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F7 pwm unify

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This commit is contained in:
Sami Korhonen 2016-09-30 13:26:39 +03:00
parent 2a91c807c0
commit 632405cdb7
1 changed files with 14 additions and 14 deletions
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26
src/main/drivers/pwm_output_hal.c
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@ -77,7 +77,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
configTimeBase(timerHardware->tim, period, mhz);
IO_t io = IOGetByTag(timerHardware->tag);
const IO_t io = IOGetByTag(timerHardware->tag);
IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
IOConfigGPIOAF(io, IOCFG_AF_PP, timerHardware->alternateFunction);
@ -121,16 +121,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
*motors[index]->ccr = value;
}
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
}
static void pwmWriteOneShot125(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
}
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
}
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
*motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
@ -138,15 +138,14 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled)
if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled) {
motors[index]->pwmWritePtr(index, value);
}
}
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
{
uint8_t index;
for(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;
}
@ -184,14 +183,14 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate)
{
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
const uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, 0);
motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
}
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_TIMER_MHZ * 1000000;
const uint32_t hz = PWM_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
@ -234,7 +233,8 @@ void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, ui
void pwmWriteServo(uint8_t index, uint16_t value)
{
if (servos[index] && index < MAX_SERVOS)
if (servos[index] && index < MAX_SERVOS) {
*servos[index]->ccr = value;
}
}
#endif