[Gumstix-users] Problems getting servos 1A-C working

[Marq R. <mar...@ya...>]

I am trying to control 6 different servos based on feedback from an IMU and
have servos 3A-C up and working. When I use servos 1A-C the robositx powers
down and resets so I assume that I am initializing the ports or timers wrong
and was wondering if you guys would take a look.
--------------------------------------------------------------------------------------------------------------
const char      *i2cDevName = "/dev/i2c-0";
   int                 i2cDev;
   int		       gI2cAddr = 0x0B;

int 			ch1 = 0x86;// register address for OCR3A
int 			ch2 = 0x84;// register address for OCR3B
int 			ch3 = 0x82;// register address for OCR3C
int 			ch4 = 0x2A;// register address for OCR1A
int 			ch5 = 0x28;// register address for OCR1B
int 			ch6 = 0x78;// register address for OCR1C

if (( i2cDev = open( i2cDevName, O_RDWR )) < 0 )
    {
        LogError( "Error  opening '%s': %s\n", i2cDevName, strerror( errno
));
        exit( 1 );
    }

I2cSetSlaveAddress( i2cDev, gI2cAddr, I2C_USE_CRC );

/*# Set COM mode to 2. This causes the OCR pin to fall when the timer
# reaches the value stored in the OCR register and causes the OCR pin
# to rise when the counter gets reset to zero.
#
# Use a divide by 8 prescalar, which gives a 2MHz clock which will
# overflow every 32.7 msec, which is suitable for driving R/C servos*/
   //Setup timer 1
   I2C_IO_WriteReg8( i2cDev, 0x2F, 0xAA );  //REG_IO8("TCCR1A",    0x2F)
   I2C_IO_WriteReg8( i2cDev, 0x2E, 0x1A );  //REG_IO8("TCCR1B",    0x2E)
   I2C_IO_WriteReg16( i2cDev, 0x26, 4000 );  //REG_IO8("ICR1",     0x26)
   I2C_IO_WriteReg16( i2cDev, 0x2C, 0    );  //REG_IO8("TCNT1",    0x2C)
   //Setup timer 3
   I2C_IO_WriteReg8( i2cDev, 0x8B, 0xAA );  //REG_IO8("TCCR3A",    0x8B)
   I2C_IO_WriteReg8( i2cDev, 0x8A, 0x1A );  //REG_IO8("TCCR3B",    0x8A)
   I2C_IO_WriteReg16( i2cDev, 0x80, 4000 );  //REG_IO8("ICR3",     0x80)
   I2C_IO_WriteReg16( i2cDev, 0x88, 0    );  //REG_IO8("TCNT3",    0x88)
   //Move servos to home position
   I2C_IO_WriteReg16( i2cDev, ch1, servo1*2 );//ch1= throtle
   I2C_IO_WriteReg16( i2cDev, ch2, servo2*2 );//ch2= roll left
   I2C_IO_WriteReg16( i2cDev, ch3, servo3*2 );//ch3= pitch
   I2C_IO_WriteReg16( i2cDev, ch4, servo4*2 );//ch4= yaw
   I2C_IO_WriteReg16( i2cDev, ch5, servo5*2 );//ch5= switch
   I2C_IO_WriteReg16( i2cDev, ch6, servo6*2 );//ch6= roll right
   //Set DDR registers for ports B and E
   I2C_IO_SetGPIODir( i2cDev, 0x18, 224, 224 ); //REG_IO8("PORTB",0x18),224
= pins 5,6, and 7 are output
   I2C_IO_SetGPIODir( i2cDev, 0x18, 56 , 56 ); //REG_IO8("PORTE",0x03),56 =
pins 3,4, and 5 are output
----------------------------------------------------------------------------------------------------------------------------------------------------

thanks for your help
-Marq
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