Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

APM_RC: PWM outputs are disabled by default on init

This commit is contained in:
Pat Hickey 2012-01-17 11:46:57 -08:00
parent 47204921e9
commit a13e371d1e
2 changed files with 7 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/APM_RC/APM_RC_APM1.cpp
View File

@ -84,7 +84,7 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
//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...
TCCR1A =((1<<WGM11)); //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 = 0xFFFF; // Init ODR registers to nil output signal
OCR1B = 0xFFFF;
@ -95,7 +95,7 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(2,OUTPUT); //OUT7 (PE4/OC3B)
pinMode(3,OUTPUT); //OUT6 (PE5/OC3C)
pinMode(5,OUTPUT); //OUT10(PE3/OC3A)
TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
TCCR3A =((1<<WGM31));
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
OCR3A = 0xFFFF; // Init ODR registers to nil output signal
OCR3B = 0xFFFF;
@ -107,7 +107,7 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(45,OUTPUT); //OUT0 (PL4/OC5B)
pinMode(46,OUTPUT); //OUT8 (PL3/OC5A)
TCCR5A =((1<<WGM51)|(1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1));
TCCR5A =((1<<WGM51));
TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
OCR5A = 0xFFFF; // Init ODR registers to nil output signal
OCR5B = 0xFFFF;
@ -119,7 +119,7 @@ void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(7,OUTPUT); //OUT5 (PH4/OC4B)
pinMode(8,OUTPUT); //OUT4 (PH5/OC4C)
TCCR4A =((1<<WGM40)|(1<<WGM41)|(1<<COM4C1)|(1<<COM4B1)|(1<<COM4A1));
TCCR4A =((1<<WGM40)|(1<<WGM41));
//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));

9
libraries/APM_RC/APM_RC_APM2.cpp
View File

@ -80,9 +80,8 @@ void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(11,OUTPUT); // OUT2 (PB5/OC1A)
// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR1.
// COM1A and COM1B enabled, set to low level on match.
// CS11: prescale by 8 => 0.5us tick
TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1));
TCCR1A =((1<<WGM11));
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);
ICR1 = 40000; // 0.5us tick => 50hz freq
OCR1A = 0xFFFF; // Init OCR registers to nil output signal
@ -94,9 +93,8 @@ void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(6,OUTPUT); // OUT5 (PH3/OC4A)
// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR4.
// COM4A, 4B, 4C enabled, set to low level on match.
// CS41: prescale by 8 => 0.5us tick
TCCR4A =((1<<WGM41)|(1<<COM4A1)|(1<<COM4B1)|(1<<COM4C1));
TCCR4A =((1<<WGM41));
TCCR4B = (1<<WGM43)|(1<<WGM42)|(1<<CS41);
OCR4A = 0xFFFF; // Init OCR registers to nil output signal
OCR4B = 0xFFFF;
@ -109,9 +107,8 @@ void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
pinMode(5,OUTPUT); // OUT8 (PE3/OC3A)
// WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR3
// COM3A, 3B, 3C enabled, set to low level on match
// CS31: prescale by 8 => 0.5us tick
TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
TCCR3A =((1<<WGM31));
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
OCR3A = 0xFFFF; // Init OCR registers to nil output signal
OCR3B = 0xFFFF;