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implement (not flight tested) brushed motors support.

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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
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5
src/drv_pwm.h
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@ -3,6 +3,7 @@
#define MAX_MOTORS 12
#define MAX_SERVOS 8
#define MAX_INPUTS 8
#define PULSE_1MS (1000) // 1ms pulse width
typedef struct drv_pwm_config_t {
bool enableInput;
@ -15,8 +16,8 @@ typedef struct drv_pwm_config_t {
uint8_t adcChannel; // steal one RC input for current sensor
uint16_t motorPwmRate;
uint16_t servoPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver;
// default of zero means PULSE_1MS, otherwise set to given value. Used by 3D mode.
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
uint16_t failsafeThreshold;
} drv_pwm_config_t;