Re: [Paparazzi-devel] Re: No servo output on the Classix?

[antoine . drouin]

Hi Alexis

I fixed the names on the schematics - I had added this connector in order to use
 a "bypassed" 4017 based rc receiver.

so foo1 would be a servo clock, foo2 a ppm capture and foo3 a servo reset.

from conf/autopilot/classix.h

/* PPM : rc rx on P0.6 : FBW_RC0 connector */
#define PPM_PINSEL PINSEL0
#define PPM_PINSEL_VAL 0x02
#define PPM_PINSEL_BIT 12

/* SERVOS : 4017 on FBW_RC0 connector */

/* MAT0.1 on P0.5 */
#define SERVO_CLOCK_PIN 5
#define SERVO_CLOCK_PINSEL PINSEL0
#define SERVO_CLOCK_PINSEL_VAL 0x02
#define SERVO_CLOCK_PINSEL_BIT 10

/* reset on P1.25 */
#define SERVO_RESET_PIN 25
#define SERVO_RESET_PINSEL PINSEL2


hth

Poine



Quoting Alexis Lussier Desbiens <address@hidden>:

> Poine,
>
> Thanks for the help on that!
>
> Do you have any idea what FOO1, FOO2, FOO3 and RC_RX are used for?
>
>       Alexis
>
> On 10/20/07, address@hidden <address@hidden> wrote:
> > Hi Alexis
> >
> > Classix are not so widespread, I only manufactured 5 of them, and on the
> two I
> > have left, I use a patched commercial rc receiver, so servo_4017 code.
> >
> > I wrote the servos_direct code for Jeremy which is the only one to have
> used it,
> > in his cybereye if I recall corectly.
> >
> > The problem is that the PWM pins used for servos_direct are shared with
> other
> > functions, like UARTs. I write the code so that you're able to
> independantly
> > switch any of the six PWM available to servos output - But you have to be
> > careful not to enable any other function that would require the same pin.
> >
> > There is a list of PWM pins and shared functions in servos_direct_hw.h
> >
> > /*
> >    wiring on classix PWM connector
> > connector   LPC   shared         port
> > PWM1        PWM5  AD1_6  CAP1_3  P0.21
> > PWM2        PWM3  RXD0   EINT0   P0.1
> > PWM3        PWM1  TXD0           P0.0
> > PWM4        PWM6  RXD1   EINT3   P0.9
> > PWM5        PWM4  TXD1   AD1_1   P0.8
> > PWM6        PWM2  SSEL0  EINT2   P0.7
> >
> > */
> >
> > PWM1 and PWM6 should be safe. PWM4 and PWM5 should be OK if you're not
> using
> > UART1 on the FBW processor - same for PWM2 and PWM3 if you're not using
> UART0 (
> > disable FBW telemetry for that )
> >
> > Your makefile section should look like this in your airframe file
> >
> > fbw.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DPWM_SERVO_0 etc....
> > fbw.srcs += $(SRC_ARCH)/servos_direct_hw.c
> >
> > HTH
> >
> > Poine
> >
> >
> > Quoting Alexis Lussier Desbiens <address@hidden>:
> >
> > > Guys,
> > >
> > > I got a little bit further in the debugging...
> > >
> > > It seems that PWM_SERVO_0 (and so on) are not defined anywhere in the
> > > software... So servos_direct_hw.c doesn't do anything and there is no
> > > output on the PWM pins. I tried to manually defined these, and it ends
> > > up outputting something that looks like a servo pulse but there is no
> > > way to control that from the RC (but I guess other pieces of code are
> > > missing if PWM_SERVO are not defined somewhere...
> > >
> > > Anyone got an idea why PWM_SERVO_0 is not defined? I am using a
> > > classix in "direct" mode (PWM output on FBW PWM port).
> > >
> > > Anyone used servo_direct_hw.c with success?
> > >
> > > Thanks!
> > >
> > >      Alexis
> > >
> > > On 10/18/07, Alexis Lussier Desbiens <address@hidden>
> > > wrote:
> > > > Hi there,
> > > >
> > > > Anyone got an idea why my paparazzi is not outputting pwm for the
> > > > servos on the FBW PWM port? I am using servo_direct_hw...
> > > >
> > > > I am using a Classix, the PPM frame is decoded properly and I can flip
> > > > the autopilot to MANUAL mode (0 in the telemetry data)... but nothing
> > > > happens. There is only a weird pulse on PWM3!
> > > >
> > > > Thanks!
> > > >
> > > >      Alexis
> > > >
> > >
> > >
> > > --
> > > http://mecano.gme.usherb.ca/~alussierdesbiens
> > > "De' remi facemmo ali"
> > >
> > >
> > > _______________________________________________
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> > > address@hidden
> > > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > >
> >
> >
> >
> >
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> >
>
>
> --
> http://mecano.gme.usherb.ca/~alussierdesbiens
> "De' remi facemmo ali"
>