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Code Issues Wiki Activity

Implemented Camera Control using Hardware and Software PWM

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This commit is contained in:
DieHertz 2017-05-18 18:35:33 +03:00
parent 491ecba4ed
commit cc358dc405
21 changed files with 399 additions and 22 deletions
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36
src/main/drivers/pwm_output.c
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@ -96,7 +96,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
#endif
}
static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion)
void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion)
{
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
@ -121,11 +121,11 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
TIM_Cmd(timerHardware->tim, ENABLE);
#endif
port->ccr = timerChCCR(timerHardware);
channel->ccr = timerChCCR(timerHardware);
port->tim = timerHardware->tim;
channel->tim = timerHardware->tim;
*port->ccr = 0;
*channel->ccr = 0;
}
static void pwmWriteUnused(uint8_t index, float value)
@ -137,7 +137,7 @@ static void pwmWriteUnused(uint8_t index, float value)
static void pwmWriteStandard(uint8_t index, float value)
{
/* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
*motors[index].ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
*motors[index].channel.ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
}
#ifdef USE_DSHOT
@ -176,8 +176,8 @@ void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
{
for (int index = 0; index < motorCount; index++) {
// Set the compare register to 0, which stops the output pulsing if the timer overflows
if (motors[index].ccr) {
*motors[index].ccr = 0;
if (motors[index].channel.ccr) {
*motors[index].channel.ccr = 0;
}
}
}
@ -208,11 +208,11 @@ static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{
for (int index = 0; index < motorCount; index++) {
if (motors[index].forceOverflow) {
timerForceOverflow(motors[index].tim);
timerForceOverflow(motors[index].channel.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.
*motors[index].ccr = 0;
*motors[index].channel.ccr = 0;
}
}
@ -327,11 +327,11 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
motors[motorIndex].pulseScale = ((motorConfig->motorPwmProtocol == PWM_TYPE_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
pwmOutConfig(&motors[motorIndex], timerHardware, hz, period, idlePulse, motorConfig->motorPwmInversion);
pwmOutConfig(&motors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorPwmInversion);
bool timerAlreadyUsed = false;
for (int i = 0; i < motorIndex; i++) {
if (motors[i].tim == motors[motorIndex].tim) {
if (motors[i].channel.tim == motors[motorIndex].channel.tim) {
timerAlreadyUsed = true;
break;
}
@ -424,8 +424,8 @@ uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, const uint16_t value)
#ifdef USE_SERVOS
void pwmWriteServo(uint8_t index, float value)
{
if (index < MAX_SUPPORTED_SERVOS && servos[index].ccr) {
*servos[index].ccr = lrintf(value);
if (index < MAX_SUPPORTED_SERVOS && servos[index].channel.ccr) {
*servos[index].channel.ccr = lrintf(value);
}
}
@ -453,7 +453,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
/* flag failure and disable ability to arm */
break;
}
pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
pwmOutConfig(&servos[servoIndex].channel, timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
servos[servoIndex].enabled = true;
}
}
@ -466,10 +466,10 @@ void pwmWriteBeeper(bool onoffBeep)
if (!beeperPwm.io)
return;
if (onoffBeep == true) {
*beeperPwm.ccr = (PWM_TIMER_1MHZ / freqBeep) / 2;
*beeperPwm.channel.ccr = (PWM_TIMER_1MHZ / freqBeep) / 2;
beeperPwm.enabled = true;
} else {
*beeperPwm.ccr = 0;
*beeperPwm.channel.ccr = 0;
beeperPwm.enabled = false;
}
}
@ -492,9 +492,9 @@ void beeperPwmInit(IO_t io, uint16_t frequency)
IOConfigGPIO(beeperPwm.io, IOCFG_AF_PP);
#endif
freqBeep = frequency;
pwmOutConfig(&beeperPwm, timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / freqBeep, (PWM_TIMER_1MHZ / freqBeep) / 2, 0);
pwmOutConfig(&beeperPwm.channel, timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / freqBeep, (PWM_TIMER_1MHZ / freqBeep) / 2, 0);
}
*beeperPwm.ccr = 0;
*beeperPwm.channel.ccr = 0;
beeperPwm.enabled = false;
}
#endif