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Output.ino
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Output.ino
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/*
HobbyWing SkyWalker 20A
1.1 输出能力：持续电流20A，短时电流25A（不少于10秒）；
1.2 电源输入：2-3节锂电池组或5—9节镍氢/镍镉电池组；
1.3 BEC输出：5V@2A （线性稳压模式－linear mode）；
1.4 油门信号频率范围（Refresh rate）：50Hz—432Hz；
1.5 最高转速：2极马达210000转/分钟，6极马达70000转/分钟，12极马达35000转/分钟；
1.6 尺寸： 42mm（长）*25mm（宽）*8mm（高）；
1.7 重量： 19g；
*/
#if defined(PROMINI) && defined(ESC_SKYWALKER_432HZ)
volatile uint8_t atomicPWM_PIN11_lowState;
volatile uint8_t atomicPWM_PIN11_highState;
volatile uint8_t atomicPWM_PIN3_lowState;
volatile uint8_t atomicPWM_PIN3_highState;
#endif
/**************************************************************************************/
/*************** Motor Pin order ********************/
/**************************************************************************************/
// since we are uing the PWM generation in a direct way, the pin order is just to inizialie the right pins
// its not possible to change a PWM output pin just by changing the order
#if defined(PROMINI)
uint8_t PWM_PIN[8] = {9, 10, 11, 3, 6, 5, A2, 12}; //for a quad+: rear,right,left,front
#endif
#if defined(PROMICRO)
#if !defined(HWPWM6)
#if !defined(TEENSY20)
uint8_t PWM_PIN[8] = {9, 10, 5, 6, 4, A2, SW_PWM_P3, SW_PWM_P4}; //for a quad+: rear,right,left,front
#else
uint8_t PWM_PIN[8] = {14, 15, 9, 12, 22, 18, 16, 17}; //for a quad+: rear,right,left,front
#endif
#else
#if !defined(TEENSY20)
uint8_t PWM_PIN[8] = {9, 10, 5, 6, 11, 13, SW_PWM_P3, SW_PWM_P4}; //for a quad+: rear,right,left,front
#else
uint8_t PWM_PIN[8] = {14, 15, 9, 12, 4, 10, 16, 17}; //for a quad+: rear,right,left,front
#endif
#endif
#endif
#if defined(MEGA)
uint8_t PWM_PIN[8] = {3, 5, 6, 2, 7, 8, 9, 10}; //for a quad+: rear,right,left,front //+ for y6: 7:under right 8:under left
#endif
/**************************************************************************************/
/*************** Software PWM & Servo variables ********************/
/**************************************************************************************/
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
#if defined(SERVO)
#if defined(AIRPLANE)|| defined(HELICOPTER)
// To prevent motor to start at reset. atomicServo[7]=5 or 249 if reversed servo
volatile uint8_t atomicServo[8] = {125, 125, 125, 125, 125, 125, 125, 5};
#else
volatile uint8_t atomicServo[8] = {125, 125, 125, 125, 125, 125, 125, 125};
#endif
#endif
#if (NUMBER_MOTOR > 4)
//for HEX Y6 and HEX6/HEX6X/HEX6H flat for promini
volatile uint8_t atomicPWM_PIN5_lowState;
volatile uint8_t atomicPWM_PIN5_highState;
volatile uint8_t atomicPWM_PIN6_lowState;
volatile uint8_t atomicPWM_PIN6_highState;
#endif
#if (NUMBER_MOTOR > 6)
//for OCTO on promini
volatile uint8_t atomicPWM_PINA2_lowState;
volatile uint8_t atomicPWM_PINA2_highState;
volatile uint8_t atomicPWM_PIN12_lowState;
volatile uint8_t atomicPWM_PIN12_highState;
#endif
#else
#if defined(SERVO)
#if defined(AIRPLANE)|| defined(HELICOPTER)
// To prevent motor to start at reset. atomicServo[7]=5 or 249 if reversed servo
volatile uint16_t atomicServo[8] = {8000, 8000, 8000, 8000, 8000, 8000, 8000, 320};
#else
volatile uint16_t atomicServo[8] = {8000, 8000, 8000, 8000, 8000, 8000, 8000, 8000};
#endif
#endif
#if (NUMBER_MOTOR > 4)
//for HEX Y6 and HEX6/HEX6X/HEX6H and for Promicro
volatile uint16_t atomicPWM_PIN5_lowState;
volatile uint16_t atomicPWM_PIN5_highState;
volatile uint16_t atomicPWM_PIN6_lowState;
volatile uint16_t atomicPWM_PIN6_highState;
#endif
#if (NUMBER_MOTOR > 6)
//for OCTO on Promicro
volatile uint16_t atomicPWM_PINA2_lowState;
volatile uint16_t atomicPWM_PINA2_highState;
volatile uint16_t atomicPWM_PIN12_lowState;
volatile uint16_t atomicPWM_PIN12_highState;
#endif
#endif
/**************************************************************************************/
/*************** Writes the Servos values to the needed format ********************/
/**************************************************************************************/
void writeServos(){
#if defined(SERVO)
#if defined(PRI_SERVO_FROM) // write primary servos
for (uint8_t i = (PRI_SERVO_FROM - 1); i < PRI_SERVO_TO; i++)
{
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
atomicServo[i] = (servo[i] - 1000) >> 2;
#else
atomicServo[i] = (servo[i] - 1000) << 4;
#endif
}
#endif
#if defined(SEC_SERVO_FROM) // write secundary servos
#if (defined(SERVO_TILT)|| defined(SERVO_MIX_TILT)) && defined(MMSERVOGIMBAL)
// Moving Average Servo Gimbal by Magnetron1
static int16_t mediaMobileServoGimbalADC[3][MMSERVOGIMBALVECTORLENGHT];
static int32_t mediaMobileServoGimbalADCSum[3];
static uint8_t mediaMobileServoGimbalIDX;
uint8_t axis;
mediaMobileServoGimbalIDX = ++mediaMobileServoGimbalIDX % MMSERVOGIMBALVECTORLENGHT;
for (axis = (SEC_SERVO_FROM - 1); axis < SEC_SERVO_TO; axis++)
{
mediaMobileServoGimbalADCSum[axis] -= mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX];
mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX] = servo[axis];
mediaMobileServoGimbalADCSum[axis] += mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX];
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6))
atomicServo[axis] = (mediaMobileServoGimbalADCSum[axis] / MMSERVOGIMBALVECTORLENGHT - 1000) >> 2;
#else
atomicServo[axis] = (mediaMobileServoGimbalADCSum[axis] / MMSERVOGIMBALVECTORLENGHT - 1000) << 4;
#endif
}
#else
for (uint8_t i = (SEC_SERVO_FROM - 1); i < SEC_SERVO_TO; i++)
{
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
atomicServo[i] = (servo[i] - 1000) >> 2;
#else
atomicServo[i] = (servo[i] - 1000) << 4;
#endif
}
#endif
#endif
// write HW PWM gimbal servos for the mega (needs to be also implemented to the MMSERVOGIMBAL)
#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
OCR5C = servo[0];
OCR5B = servo[1];
OCR5A = servo[2];
OCR1A = servo[3];
OCR1B = servo[4];
#endif
#endif
}
/**************************************************************************************/
/************ Writes the Motors values to the PWM compare register ******************/
/**************************************************************************************/
void writeMotors() // [1000;2000] => [125;250]
{
/**************** Specific PWM Timers & Registers for the MEGA's *******************/
#if defined(MEGA)// [1000:2000] => [8000:16000] for timer 3 & 4 for mega
#if (NUMBER_MOTOR > 0)
#ifndef EXT_MOTOR_RANGE
OCR3C = motor[0] << 3; // pin 3
#else
OCR3C = ((motor[0] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifndef EXT_MOTOR_RANGE
OCR3A = motor[1] << 3; // pin 5
#else
OCR3A = ((motor[1] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 2)
#ifndef EXT_MOTOR_RANGE
OCR4A = motor[2] << 3; // pin 6
#else
OCR4A = ((motor[2] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifndef EXT_MOTOR_RANGE
OCR3B = motor[3] << 3; // pin 2
#else
OCR3B = ((motor[3] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 4)
#ifndef EXT_MOTOR_RANGE
OCR4B = motor[4] << 3; // pin 7
OCR4C = motor[5] << 3; // pin 8
#else
OCR4B = ((motor[4] << 4) - 16000) + 128;
OCR4C = ((motor[5] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 6)
#ifndef EXT_MOTOR_RANGE
OCR2B = motor[6] >> 3; // pin 9
OCR2A = motor[7] >> 3; // pin 10
#else
OCR2B = (motor[6] >> 2) - 250;
OCR2A = (motor[7] >> 2) - 250;
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
#if (NUMBER_MOTOR > 0) // Timer 1 A & B [1000:2000] => [8000:16000]
#ifndef EXT_MOTOR_RANGE
OCR1A = motor[0] << 3; // pin 9
#else
OCR1A = ((motor[0] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifndef EXT_MOTOR_RANGE
OCR1B = motor[1] << 3; // pin 10
#else
OCR1B = ((motor[1] << 4) - 16000) + 128;
#endif
#endif
#if (NUMBER_MOTOR > 2) // Timer 4 A & D [1000:2000] => [1000:2000]
#if !defined(HWPWM6)
// to write values > 255 to timer 4 A/B we need to split the bytes
#ifndef EXT_MOTOR_RANGE
TC4H = (2047 - motor[2]) >> 8; OCR4A = ((2047 - motor[2]) & 0xFF); // pin 5
#else
TC4H = 2047 - (((motor[2] - 1000) << 1) + 16) >> 8; OCR4A = (2047 - (((motor[2] - 1000) << 1) + 16) & 0xFF); // pin 5
#endif
#else
#ifndef EXT_MOTOR_RANGE
OCR3A = motor[2] << 3; // pin 5
#else
OCR3A = ((motor[2] << 4) - 16000) + 128;
#endif
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifndef EXT_MOTOR_RANGE
TC4H = motor[3] >> 8; OCR4D = (motor[3] & 0xFF); // pin 6
#else
TC4H = (((motor[3] - 1000) << 1) + 16) >> 8; OCR4D = ((((motor[3] - 1000) << 1) + 16) & 0xFF); // pin 6
#endif
#endif
#if (NUMBER_MOTOR > 4)
#if !defined(HWPWM6)
#if (NUMBER_MOTOR == 6) && !defined(SERVO)
atomicPWM_PIN5_highState = motor[4] << 3;
atomicPWM_PIN5_lowState = 16383 - atomicPWM_PIN5_highState;
atomicPWM_PIN6_highState = motor[5] << 3;
atomicPWM_PIN6_lowState = 16383 - atomicPWM_PIN6_highState;
#else
atomicPWM_PIN5_highState = ((motor[4] - 1000) << 4) + 320;
atomicPWM_PIN5_lowState = 15743 - atomicPWM_PIN5_highState;
atomicPWM_PIN6_highState = ((motor[5] - 1000) << 4) + 320;
atomicPWM_PIN6_lowState = 15743 - atomicPWM_PIN6_highState;
#endif
#else
#ifndef EXT_MOTOR_RANGE
OCR1C = motor[4] << 3; // pin 11
TC4H = motor[5] >> 8; OCR4A = (motor[5] & 0xFF); // pin 13
#else
OCR1C = ((motor[4] << 4) - 16000) + 128;
TC4H = (((motor[5] - 1000) << 1) + 16) >> 8; OCR4A = ((((motor[5] - 1000) << 1) + 16) & 0xFF); // pin 13
#endif
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if !defined(HWPWM6)
atomicPWM_PINA2_highState = ((motor[6] - 1000) << 4) + 320;
atomicPWM_PINA2_lowState = 15743 - atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7] - 1000) << 4) + 320;
atomicPWM_PIN12_lowState = 15743 - atomicPWM_PIN12_highState;
#else
atomicPWM_PINA2_highState = ((motor[6] - 1000) >> 2) + 5;
atomicPWM_PINA2_lowState = 245 - atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7] - 1000) >> 2) + 5;
atomicPWM_PIN12_lowState = 245 - atomicPWM_PIN12_highState;
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega328P (Promini) ************/
#if defined(PROMINI)
#if (NUMBER_MOTOR > 0)
#ifndef EXT_MOTOR_RANGE
OCR1A = motor[0] >> 3; // pin 9
#else
OCR1A = ((motor[0] >> 2) - 250);
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifndef EXT_MOTOR_RANGE
OCR1B = motor[1] >> 3; // pin 10
#else
OCR1B = ((motor[1] >> 2) - 250);
#endif
#endif
#if (NUMBER_MOTOR > 2)
#ifndef EXT_MOTOR_RANGE
#if defined(ESC_SKYWALKER_432HZ)
atomicPWM_PIN11_highState = (motor[2] >> 3);
atomicPWM_PIN11_lowState = 255 - atomicPWM_PIN11_highState;
#else
OCR2A = motor[2] >> 3; // pin 11
#endif
#else
OCR2A = ((motor[2] >> 2) - 250);
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifndef EXT_MOTOR_RANGE
#if defined(ESC_SKYWALKER_432HZ)
atomicPWM_PIN3_highState = (motor[3] >> 3);
atomicPWM_PIN3_lowState = 255 - atomicPWM_PIN3_highState;
#else
OCR2B = motor[3] >> 3; // pin 3
#endif
#else
OCR2B = ((motor[3] >> 2) - 250);
#endif
#endif
#if (NUMBER_MOTOR > 4)
#if (NUMBER_MOTOR == 6) && !defined(SERVO)
#ifndef EXT_MOTOR_RANGE
atomicPWM_PIN6_highState = motor[4] >> 3;
atomicPWM_PIN5_highState = motor[5] >> 3;
#else
atomicPWM_PIN6_highState = (motor[4] >> 2) - 250;
atomicPWM_PIN5_highState = (motor[5] >> 2) - 250;
#endif
atomicPWM_PIN6_lowState = 255 - atomicPWM_PIN6_highState;
atomicPWM_PIN5_lowState = 255 - atomicPWM_PIN5_highState;
#else //note: EXT_MOTOR_RANGE not possible here
atomicPWM_PIN6_highState = ((motor[4] - 1000) >> 2) + 5;
atomicPWM_PIN6_lowState = 245 - atomicPWM_PIN6_highState;
atomicPWM_PIN5_highState = ((motor[5] - 1000) >> 2) + 5;
atomicPWM_PIN5_lowState = 245 - atomicPWM_PIN5_highState;
#endif
#endif
#if (NUMBER_MOTOR > 6) //note: EXT_MOTOR_RANGE not possible here
atomicPWM_PINA2_highState = ((motor[6] - 1000) >> 2) + 5;
atomicPWM_PINA2_lowState = 245 - atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7] - 1000) >> 2) + 5;
atomicPWM_PIN12_lowState = 245 - atomicPWM_PIN12_highState;
#endif
#endif
}
// 400Hz Soft PWM for Pin 11
#if defined(PROMINI) && defined(ESC_SKYWALKER_432HZ) && (NUMBER_MOTOR > 2)
ISR(TIMER2_COMPA_vect)
{
static uint8_t state = 0;
if (state == 0)
{
PORTB |= (1 << 3); //Pin 11 High
OCR2A += atomicPWM_PIN11_highState;
state = 1;
}
else if (state == 1)
{
PORTB &= ~(1 << 3); //Pin 11 Low
OCR2A += atomicPWM_PIN11_lowState;
state = 2;
}
else if (state == 2)
{
//OCR2A += 57; // wait a little to get 400Hz
OCR2A += 35; // wait a little to get 432Hz
state = 0;
}
}
#endif
#if defined(PROMINI) && defined(ESC_SKYWALKER_432HZ) && (NUMBER_MOTOR > 3)
ISR(TIMER2_COMPB_vect)
{
static uint8_t state = 0;
if (state == 0)
{
PORTD |= (1 << 3); //Pin 3 High
OCR2B += atomicPWM_PIN3_highState;
state = 1;
}
else if (state == 1)
{
PORTD &= ~(1 << 3); //Pin 3 Low
OCR2B += atomicPWM_PIN3_lowState;
state = 2;
}
else if (state == 2)
{
//OCR2B += 57; // wait a little to get 400Hz
OCR2B += 35; // wait a little to get 432Hz
state = 0;
}
}
#endif
/**************************************************************************************/
/************ Writes the mincommand to all Motors ******************/
/**************************************************************************************/
void writeAllMotors(int16_t mc) // Sends commands to all motors
{
for (uint8_t i = 0; i < NUMBER_MOTOR; i++)
{
motor[i] = mc;
}
writeMotors();
}
/**************************************************************************************/
/************ Initialize the PWM Timers and Registers ******************/
/**************************************************************************************/
void initOutput()
{
/**************** mark all PWM pins as Output ******************/
for (uint8_t i = 0; i < NUMBER_MOTOR; i++)
{
pinMode(PWM_PIN[i], OUTPUT);
}
/**************** Specific PWM Timers & Registers for the MEGA's ******************/
#if defined(MEGA)
#if (NUMBER_MOTOR > 0)
// init 16bit timer 3
TCCR3A |= (1 << WGM31); // phase correct mode
TCCR3A &= ~(1 << WGM30);
TCCR3B |= (1 << WGM33);
TCCR3B &= ~(1 << CS31); // no prescaler
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3C1); // connect pin 3 to timer 3 channel C
#endif
#if (NUMBER_MOTOR > 1)
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#if (NUMBER_MOTOR > 2)
// init 16bit timer 4
TCCR4A |= (1 << WGM41); // phase correct mode
TCCR4A &= ~(1 << WGM40);
TCCR4B |= (1 << WGM43);
TCCR4B &= ~(1 << CS41); // no prescaler
ICR4 |= 0x3FFF; // TOP to 16383;
TCCR4A |= _BV(COM4A1); // connect pin 6 to timer 4 channel A
#endif
#if (NUMBER_MOTOR > 3)
TCCR3A |= _BV(COM3B1); // connect pin 2 to timer 3 channel B
#endif
#if (NUMBER_MOTOR > 4)
TCCR4A |= _BV(COM4B1); // connect pin 7 to timer 4 channel B
TCCR4A |= _BV(COM4C1); // connect pin 8 to timer 4 channel C
#endif
#if (NUMBER_MOTOR > 6)
// timer 2 is a 8bit timer so we cant change its range
TCCR2A |= _BV(COM2B1); // connect pin 9 to timer 2 channel B
TCCR2A |= _BV(COM2A1); // connect pin 10 to timer 2 channel A
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
#if (NUMBER_MOTOR > 0)
TCCR1A |= (1 << WGM11); // phase correct mode & no prescaler
TCCR1A &= ~(1 << WGM10);
TCCR1B &= ~(1 << WGM12) & ~(1 << CS11) & ~(1 << CS12);
TCCR1B |= (1 << WGM13) | (1 << CS10);
ICR1 |= 0x3FFF; // TOP to 16383;
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
#if !defined(HWPWM6) // timer 4A
TCCR4E |= (1 << ENHC4); // enhanced pwm mode
TCCR4B &= ~(1 << CS41); TCCR4B |= (1 << CS42) | (1 << CS40); // prescaler to 16
TCCR4D |= (1 << WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
TCCR4A |= (1 << COM4A0) | (1 << PWM4A); // connect pin 5 to timer 4 channel A
#else // timer 3A
TCCR3A |= (1 << WGM31); // phase correct mode & no prescaler
TCCR3A &= ~(1 << WGM30);
TCCR3B &= ~(1 << WGM32) & ~(1 << CS31) & ~(1 << CS32);
TCCR3B |= (1 << WGM33) | (1 << CS30);
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#endif
#if (NUMBER_MOTOR > 3)
#if defined(HWPWM6)
TCCR4E |= (1 << ENHC4); // enhanced pwm mode
TCCR4B &= ~(1 << CS41); TCCR4B |= (1 << CS42) | (1 << CS40); // prescaler to 16
TCCR4D |= (1 << WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
#endif
TCCR4C |= (1 << COM4D1) | (1 << PWM4D); // connect pin 6 to timer 4 channel D
#endif
#if (NUMBER_MOTOR > 4)
#if defined(HWPWM6)
TCCR1A |= _BV(COM1C1); // connect pin 11 to timer 1 channel C
TCCR4A |= (1 << COM4A1) | (1 << PWM4A); // connect pin 13 to timer 4 channel A
#else
initializeSoftPWM();
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if defined(HWPWM6)
initializeSoftPWM();
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega328P (Promini) ************/
#if defined(PROMINI)
#if (NUMBER_MOTOR > 0)
#if defined(ESC_SKYWALKER_432HZ)
TCCR1A |= (1 << WGM11);
TCCR1A &= ~(1 << WGM10);
TCCR1B |= (1 << WGM13);
//ICR1 |= 312; // TOP to 312 (for 400Hz);
ICR1 |= 290; // 289.351851851852, TOP to 290 (for 432Hz);
#endif
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
#if defined(ESC_SKYWALKER_432HZ)
TCCR2B = TCCR2B & 0b11111000 | 0x05;
TCCR2A = 0; // normal counting mode
TIMSK2 |= (1 << OCIE2A); // Enable CTC interrupt
#else
TCCR2A |= _BV(COM2A1); // connect pin 11 to timer 2 channel A
#endif
#endif
#if (NUMBER_MOTOR > 3)
#if defined(ESC_SKYWALKER_432HZ)
TIMSK2 |= (1 << OCIE2B); // Enable CTC interrupt
#else
TCCR2A |= _BV(COM2B1); // connect pin 3 to timer 2 channel B
#endif
#endif
#if (NUMBER_MOTOR > 5) // PIN 5 & 6 or A0 & A1
initializeSoftPWM();
#if defined(A0_A1_PIN_HEX) || (NUMBER_MOTOR > 6)
pinMode(5, INPUT); pinMode(6, INPUT); // we reactivate the INPUT affectation for these two PINs
pinMode(A0, OUTPUT); pinMode(A1, OUTPUT);
#endif
#endif
#endif
/******** special version of MultiWii to calibrate all attached ESCs ************/
#if defined(ESC_CALIB_CANNOT_FLY)
writeAllMotors(ESC_CALIB_HIGH);
delay(3000);
writeAllMotors(ESC_CALIB_LOW);
delay(500);
while (1)
{
delay(5000);
blinkLED(2, 20, 2);
#if defined(BUZZER)
alarmArray[7] = 2;
#endif
}
exit; // statement never reached
#endif
writeAllMotors(MINCOMMAND);
delay(300);
#if defined(SERVO)
initializeServo();
#endif
}
#if defined(SERVO)
/**************************************************************************************/
/************ Initialize the PWM Servos ******************/
/**************************************************************************************/
void initializeServo()
{
#if (PRI_SERVO_FROM == 1) || (SEC_SERVO_FROM == 1)
SERVO_1_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)
SERVO_2_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)
SERVO_3_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)
SERVO_4_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)
SERVO_5_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)
SERVO_6_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)
SERVO_7_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)
SERVO_8_PINMODE;
#endif
#if defined(SERVO_1_HIGH)
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) // uses timer 0 Comperator A (8 bit)
TCCR0A = 0; // normal counting mode
TIMSK0 |= (1 << OCIE0A); // Enable CTC interrupt
#define SERVO_ISR TIMER0_COMPA_vect
#define SERVO_CHANNEL OCR0A
#define SERVO_1K_US 250
#endif
#if (defined(PROMICRO) && !defined(HWPWM6)) // uses timer 3 Comperator A (11 bit)
TCCR3A &= ~(1 << WGM30) & ~(1 << WGM31); //normal counting & no prescaler
TCCR3B &= ~(1 << WGM32) & ~(1 << CS31) & ~(1 << CS32) & ~(1 << WGM33);
TCCR3B |= (1 << CS30);
TIMSK3 |= (1 << OCIE3A); // Enable CTC interrupt
#define SERVO_ISR TIMER3_COMPA_vect
#define SERVO_CHANNEL OCR3A
#define SERVO_1K_US 16000
#endif
#if defined(MEGA) // uses timer 5 Comperator A (11 bit)
TCCR5A &= ~(1 << WGM50) & ~(1 << WGM51); //normal counting & no prescaler
TCCR5B &= ~(1 << WGM52) & ~(1 << CS51) & ~(1 << CS52) & ~(1 << WGM53);
TCCR5B |= (1 << CS50);
TIMSK5 |= (1 << OCIE5A); // Enable CTC interrupt
#define SERVO_ISR TIMER5_COMPA_vect
#define SERVO_CHANNEL OCR5A
#define SERVO_1K_US 16000
#endif
#endif
// init Timer 1 and 5 of the mega for hw PWM gimbal servos
#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
TIMSK5 &= ~(1 << OCIE5A); // Disable software PWM
TCCR5A |= (1 << WGM51); // phase correct mode & prescaler to 8
TCCR5A &= ~(1 << WGM50);
TCCR5B &= ~(1 << WGM52) & ~(1 << CS50) & ~(1 << CS52);
TCCR5B |= (1 << WGM53) | (1 << CS51);
pinMode(44, OUTPUT);
TCCR5A |= (1 << COM5C1); // pin 44
pinMode(45, OUTPUT);
TCCR5A |= (1 << COM5B1); // pin 45
pinMode(46, OUTPUT);
TCCR5A |= (1 << COM5A1); // pin 46
TCCR1A |= (1 << WGM11); // phase correct mode & prescaler to 8
TCCR1A &= ~(1 << WGM10);
TCCR1B &= ~(1 << WGM12) & ~(1 << CS10) & ~(1 << CS12);
TCCR1B |= (1 << WGM13) | (1 << CS11);
pinMode(11, OUTPUT);
TCCR1A |= (1 << COM1A1); // pin 11
pinMode(12, OUTPUT);
TCCR1A |= (1 << COM1B1); // pin 12
#if defined(SERVO_RFR_50HZ)
ICR1 = 16700; // TOP to 16700;
ICR5 = 16700; // TOP to 16700;
#endif
#if defined(SERVO_RFR_160HZ)
ICR1 = 6200; // TOP to 6200;
ICR5 = 6200; // TOP to 6200;
#endif
#if defined(SERVO_RFR_300HZ)
ICR1 = 3330; // TOP to 3330;
ICR5 = 3330; // TOP to 3330;
#endif
#endif
}
/**************************************************************************************/
/************ Servo software PWM generation ******************/
/**************************************************************************************/
// prescaler is set by default to 64 on Timer0
// Duemilanove : 16MHz / 64 => 4 us
// 256 steps = 1 counter cycle = 1024 us
// for servo 2-8
// its almost the same as for servo 1
#if defined(SERVO_1_HIGH)
#define SERVO_PULSE(PIN_HIGH,ACT_STATE,SERVO_NUM,LAST_PIN_LOW) \
}else if(state == ACT_STATE){ \
LAST_PIN_LOW; \
PIN_HIGH; \
SERVO_CHANNEL+=SERVO_1K_US; \
state++; \
}else if(state == ACT_STATE+1){ \
SERVO_CHANNEL+=atomicServo[SERVO_NUM]; \
state++; \
ISR(SERVO_ISR)
{
static uint8_t state = 0; // indicates the current state of the chain
if (state == 0)
{
SERVO_1_HIGH; // set servo 1's pin high
SERVO_CHANNEL += SERVO_1K_US; // wait 1000us
state++; // count up the state
}
else if (state == 1)
{
SERVO_CHANNEL += atomicServo[SERVO_1_ARR_POS]; // load the servo's value (0-1000us)
state++; // count up the state
#if defined(SERVO_2_HIGH)
SERVO_PULSE(SERVO_2_HIGH, 2, SERVO_2_ARR_POS, SERVO_1_LOW); // the same here
#endif
#if defined(SERVO_3_HIGH)
SERVO_PULSE(SERVO_3_HIGH, 4, SERVO_3_ARR_POS, SERVO_2_LOW);
#endif
#if defined(SERVO_4_HIGH)
SERVO_PULSE(SERVO_4_HIGH, 6, SERVO_4_ARR_POS, SERVO_3_LOW);
#endif
#if defined(SERVO_5_HIGH)
SERVO_PULSE(SERVO_5_HIGH, 8, SERVO_5_ARR_POS, SERVO_4_LOW);
#endif
#if defined(SERVO_6_HIGH)
SERVO_PULSE(SERVO_6_HIGH, 10, SERVO_6_ARR_POS, SERVO_5_LOW);
#endif
#if defined(SERVO_7_HIGH)
SERVO_PULSE(SERVO_7_HIGH, 12, SERVO_7_ARR_POS, SERVO_6_LOW);
#endif
#if defined(SERVO_8_HIGH)
SERVO_PULSE(SERVO_8_HIGH, 14, SERVO_8_ARR_POS, SERVO_7_LOW);
#endif
}
else
{
LAST_LOW;
#if defined(SERVO_RFR_300HZ)
#if defined(SERVO_3_HIGH) // if there are 3 or more servos we dont need to slow it down
SERVO_CHANNEL += (SERVO_1K_US >> 3); // 0 would be better but it causes bad jitter
state = 0;
#else // if there are less then 3 servos we need to slow it to not go over 300Hz (the highest working refresh rate for the digital servos for what i know..)
SERVO_CHANNEL += SERVO_1K_US;
if (state < 4)
{
state += 2;
}
else
{
state = 0;
}
#endif
#endif
#if defined(SERVO_RFR_160HZ)
#if defined(SERVO_4_HIGH) // if there are 4 or more servos we dont need to slow it down
SERVO_CHANNEL += (SERVO_1K_US >> 3); // 0 would be better but it causes bad jitter
state = 0;
#else // if there are less then 4 servos we need to slow it to not go over ~170Hz (the highest working refresh rate for analog servos)
SERVO_CHANNEL += SERVO_1K_US;
if (state < 8)
{
state += 2;
}
else
{
state = 0;
}
#endif
#endif
#if defined(SERVO_RFR_50HZ) // to have ~ 50Hz for all servos
SERVO_CHANNEL += SERVO_1K_US;
if (state < 30)
{
state += 2;
}
else
{
state = 0;
}
#endif
}
}
#endif
#endif
/**************************************************************************************/
/************ Motor software PWM generation ******************/
/**************************************************************************************/
// SW PWM is only used if there are not enough HW PWM pins (for exampe hexa on a promini)
#if (NUMBER_MOTOR > 4) && (defined(PROMINI) || defined(PROMICRO))
/**************** Pre define the used ISR's and Timerchannels ******************/
#if !defined(PROMICRO)
#define SOFT_PWM_ISR1 TIMER0_COMPB_vect
#define SOFT_PWM_ISR2 TIMER0_COMPA_vect
#define SOFT_PWM_CHANNEL1 OCR0B
#define SOFT_PWM_CHANNEL2 OCR0A
#elif !defined(HWPWM6)
#define SOFT_PWM_ISR1 TIMER3_COMPB_vect
#define SOFT_PWM_ISR2 TIMER3_COMPC_vect
#define SOFT_PWM_CHANNEL1 OCR3B
#define SOFT_PWM_CHANNEL2 OCR3C
#else
#define SOFT_PWM_ISR2 TIMER0_COMPB_vect
#define SOFT_PWM_CHANNEL2 OCR0B
#endif
/**************** Initialize Timers and PWM Channels ******************/
void initializeSoftPWM()
{
#if !defined(PROMICRO)
TCCR0A = 0; // normal counting mode
#if (NUMBER_MOTOR > 4) && !defined(HWPWM6)
TIMSK0 |= (1 << OCIE0B); // Enable CTC interrupt
#endif
#if (NUMBER_MOTOR > 6) || ((NUMBER_MOTOR == 6) && !defined(SERVO))
TIMSK0 |= (1 << OCIE0A);
#endif
#else
#if !defined(HWPWM6)
TCCR3A &= ~(1 << WGM30) & ~(1 << WGM31); //normal counting & no prescaler
TCCR3B &= ~(1 << WGM32) & ~(1 << CS31) & ~(1 << CS32) & ~(1 << WGM33);
TCCR3B |= (1 << CS30);
TIMSK3 |= (1 << OCIE3B); // Enable CTC interrupt
#if (NUMBER_MOTOR > 6) || ((NUMBER_MOTOR == 6) && !defined(SERVO))
TIMSK3 |= (1 << OCIE3C);
#endif
#else
TCCR0A = 0; // normal counting mode
TIMSK0 |= (1 << OCIE0B); // Enable CTC interrupt
#endif
#endif
}
/**************** Motor SW PWM ISR's ******************/
// hexa with old but sometimes better SW PWM method
// for setups without servos
#if (NUMBER_MOTOR == 6) && (!defined(SERVO) && !defined(HWPWM6))
ISR(SOFT_PWM_ISR1)
{
static uint8_t state = 0;
if (state == 0)
{
if (atomicPWM_PIN5_highState > 0) SOFT_PWM_1_PIN_HIGH;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_highState;
state = 1;
}
else if (state == 1)
{
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_highState;
state = 2;
}
else if (state == 2)
{
SOFT_PWM_1_PIN_LOW;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_lowState;
state = 3;
}
else if (state == 3)
{
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_lowState;
state = 0;
}
}
ISR(SOFT_PWM_ISR2)
{
static uint8_t state = 0;
if (state == 0)
{
if (atomicPWM_PIN6_highState > 0) SOFT_PWM_2_PIN_HIGH;
SOFT_PWM_CHANNEL2 += atomicPWM_PIN6_highState;
state = 1;
}
else if (state == 1)
{
SOFT_PWM_CHANNEL2 += atomicPWM_PIN6_highState;
state = 2;
}
else if (state == 2)
{
SOFT_PWM_2_PIN_LOW;
SOFT_PWM_CHANNEL2 += atomicPWM_PIN6_lowState;
state = 3;
}
else if (state == 3)
{
SOFT_PWM_CHANNEL2 += atomicPWM_PIN6_lowState;
state = 0;
}
}
#else
#if (NUMBER_MOTOR > 4) && !defined(HWPWM6)
// HEXA with just OCR0B
ISR(SOFT_PWM_ISR1)
{
static uint8_t state = 0;
if (state == 0)
{
SOFT_PWM_1_PIN_HIGH;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_highState;
state = 1;
}
else if (state == 1)
{
SOFT_PWM_2_PIN_LOW;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN6_lowState;
state = 2;
}
else if (state == 2)
{
SOFT_PWM_2_PIN_HIGH;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN6_highState;
state = 3;
}
else if (state == 3)
{
SOFT_PWM_1_PIN_LOW;
SOFT_PWM_CHANNEL1 += atomicPWM_PIN5_lowState;
state = 0;
}
}
#endif
//the same with digital PIN A2 & 12 OCR0A counter for OCTO
#if (NUMBER_MOTOR > 6)
ISR(SOFT_PWM_ISR2)
{
static uint8_t state = 0;
if (state == 0)
{
SOFT_PWM_3_PIN_HIGH;
SOFT_PWM_CHANNEL2 += atomicPWM_PINA2_highState;
state = 1;
}
else if (state == 1)
{
SOFT_PWM_4_PIN_LOW;
SOFT_PWM_CHANNEL2 += atomicPWM_PIN12_lowState;
state = 2;
}
else if (state == 2)
{
SOFT_PWM_4_PIN_HIGH;
SOFT_PWM_CHANNEL2 += atomicPWM_PIN12_highState;
state = 3;
}
else if (state == 3)
{
SOFT_PWM_3_PIN_LOW;
SOFT_PWM_CHANNEL2 += atomicPWM_PINA2_lowState;
state = 0;
}
}
#endif
#endif
#endif
/**************************************************************************************/
/********** Mixes the Computed stabilize values to the Motors & Servos ***************/
/**************************************************************************************/
void mixTable()
{
int16_t maxMotor;
uint8_t i;
#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL]*X + axisPID[PITCH]*Y + YAW_DIRECTION * axisPID[YAW]*Z
#if NUMBER_MOTOR > 3
//prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
#endif
/**************** main Mix Table ******************/
#ifdef MY_PRIVATE_MIXING
#include MY_PRIVATE_MIXING
#else
#ifdef BI
motor[0] = PIDMIX(+1, 0, 0); //LEFT
motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + (BI_PITCH_DIRECTION * axisPID[PITCH]), 1020, 2000); //LEFT
servo[5] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) - (BI_PITCH_DIRECTION * axisPID[PITCH]), 1020, 2000); //RIGHT
#endif
#ifdef TRI
motor[0] = PIDMIX( 0, +4 / 3, 0); //REAR
motor[1] = PIDMIX(-1, -2 / 3, 0); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, 0); //LEFT
servo[5] = constrain(conf.tri_yaw_middle + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
#endif
#ifdef QUADP
motor[0] = PIDMIX( 0, +1, -1); //REAR
motor[1] = PIDMIX(-1, 0, +1); //RIGHT
motor[2] = PIDMIX(+1, 0, +1); //LEFT
motor[3] = PIDMIX( 0, -1, -1); //FRONT
#endif
#ifdef QUADX
motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
#endif
#ifdef Y4
motor[0] = PIDMIX(+0, +1, -1); //REAR_1 CW