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Moved function declarations out of main. Tidied drivers.

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This commit is contained in:
Martin Budden 2016-08-02 15:11:35 +01:00
parent c50efe6352
commit 1c997abaaf
31 changed files with 112 additions and 96 deletions
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23
src/main/drivers/pwm_output.c
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@ -71,12 +71,11 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
}
else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
} else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
}
TIM_OCInitStructure.TIM_Pulse = value;
TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
@ -175,7 +174,7 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
{
for(int index = 0; index < motorCount; index++){
for (int index = 0; index < motorCount; index++) {
// Set the compare register to 0, which stops the output pulsing if the timer overflows
*motors[index]->ccr = 0;
}
@ -197,13 +196,13 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
bool overflowed = false;
// If we have not already overflowed this timer
for (int j = 0; j < index; j++) {
if (motors[j]->tim == motors[index]->tim) {
overflowed = true;
break;
}
if (motors[j]->tim == motors[index]->tim) {
overflowed = true;
break;
}
}
if (!overflowed) {
timerForceOverflow(motors[index]->tim);
timerForceOverflow(motors[index]->tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.