hfServo.c File Reference

#include <stdint.h>
#include "serialWombat.h"
#include "outputScale.h"

Classes
struct	hfServo_n

Macros
#define	servo   ((hfServo_t*) CurrentPinRegister)
#define	DUTY_CYCLE   ((((uint32_t)CurrentPinRegister->generic.buffer * servo->variablePeriod) + (((uint32_t)servo->fixedPeriod) <<16)) / (servo->period))

Typedefs
typedef struct hfServo_n	hfServo_t

Functions
void	initHfServo (void)
void	updateHfServo ()

Macro Definition Documentation

DUTY_CYCLE

#define DUTY_CYCLE   ((((uint32_t)CurrentPinRegister->generic.buffer * servo->variablePeriod) + (((uint32_t)servo->fixedPeriod) <<16)) / (servo->period))

servo

#define servo   ((hfServo_t*) CurrentPinRegister)

Typedef Documentation

hfServo_t

typedef struct hfServo_n hfServo_t

Function Documentation

initHfServo()

void initHfServo

(

void

)

\brief Initialization routine for Servo.

---

CONFIGURE_CHANNEL_MODE_0:

Initialize Servo. This command causes the pulse width to default to 500uS to 2500uS.

BYTE 0	BYTE 1	BYTE 2	BYTE 3	BYTE 4	BYTE 5	BYTE 6	BYTE 7
0xC0	Pin To Set	0x1A (hf servo mode)	Pin To Set (Required for compatability with SW19)	Position Value Low Byte	Position Value High Byte	0x00 or 0x01 (Normal or Reverse)	0x55*

*0x55 is recommended, but any byte is acceptable

Response:

Command is echoed back.

Examples:

Set pin 2 to Servo, Position 0x4080, no reverse

0xC0 0x02 0x16 0x02 0x80 0x40 0x00 0x55

---

CONFIGURE_CHANNEL_MODE_1:

Set Pulse widths. This command must come after a servo CONFIGURE_CHANNEL_MODE_0 command for the same pin. Units are microseconds

BYTE 0	BYTE 1	BYTE 2	BYTE 3	BYTE 4	BYTE 5	BYTE 6	BYTE 7
0xC1	Pin To Set	0x1A (hf servo mode)	Fixed pulse time low byte	Fixed pulse time high byte	Variable pulse time low byte	variable pulse time high byte	0x55*

*0x55 is recommended, but any byte is acceptable

Response:

Command is echoed back.

Examples:

Set pin 2 Servo Pulse width to range between 750 and 1750 uS.
Fixed period is 750 = 0x02EE, variable period is (1750 - 750) = 1000 = 0x03E8

0xC1 0x02 0x16 0xEE 0x02 0xE8 0x03 0x55

updateHfServo()

void updateHfServo

(

)