deac/osd-contiki
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

Use OCR3 instead of OCR1 for servo

Browse source
This commit is contained in:
David Rabel 2015-04-03 15:49:17 +02:00
parent 235f368340
commit 41163406c2
1 changed files with 42 additions and 41 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

83
platform/osd-merkur/dev/servo.c
View file

@ -62,47 +62,48 @@ unsigned int servob=SERVO_INIT;
void
servo_init(void)
{
// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=0 State6=0 State5=0 State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0xE0;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC1A output: Connected
// OC1B output: Connected
// OC1C output: Connected
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0xA8;
TCCR1B=0x12;
TCNT1H=0x00;
TCNT1L=0x00;
// ICR1 has a computed value of 20,000 - see the ESawdust.com/blog article for how this
// value was derived.
// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR1 register
// alternatively, Codevision would let you just do ICR1 = 20000;
ICR1H=0x4E;
ICR1L=0x20;
// Port E initialization
// Set Pin 3 and 4 to output mode for OCR1A and OCR2A
DDRE |= 1<<3 | 1<<4;
/* OCR1AH=0x00;
OCR1AL=0x00;
*/
// OCR1A will govern the steering servo, OCR1B will govern throttle
OCR1A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// Timer/Counter 3 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC3A output: Connected
// OC3B output: Connected
// OC3C output: Connected
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer3 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
// OCR1A will govern the steering servo, OCR1B will govern throttle
OCR1B = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// start with motor off - no duty cycle at all
OCR1CH=0x00;
OCR1CL=0x00;
/* TCCR3A = [COM3A1|COM3A0|COM3B1|COM3B0||FOC3A|FOC3B|WGM31|WGM30] */
/* 1 0 1 0 1 0 0 0 */
TCCR3A=0xA8;
/* TCCR3B = [ ICNC3| ICES3| -| WGM33||WGM32| CS32| CS31| CS30] */
/* 0 0 0 1 0 0 1 0 */
TCCR3B=0x12;
TCNT3H=0x00;
TCNT3L=0x00;
// ICR3 has a computed value of 20,000 - see the chip manual for how this
// value was derived.
// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR3 register
// alternatively, Codevision would let you just do ICR3 = 20000;
ICR3H=0x4E;
ICR3L=0x20;
// OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3B = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// start with motor off - no duty cycle at all
OCR3CH=0x00;
OCR3CL=0x00;
}
/*---------------------------------------------------------------------------*/
/*
@ -139,13 +140,13 @@ servo_set(unsigned i,unsigned int j)
if(i==0)
{
servoa=j;
OCR1A = SERVO_OFFSET + servoa;
OCR3A = SERVO_OFFSET + servoa;
return 1;
}
if(i==1)
{
servob=j;
OCR1A = SERVO_OFFSET + servob;
OCR3A = SERVO_OFFSET + servob;
return 1;
}