
#define MR2 0x20
#define MR3 0x24
#define CCR 0x28
#define CR0 0x2C
#define CR1 0x30
#define CR2 0x34
#define CR3 0x38
#define EMR 0x3C
#define CTCR 0x70
#define PWM 0x74
#define TREG(x) (((volatile unsigned char *)TIMER0BASE)[x])
#define TWREG(x) (((volatile unsigned int *)TIMER0BASE)[(x)/sizeof(unsigned int)])
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
#define T1REG(x) (((volatile unsigned char *)TIMER1BASE)[x])
#define T1WREG(x) (((volatile unsigned int *)TIMER1BASE)[(x)/sizeof(unsigned int)])
#define T2REG(x) (((volatile unsigned char *)TIMER2BASE)[x])
#define T2WREG(x) (((volatile unsigned int *)TIMER2BASE)[(x)/sizeof(unsigned int)])
#define T3REG(x) (((volatile unsigned char *)TIMER3BASE)[x])
#define T3WREG(x) (((volatile unsigned int *)TIMER3BASE)[(x)/sizeof(unsigned int)])
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
#define TCR_ENABLE (1<<0)
#define TCR_RESET (1<<1)
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
#define MR0I (1<<0)
#define MR0R (1<<1)
#define MR0S (1<<2)
#define MR1I (1<<3)
#define MR1R (1<<4)
#define MR1S (1<<5)
#define MR2I (1<<6)
#define MR2R (1<<7)
#define MR2S (1<<8)
#define MR3I (1<<9)
#define MR3R (1<<10)
#define MR3S (1<<11)
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
volatile unsigned int timer0_rising[4];
volatile unsigned int timer0_width[4];
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
#ifdef TIMER_CPPM
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
volatile unsigned int timer0_cppm[8];
volatile unsigned int timer0_cppm_chan = 0;
volatile unsigned int timer0_sync_timestamp;
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
#endif
unsigned int timer_map[] = {0, 1, 2, 3, 4, 5, 6, 7};
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void);
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
void __attribute__((interrupt("IRQ"))) timer0_interrupt_handler(void);
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
* Make total stack size available as a symbol * Implement SWI handler to enable/disable interrupts * Implement event system to deal with kicking non-interrupt code
14 years ago
void timer_event_handler(void);
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
/* Timer 0 : Capture */
/* Timer 1 : Output */
/* Timer 2 : Output */
/* Timer 3 : System */
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
void init_timer(void)
{
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T3REG(TCR) = TCR_ENABLE | TCR_RESET;
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T3REG(CTCR) = 0; /* Use PCLK */
T3WREG(TC) = 0;
T3WREG(PR) = TIMER_PRESCALE;
T3WREG(PC) = 0;
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T3REG(TCR) = TCR_ENABLE;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
interrupt_register(TIMER0, timer0_interrupt_handler);
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
TREG(TCR) = TCR_ENABLE | TCR_RESET;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
TREG(CTCR) = 0; /* Use PCLK */
TWREG(TC) = 0;
TWREG(PR) = TIMER0_PRESCALE;
TWREG(PC) = 0;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
TWREG(CCR) = 0x00000fff;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
TREG(TCR) = TCR_ENABLE;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
T2REG(TCR) = TCR_ENABLE | TCR_RESET;
T2REG(CTCR) = 0; /* Use PCLK */
Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop to 200Hz, add SD card logging, and a number of other changes.
11 years ago
T2WREG(PR) = 3; // Prescaling
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
T2WREG(PC) = 0; // Reset the prescale counter
T2WREG(TC) = 0; // Reset the counter
T2WREG(MCR) = 0x0400; // Reset on MR3 match
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T2WREG(PWM) = 0x00000005; // Enable PWMs
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
T2WREG(MR3) = PWM_PERIOD; // Period duration
/* This is chosen to be an invalid output. */
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T2WREG(MR2) = 1; // Pulse width
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
T2WREG(MR0) = 1; // Pulse width
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1REG(TCR) = TCR_ENABLE | TCR_RESET;
T1REG(CTCR) = 0; /* Use PCLK */
Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop to 200Hz, add SD card logging, and a number of other changes.
11 years ago
T1WREG(PR) = 3; // Prescaling
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(PC) = 0; // Reset the prescale counter
T1WREG(TC) = 0; // Reset the counter
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MCR) = 0x0400; // Reset on MR3 match
T1WREG(PWM) = 0x00000003; // Enable PWMs
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR3) = PWM_PERIOD; // Period duration
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
/* This is chosen to be an invalid output. */
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR1) = 1; // Pulse width
T1WREG(MR0) = 1; // Pulse width
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
T2REG(TCR) = TCR_ENABLE;
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1REG(TCR) = TCR_ENABLE;
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
}
unsigned int timer_read(void)
{
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
return TWREG(TC);
More hacking: * initial Wii Motion+ support * initial timer support
14 years ago
}
void timer_delay_clocks(unsigned int clocks)
{
signed int time = TWREG(TC) + clocks;
while (((signed int) (time-TWREG(TC))) > 0);
}
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
void timer_set_period(unsigned int period)
{
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
interrupt_register(TIMER3, timer_interrupt_handler);
Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop to 200Hz, add SD card logging, and a number of other changes.
11 years ago
T3WREG(MR0) = period-1;
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T3WREG(MCR) = MR0I | MR0R;
T3WREG(TC) = 0;
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
}
void __attribute__((interrupt("IRQ"))) timer_interrupt_handler(void)
{
unsigned int ir;
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
ir = T3REG(IR);
T3REG(IR) = ir;
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
if (ir & (1<<0)) {
/* Match channel 0 */
Use the timer to kick off WMP readings regularly.
14 years ago
event_set(EVENT_TIMER);
* Move UART code into its own file * Set up vectored interrupt controller * Set up timer interrupt
14 years ago
}
interrupt_clear();
}
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
void __attribute__((interrupt("IRQ"))) timer0_interrupt_handler(void)
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
{
unsigned int ir;
unsigned int gpio;
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
ir = TREG(IR);
TREG(IR) = ir;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
gpio = FP0XVAL;
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
if (ir & (1<<5)) {
/* Capture channel 1 */
if (gpio & (1<<4)) {
timer0_rising[0] = TWREG(CR1);
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
} else {
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
timer0_width[0] = TWREG(CR1) - timer0_rising[0];
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
#ifdef TIMER_CPPM
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
if (timer0_width[0] > TIMER_CPPM_SYNC) {
timer0_cppm_chan = 0;
timer0_sync_timestamp = timer0_rising[0];
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
} else {
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
if (timer0_cppm_chan < 8) {
timer0_cppm[timer0_cppm_chan] =
timer0_width[0];
timer0_cppm_chan++;
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
}
}
#endif
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
}
}
if (ir & (1<<6)) {
/* Capture channel 2 */
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
if (gpio & (1<<6)) {
timer0_rising[1] = TWREG(CR2);
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
} else {
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
timer0_width[1] = TWREG(CR2) - timer0_rising[1];
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
}
}
interrupt_clear();
}
bool timer_valid(int channel) {
channel = TIMER_CH(channel);
/* Be careful here to ensure that this can't be in the past */
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
unsigned int chtime = timer0_rising[channel]; /* Atomic */
unsigned int time = TWREG(TC); /* Atomic */
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
return (time - chtime) < TIMER_INPUT_TIMEOUT;
}
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
#ifdef TIMER_CPPM
bool timer_allvalid(void) {
/* Be careful here to ensure that this can't be in the past */
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
unsigned int chtime = timer0_sync_timestamp; /* Atomic */
unsigned int time = TWREG(TC); /* Atomic */
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
return (time - chtime) < TIMER_INPUT_TIMEOUT;
}
#else
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
bool timer_allvalid(void) {
unsigned int time;
unsigned int chtime[4];
int i;
/* Be careful here to ensure that this can't be in the past */
for (i = 0; i < 4; i++)
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
chtime[i] = timer0_rising[i];
time = TWREG(TC);
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
for (i = 0; i < 4; i++)
if ((time - chtime[i]) >= TIMER_INPUT_TIMEOUT)
return FALSE;
return TRUE;
}
Implement CPPM reception. Keep it as an option for now. Recalibrate the radio, as the timings have changed. And, it seems a couple of channels are now swapped with the new radio. Or rather, unswapped. So fix the channel map to match.
12 years ago
#endif
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
void timer_set_pwm_value(int channel, int value)
{
value = PWM_PERIOD - (PWM_MAX + value);
switch (channel) {
case 0:
T2WREG(MR2) = value;
break;
case 1:
T2WREG(MR0) = value;
break;
case 2:
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR0) = value;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
break;
case 3:
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR1) = value;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
break;
}
}
void timer_set_pwm_invalid(int channel)
{
int value = 1;
switch (channel) {
case 0:
T2WREG(MR2) = value;
break;
case 1:
T2WREG(MR0) = value;
break;
case 2:
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR0) = value;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
break;
case 3:
Firmware changes to match rewired control board. This is a bit more difficult than just reassigning pins as the usage of the timers has changed to the point of using 16 bit timers where 32 bit timers would have been ideal. This makes the use of the prescaler necessary, and we need to cope with a different prescaler value being used on different timers.
12 years ago
T1WREG(MR1) = value;
Lots of development of new features. Radio input, motor output, PID control loops, boot-time initialisation, option to run without attached UART. And.. it flies!
12 years ago
break;
}
}