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https://github.com/betaflight/betaflight.git
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PWM output calculations dynamic based on clock speed
This commit is contained in:
blckmn
parent
14f82e2a63
commit
b9ebf8f4fd
11 changed files with 117 additions and 139 deletions
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@ -28,9 +28,6 @@
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#include "timer.h"
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#include "drivers/pwm_output.h"
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#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
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#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
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static pwmWriteFunc *pwmWrite;
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static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
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static pwmCompleteWriteFunc *pwmCompleteWrite = NULL;
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@ -99,16 +96,19 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
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#endif
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}
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static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value, uint8_t inversion)
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static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion)
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{
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#if defined(USE_HAL_DRIVER)
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TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
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if(Handle == NULL) return;
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#endif
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configTimeBase(timerHardware->tim, period, mhz);
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pwmOCConfig(timerHardware->tim, timerHardware->channel, value,
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inversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
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configTimeBase(timerHardware->tim, period, hz);
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pwmOCConfig(timerHardware->tim,
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timerHardware->channel,
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value,
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inversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output
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);
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#if defined(USE_HAL_DRIVER)
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if(timerHardware->output & TIMER_OUTPUT_N_CHANNEL)
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@ -122,7 +122,7 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
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#endif
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port->ccr = timerChCCR(timerHardware);
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port->period = period;
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port->tim = timerHardware->tim;
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*port->ccr = 0;
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@ -134,29 +134,10 @@ static void pwmWriteUnused(uint8_t index, float value)
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UNUSED(value);
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}
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static void pwmWriteBrushed(uint8_t index, float value)
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{
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*motors[index].ccr = lrintf((value - 1000) * motors[index].period / 1000);
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}
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static void pwmWriteStandard(uint8_t index, float value)
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{
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*motors[index].ccr = lrintf(value);
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}
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static void pwmWriteOneShot125(uint8_t index, float value)
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{
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*motors[index].ccr = lrintf(value * ONESHOT125_TIMER_MHZ/8.0f);
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}
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static void pwmWriteOneShot42(uint8_t index, float value)
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{
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*motors[index].ccr = lrintf(value * ONESHOT42_TIMER_MHZ/24.0f);
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}
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static void pwmWriteMultiShot(uint8_t index, float value)
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{
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*motors[index].ccr = lrintf(((value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
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/* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
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*motors[index].ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
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}
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#ifdef USE_DSHOT
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@ -246,32 +227,32 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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{
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memset(motors, 0, sizeof(motors));
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uint32_t timerMhzCounter = 0;
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bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
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float sMin = 0;
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float sLen = 0;
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switch (motorConfig->motorPwmProtocol) {
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default:
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case PWM_TYPE_ONESHOT125:
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timerMhzCounter = ONESHOT125_TIMER_MHZ;
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pwmWrite = &pwmWriteOneShot125;
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sMin = 125e-6f;
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sLen = 125e-6f;
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break;
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case PWM_TYPE_ONESHOT42:
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timerMhzCounter = ONESHOT42_TIMER_MHZ;
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pwmWrite = &pwmWriteOneShot42;
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sMin = 42e-6f;
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sLen = 42e-6f;
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break;
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case PWM_TYPE_MULTISHOT:
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timerMhzCounter = MULTISHOT_TIMER_MHZ;
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pwmWrite = &pwmWriteMultiShot;
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sMin = 5e-6f;
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sLen = 20e-6f;
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break;
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case PWM_TYPE_BRUSHED:
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timerMhzCounter = PWM_BRUSHED_TIMER_MHZ;
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pwmWrite = &pwmWriteBrushed;
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sMin = 0;
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useUnsyncedPwm = true;
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idlePulse = 0;
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break;
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case PWM_TYPE_STANDARD:
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timerMhzCounter = PWM_TIMER_MHZ;
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pwmWrite = &pwmWriteStandard;
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sMin = 1e-3f;
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sLen = 1e-3f;
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useUnsyncedPwm = true;
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idlePulse = 0;
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break;
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@ -295,6 +276,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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}
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if (!isDshot) {
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pwmWrite = &pwmWriteStandard;
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pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
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}
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@ -314,7 +296,9 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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#ifdef USE_DSHOT
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if (isDshot) {
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pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
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pwmDshotMotorHardwareConfig(timerHardware,
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motorIndex,
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motorConfig->motorPwmProtocol,
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motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
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motors[motorIndex].enabled = true;
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continue;
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@ -328,12 +312,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
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#endif
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if (useUnsyncedPwm) {
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const uint32_t hz = timerMhzCounter * 1000000;
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pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse, motorConfig->motorPwmInversion);
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} else {
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pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0, motorConfig->motorPwmInversion);
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}
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/* standard PWM outputs */
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const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen));
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const uint32_t clock = timerClock(timerHardware->tim);
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/* used to find the desired timer frequency for max resolution */
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const unsigned prescaler = ((clock / pwmRateHz) + 0xffff) / 0x10000; /* rounding up */
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const uint32_t hz = clock / prescaler;
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const unsigned period = hz / pwmRateHz;
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/*
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if brushed then it is the entire length of the period.
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TODO: this can be moved back to periodMin and periodLen
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once mixer outputs a 0..1 float value.
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*/
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motors[motorIndex].pulseScale = ((motorConfig->motorPwmProtocol == PWM_TYPE_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
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motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
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pwmOutConfig(&motors[motorIndex], timerHardware, hz, period, idlePulse, motorConfig->motorPwmInversion);
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bool timerAlreadyUsed = false;
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for (int i = 0; i < motorIndex; i++) {
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@ -364,16 +360,16 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
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{
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switch (pwmProtocolType) {
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case(PWM_TYPE_PROSHOT1000):
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return MOTOR_PROSHOT1000_MHZ * 1000000;
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return MOTOR_PROSHOT1000_HZ;
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case(PWM_TYPE_DSHOT1200):
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return MOTOR_DSHOT1200_MHZ * 1000000;
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return MOTOR_DSHOT1200_HZ;
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case(PWM_TYPE_DSHOT600):
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return MOTOR_DSHOT600_MHZ * 1000000;
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return MOTOR_DSHOT600_HZ;
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case(PWM_TYPE_DSHOT300):
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return MOTOR_DSHOT300_MHZ * 1000000;
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return MOTOR_DSHOT300_HZ;
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default:
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case(PWM_TYPE_DSHOT150):
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return MOTOR_DSHOT150_MHZ * 1000000;
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return MOTOR_DSHOT150_HZ;
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}
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}
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@ -460,8 +456,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
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/* flag failure and disable ability to arm */
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break;
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}
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pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
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pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_HZ, PWM_TIMER_HZ / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
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servos[servoIndex].enabled = true;
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}
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}
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@ -474,7 +469,7 @@ void pwmWriteBeeper(bool onoffBeep)
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if(!beeperPwm.io)
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return;
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if(onoffBeep == true) {
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*beeperPwm.ccr = (1000000/freqBeep)/2;
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*beeperPwm.ccr = (PWM_TIMER_HZ / freqBeep) / 2;
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beeperPwm.enabled = true;
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} else {
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*beeperPwm.ccr = 0;
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@ -500,7 +495,7 @@ void beeperPwmInit(IO_t io, uint16_t frequency)
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IOConfigGPIO(beeperPwm.io, IOCFG_AF_PP);
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#endif
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freqBeep = frequency;
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pwmOutConfig(&beeperPwm, timer, PWM_TIMER_MHZ, 1000000/freqBeep, (1000000/freqBeep)/2,0);
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pwmOutConfig(&beeperPwm, timer, PWM_TIMER_HZ, PWM_TIMER_HZ / freqBeep, (PWM_TIMER_HZ / freqBeep) / 2, 0);
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}
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*beeperPwm.ccr = 0;
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beeperPwm.enabled = false;
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