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APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits.

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This commit is contained in:
Pat Hickey 2011-11-15 09:59:32 -08:00 committed by Pat Hickey
parent 67e5c89226
commit 718f3dee00
3 changed files with 19 additions and 21 deletions
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8
ArduCopter/radio.pde
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@ -57,14 +57,6 @@ static void init_rc_out()
APM_RC.Init( &isr_registry ); // APM Radio initialization
init_motors_out();
// fix for crazy output
OCR1B = 0xFFFF; // PB6, OUT3
OCR1C = 0xFFFF; // PB7, OUT4
OCR5B = 0xFFFF; // PL4, OUT1
OCR5C = 0xFFFF; // PL5, OUT2
OCR4B = 0xFFFF; // PH4, OUT6
OCR4C = 0xFFFF; // PH5, OUT5
// this is the camera pitch5 and roll6
APM_RC.OutputCh(CH_5, 1500);
APM_RC.OutputCh(CH_6, 1500);

23
libraries/APM_RC/APM_RC_APM1.cpp
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@ -86,9 +86,9 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
//Remember the registers not declared here remains zero by default...
TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1)|(1<<COM1C1)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
//OCR1A = 3000; //PB5, OUT9
//OCR1B = 3000; //PB6, OUT2
//OCR1C = 3000; //PB7 OUT3
OCR1A = 0xFFFF; // Init ODR registers to nil output signal
OCR1B = 0xFFFF;
OCR1C = 0xFFFF;
ICR1 = 40000; //50hz freq...Datasheet says (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
// Init PWM Timer 3
@ -97,9 +97,9 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(5,OUTPUT); //OUT10(PE3/OC3A)
TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
//OCR3A = 3000; //PE3, OUT10
//OCR3B = 3000; //PE4, OUT7
//OCR3C = 3000; //PE5, OUT6
OCR3A = 0xFFFF; // Init ODR registers to nil output signal
OCR3B = 0xFFFF;
OCR3C = 0xFFFF;
ICR3 = 40000; //50hz freq
// Init PWM Timer 5
@ -109,9 +109,9 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
TCCR5A =((1<<WGM51)|(1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1));
TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
//OCR5A = 3000; //PL3, OUT8
//OCR5B = 3000; //PL4, OUT0
//OCR5C = 3000; //PL5, OUT1
OCR5A = 0xFFFF; // Init ODR registers to nil output signal
OCR5B = 0xFFFF;
OCR5C = 0xFFFF;
ICR5 = 40000; //50hz freq
// Init PPM input and PWM Timer 4
@ -123,10 +123,9 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
//Prescaler set to 8, that give us a resolution of 0.5us
// Input Capture rising edge
TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));
OCR4B = 0xFFFF; // Init OCR registers to nil output signal
OCR4C = 0xFFFF;
OCR4A = 40000; ///50hz freq.
OCR4B = 3000; //PH4, OUT5
OCR4C = 3000; //PH5, OUT4
//TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
//TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)

9
libraries/APM_RC/APM_RC_Purple.cpp
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@ -85,7 +85,8 @@ void APM_RC_Purple::Init( Arduino_Mega_ISR_Registry * isr_reg )
TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1));
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
ICR1 = 40000; // 0.5us tick => 50hz freq
OCR1A = 0xFFFF; // Init OCR registers to nil output signal
OCR1B = 0xFFFF;
OutputCh(1, 1100);
OutputCh(2, 1100);
@ -99,6 +100,9 @@ void APM_RC_Purple::Init( Arduino_Mega_ISR_Registry * isr_reg )
// CS41: prescale by 8 => 0.5us tick
TCCR4A =((1<<WGM41)|(1<<COM4A1)|(1<<COM4B1)|(1<<COM4C1));
TCCR4B = (1<<WGM43)|(1<<WGM42)|(1<<CS41);
OCR4A = 0xFFFF; // Init OCR registers to nil output signal
OCR4B = 0xFFFF;
OCR4C = 0xFFFF;
ICR4 = 40000; // 0.5us tick => 50hz freq
OutputCh(3, 1100);
@ -115,6 +119,9 @@ void APM_RC_Purple::Init( Arduino_Mega_ISR_Registry * isr_reg )
// CS31: prescale by 8 => 0.5us tick
TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
OCR3A = 0xFFFF; // Init OCR registers to nil output signal
OCR3B = 0xFFFF;
OCR3C = 0xFFFF;
ICR3 = 40000; // 0.5us tick => 50hz freq
OutputCh(6, 1100);