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Convert motor values at the final stage // Increase resolution

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This commit is contained in:
borisbstyle 2017-03-08 01:19:40 +01:00
parent c5054f9e9d
commit b21877438e
9 changed files with 62 additions and 50 deletions
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28
src/main/drivers/pwm_output.c
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@ -125,38 +125,38 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
*port->ccr = 0;
}
static void pwmWriteUnused(uint8_t index, uint16_t value)
static void pwmWriteUnused(uint8_t index, float value)
{
UNUSED(index);
UNUSED(value);
}
static void pwmWriteBrushed(uint8_t index, uint16_t value)
static void pwmWriteBrushed(uint8_t index, float value)
{
*motors[index].ccr = (value - 1000) * motors[index].period / 1000;
*motors[index].ccr = lrintf((value - 1000) * motors[index].period / 1000);
}
static void pwmWriteStandard(uint8_t index, uint16_t value)
static void pwmWriteStandard(uint8_t index, float value)
{
*motors[index].ccr = value;
*motors[index].ccr = lrintf(value);
}
static void pwmWriteOneShot125(uint8_t index, uint16_t value)
static void pwmWriteOneShot125(uint8_t index, float value)
{
*motors[index].ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
*motors[index].ccr = lrintf(value * ONESHOT125_TIMER_MHZ/8.0f);
}
static void pwmWriteOneShot42(uint8_t index, uint16_t value)
static void pwmWriteOneShot42(uint8_t index, float value)
{
*motors[index].ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
*motors[index].ccr = lrintf(value * ONESHOT42_TIMER_MHZ/24.0f);
}
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
static void pwmWriteMultiShot(uint8_t index, float value)
{
*motors[index].ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
*motors[index].ccr = lrintf(((value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
}
void pwmWriteMotor(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, float value)
{
if (pwmMotorsEnabled) {
pwmWritePtr(index, value);
@ -374,10 +374,10 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
#endif
#ifdef USE_SERVOS
void pwmWriteServo(uint8_t index, uint16_t value)
void pwmWriteServo(uint8_t index, float value)
{
if (index < MAX_SUPPORTED_SERVOS && servos[index].ccr) {
*servos[index].ccr = value;
*servos[index].ccr = lrintf(value);
}
}