quadrotor/timer.h

#ifndef __TIMER_H
#define __TIMER_H

#include "types.h"

#define TIMER_PCLK 58982400
#define TIMER_PRESCALE 36863
#define TIMER0_PRESCALE 3

#define TIMER_SECOND (TIMER_PCLK/(TIMER_PRESCALE+1))
/* Since we're using awkward numbers, this gives better accuracy */
#define TIMER_MS(x) ((x) * TIMER_SECOND / 1000)
#define TIMER_US(x) ((x) * TIMER_SECOND / 1000000)

#define TIMER0_SECOND (TIMER_PCLK/(TIMER0_PRESCALE+1))
#define TIMER0_MS (TIMER0_SECOND/1000)
#define TIMER0_US (TIMER0_SECOND/1000000)

#define PWM_MAX 14745
#if 0
#define PWM_PERIOD 58980
#endif
#define PWM_PERIOD ((4*PWM_MAX)+1)

#define TIMER_INPUT_TIMEOUT (TIMER0_SECOND/10)
#define TIMER_CPPM_SYNC 40000

#define TIMER_CH(x) (timer_map[x])

extern volatile unsigned int timer0_width[];
extern volatile unsigned int timer0_cppm[];
extern unsigned int timer_map[];

void init_timer(void);
unsigned int timer_read(void);
void timer_delay_clocks(unsigned int clocks);
void timer_set_period(unsigned int period);
void timer_set_pwm_value(int channel, int value);
void timer_set_pwm_invalid(int channel);
bool timer_valid(int channel);
bool timer_allvalid(void);

#define timer_delay_us(x) timer_delay_clocks((x)*TIMER0_US)
#define timer_delay_ms(x) timer_delay_clocks((x)*TIMER0_MS)

#ifdef TIMER_CPPM
#define timer_input(ch) (timer0_cppm[TIMER_CH(ch)])
#else
#define timer_input(ch) (timer0_width[TIMER_CH(ch)])
#endif
#endif /* __TIMER_H */
More hacking: * initial Wii Motion+ support * initial timer support 14 years ago			`#ifndef __TIMER_H`
			`#define __TIMER_H`

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			`#include "types.h"`

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			`#define TIMER_PCLK 58982400`
			`#define TIMER_PRESCALE 36863`
			`#define TIMER0_PRESCALE 3`
More hacking: * initial Wii Motion+ support * initial timer support 14 years ago
			`#define TIMER_SECOND (TIMER_PCLK/(TIMER_PRESCALE+1))`
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			`/* Since we're using awkward numbers, this gives better accuracy */`
			`#define TIMER_MS(x) ((x) * TIMER_SECOND / 1000)`
			`#define TIMER_US(x) ((x) * TIMER_SECOND / 1000000)`
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			`#define TIMER0_SECOND (TIMER_PCLK/(TIMER0_PRESCALE+1))`
			`#define TIMER0_MS (TIMER0_SECOND/1000)`
			`#define TIMER0_US (TIMER0_SECOND/1000000)`

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 PWM_MAX 14745`
			`#if 0`
			`#define PWM_PERIOD 58980`
			`#endif`
			`#define PWM_PERIOD ((4*PWM_MAX)+1)`

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			`#define TIMER_INPUT_TIMEOUT (TIMER0_SECOND/10)`
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			`#define TIMER_CPPM_SYNC 40000`
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 TIMER_CH(x) (timer_map[x])`

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			`extern volatile unsigned int timer0_width[];`
			`extern volatile unsigned int timer0_cppm[];`
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			`extern unsigned int timer_map[];`

More hacking: * initial Wii Motion+ support * initial timer support 14 years ago			`void init_timer(void);`
			`unsigned int timer_read(void);`
			`void timer_delay_clocks(unsigned int clocks);`
* 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);`
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);`
			`void timer_set_pwm_invalid(int channel);`
			`bool timer_valid(int channel);`
			`bool timer_allvalid(void);`
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			`#define timer_delay_us(x) timer_delay_clocks((x)*TIMER0_US)`
			`#define timer_delay_ms(x) timer_delay_clocks((x)*TIMER0_MS)`
More hacking: * initial Wii Motion+ support * initial timer support 14 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			`#define timer_input(ch) (timer0_cppm[TIMER_CH(ch)])`
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			`#define timer_input(ch) (timer0_width[TIMER_CH(ch)])`
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`
More hacking: * initial Wii Motion+ support * initial timer support 14 years ago			`#endif /* __TIMER_H */`