Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

implement (not flight tested) brushed motors support.

Browse source 
set motor_pwm_rate to some value > 500 (1000, 8000, 16000 etc works on my scope).
then the motor output can be used to directly drive brushed motor fets.
PWM is rescaled to 0-base in brushed mode, so all same values of min/maxthrottle apply.
This commit is contained in:
dongie 2014-01-31 11:56:55 +09:00
parent a695ddd66a
commit e8b3d00003
5 changed files with 40 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

38
src/drv_pwm.c
View file

@ -1,7 +1,5 @@
#include "board.h"
#define PULSE_1MS (1000) // 1ms pulse width
/*
Configuration maps:
@ -53,10 +51,13 @@ enum {
TYPE_S = 0x80
};
typedef void (* pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
static pwmPortData_t pwmPorts[MAX_PORTS];
static uint16_t captures[MAX_INPUTS];
static pwmPortData_t *motors[MAX_MOTORS];
static pwmPortData_t *servos[MAX_SERVOS];
static pwmWriteFuncPtr pwmWritePtr = NULL;
static uint8_t numMotors = 0;
static uint8_t numServos = 0;
static uint8_t numInputs = 0;
@ -138,6 +139,7 @@ static const uint8_t * const hardwareMaps[] = {
};
#define PWM_TIMER_MHZ 1
#define PWM_BRUSHED_TIMER_MHZ 8
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{
@ -195,10 +197,10 @@ static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
gpioInit(gpio, &cfg);
}
static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value)
static pwmPortData_t *pwmOutConfig(uint8_t port, uint8_t mhz, uint16_t period, uint16_t value)
{
pwmPortData_t *p = &pwmPorts[port];
configTimeBase(timerHardware[port].tim, period, PWM_TIMER_MHZ);
configTimeBase(timerHardware[port].tim, period, mhz);
pwmGPIOConfig(timerHardware[port].gpio, timerHardware[port].pin, Mode_AF_PP);
pwmOCConfig(timerHardware[port].tim, timerHardware[port].channel, value);
// Needed only on TIM1
@ -220,6 +222,7 @@ static pwmPortData_t *pwmOutConfig(uint8_t port, uint16_t period, uint16_t value
p->ccr = &timerHardware[port].tim->CCR4;
break;
}
p->period = period;
return p;
}
@ -290,6 +293,16 @@ static void pwmCallback(uint8_t port, uint16_t capture)
}
}
static void pwmWriteBrushed(uint8_t index, uint16_t value)
{
*motors[index]->ccr = (value - 1000) * motors[index]->period / 1000;
}
static void pwmWriteStandard(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value;
}
bool pwmInit(drv_pwm_config_t *init)
{
int i = 0;
@ -354,19 +367,30 @@ bool pwmInit(drv_pwm_config_t *init)
pwmInConfig(port, pwmCallback, numInputs);
numInputs++;
} else if (mask & TYPE_M) {
motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, init->idlePulse > 0 ? init->idlePulse : PULSE_1MS);
uint32_t hz, mhz;
if (init->motorPwmRate > 500)
mhz = PWM_BRUSHED_TIMER_MHZ;
else
mhz = PWM_TIMER_MHZ;
hz = mhz * 1000000;
motors[numMotors++] = pwmOutConfig(port, mhz, hz / init->motorPwmRate, init->idlePulse);
} else if (mask & TYPE_S) {
servos[numServos++] = pwmOutConfig(port, 1000000 / init->servoPwmRate, PULSE_1MS);
servos[numServos++] = pwmOutConfig(port, PWM_TIMER_MHZ, 1000000 / init->servoPwmRate, PULSE_1MS);
}
}
// determine motor writer function
pwmWritePtr = pwmWriteStandard;
if (init->motorPwmRate > 500)
pwmWritePtr = pwmWriteBrushed;
return false;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (index < numMotors)
*motors[index]->ccr = value;
pwmWritePtr(index, value);
}
void pwmWriteServo(uint8_t index, uint16_t value)