quadrotor/timer.h

#ifndef __TIMER_H
#define __TIMER_H

#include "types.h"

#define TIMER_PCLK 14745600
#define TIMER_PRESCALE 0

#define TIMER_SECOND (TIMER_PCLK/(TIMER_PRESCALE+1))
#define TIMER_MS (TIMER_SECOND/1000)
#define TIMER_US (TIMER_SECOND/1000000)

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

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

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

extern volatile unsigned int timer1_width[];
extern volatile unsigned int timer1_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)*TIMER_US)
#define timer_delay_ms(x) timer_delay_clocks((x)*TIMER_MS)

#ifdef TIMER_CPPM
#define timer_input(ch) (timer1_cppm[TIMER_CH(ch)])
#else
#define timer_input(ch) (timer1_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"`

More hacking: * initial Wii Motion+ support * initial timer support 14 years ago			`#define TIMER_PCLK 14745600`
			`#define TIMER_PRESCALE 0`

			`#define TIMER_SECOND (TIMER_PCLK/(TIMER_PRESCALE+1))`
			`#define TIMER_MS (TIMER_SECOND/1000)`
			`#define TIMER_US (TIMER_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)`

			`#define TIMER_INPUT_TIMEOUT (TIMER_PCLK/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])`

			`extern volatile unsigned int timer1_width[];`
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			`extern volatile unsigned int timer1_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
			`#define timer_delay_us(x) timer_delay_clocks((x)*TIMER_US)`
			`#define timer_delay_ms(x) timer_delay_clocks((x)*TIMER_MS)`

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`
			`#define timer_input(ch) (timer1_cppm[TIMER_CH(ch)])`
			`#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			`#define timer_input(ch) (timer1_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 */`