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Code Issues Wiki Activity

Added PWM inversion to motor config

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This commit is contained in:
DieHertz 2016-12-27 13:25:37 +03:00 • committed by borisbstyle
parent 8c4914b330
commit 0e75b4131e
8 changed files with 34 additions and 21 deletions
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14
src/main/drivers/pwm_output.c
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@ -83,7 +83,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
#endif
}
static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value, uint8_t inversion)
{
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
@ -91,7 +91,8 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
#endif
configTimeBase(timerHardware->tim, period, mhz);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value,
inversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
#if defined(USE_HAL_DRIVER)
HAL_TIM_PWM_Start(Handle, timerHardware->channel);
@ -259,7 +260,8 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#ifdef USE_DSHOT
if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol);
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
motors[motorIndex].enabled = true;
continue;
}
@ -274,9 +276,9 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse);
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse, motorConfig->motorPwmInversion);
} else {
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0);
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0, motorConfig->motorPwmInversion);
}
bool timerAlreadyUsed = false;
@ -348,7 +350,7 @@ void servoInit(const servoConfig_t *servoConfig)
break;
}
pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse);
pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
servos[servoIndex].enabled = true;
}
}