coolfactor/quadrotor
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Lots of development of new features. Radio input, motor output, PID control

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loops, boot-time initialisation, option to run without attached UART.

And.. it flies!
This commit is contained in:
Gavan Fantom
2012-08-30 12:42:38 +00:00
parent 2890007195
commit 3f12132231
18 changed files with 727 additions and 23 deletions
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20
timer.h
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@@ -1,6 +1,8 @@
#ifndef __TIMER_H
#define __TIMER_H
#include "types.h"
#define TIMER_PCLK 14745600
#define TIMER_PRESCALE 0
@@ -8,12 +10,30 @@
#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_CH(x) (timer_map[x])
extern volatile unsigned int timer1_width[];
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)
#define timer_input(ch) (timer1_width[TIMER_CH(ch)])
#endif /* __TIMER_H */