-
Notifications
You must be signed in to change notification settings - Fork 0
/
output.cpp
253 lines (224 loc) · 7.79 KB
/
output.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
/*
Copyright 2013 Brad Quick
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <avr/io.h>
#include "output.h"
#include "lib_pwm.h"
#include "projectsettings.h"
#include "multifly.h"
#include "lib_timers.h"
extern globalstruct global;
#ifdef DC_MOTORS
// for dc motors, we reduce the top so that we can switch at 8khz
#define TOPMOTORCOUNT16BIT 0x3FF
#define TOPMOTORCOUNT11BIT 0x3FF
#define PRESCALER11BIT PWM411BITPRESCALER1
#else
// for speed controllers, we switch at about 490Hz
#define TOPMOTORCOUNT16BIT 0x3FFF
#define TOPMOTORCOUNT11BIT 0x7FF // top is smaller, but we use a bigger prescaller so the cycle time is correct
#define PRESCALER11BIT PWM411BITPRESCALER16
#endif
void init_outputs() {
#ifdef USEPWM1
lib_pwm_init1(PWM1PHASECORRECTMODE,PWM1NORMALOUTPUTA | PWM1NORMALOUTPUTB,PWM1PRESCALER1,TOPMOTORCOUNT16BIT); // TOP to 16383
#endif
#ifdef USEPWM2
lib_pwm_init2(PWM2FASTMODE,PWM2NORMALOUTPUTA | PWM2NORMALOUTPUTB,PWM2PRESCALER64);
#endif
#ifdef USEPWM3
lib_pwm_init3(PWM3PHASECORRECTMODE,PWM3NORMALOUTPUTA | PWM3NORMALOUTPUTB | PWM3NORMALOUTPUTC,PWM3PRESCALER1,TOPMOTORCOUNT16BIT); // TOP to 16383
#endif
#ifdef USEPWM4
lib_pwm_init4(PWM4PHASECORRECTMODE,PWM4NORMALOUTPUTA | PWM4NORMALOUTPUTB | PWM4NORMALOUTPUTC,PWM4PRESCALER1,TOPMOTORCOUNT16BIT); // TOP to 16383
#endif
#ifdef USEPWM411BIT
lib_pwm_init4(PWM411BITPHASECORRECTMODE,/*PWM411BITNORMALOUTPUTA | PWM411BITNORMALOUTPUTB |*/ PWM411BITNORMALOUTPUTD,PRESCALER11BIT,TOPMOTORCOUNT11BIT); // TOP to 2047
#endif
#ifdef USEPWM5
lib_pwm_init5(PWM5PHASECORRECTMODE,PWM5NORMALOUTPUTA | PWM5NORMALOUTPUTB | PWM5NORMALOUTPUTC,PWM5PRESCALER1,TOPMOTORCOUNT16BIT); // TOP to 16383
#endif
lib_digitalio_initpin(MOTOR_0_PIN, DIGITALOUTPUT);
lib_digitalio_initpin(MOTOR_1_PIN, DIGITALOUTPUT);
#if (NUM_MOTORS>2)
lib_digitalio_initpin(MOTOR_2_PIN, DIGITALOUTPUT);
#endif
#if (NUM_MOTORS>3)
lib_digitalio_initpin(MOTOR_3_PIN, DIGITALOUTPUT);
#endif
#if (NUM_MOTORS>4)
lib_digitalio_initpin(MOTOR_4_PIN, DIGITALOUTPUT);
lib_digitalio_initpin(MOTOR_5_PIN, DIGITALOUTPUT);
#endif
#if (NUM_MOTORS>0)
set_all_motor_outputs(MIN_MOTOR_OUTPUT);
#endif
#if (NUM_SERVOS>0)
set_all_servo_outputs(SERVO_MIDPOINT);
#endif
/******** special version of MultiWii to calibrate all attached ESCs ************/
#if defined(ESC_CALIB_CANNOT_FLY)
set_all_motor_outputs(ESC_CALIB_HIGH);
lib_timers_delaymilliseconds(3000);
set_all_motor_outputs(ESC_CALIB_LOW);
while (1) {
lib_timers_delaymilliseconds(500);
lib_digitalio_setoutput(LED1_OUTPUT, 0);
lib_timers_delaymilliseconds(500);
lib_digitalio_setoutput(LED1_OUTPUT, 1);
}
#endif
}
void set_motor_output(unsigned char motornum, unsigned char motorchannel,fixedpointnum fpvalue) {
// set the output of a motor
// convert from fixedpoint 0 to 1 into int 1000 to 2000
int value=1000+((fpvalue*1000L)>>FIXEDPOINTSHIFT);
if (value<ARMED_MIN_MOTOR_OUTPUT) value=ARMED_MIN_MOTOR_OUTPUT;
if (value>MAX_MOTOR_OUTPUT) value=MAX_MOTOR_OUTPUT;
set_output(motorchannel,value);
global.motorOutputValue[motornum]=value;
}
void set_all_motor_outputs(int value) {
for (int x=0;x<NUM_MOTORS;++x)
global.motorOutputValue[x]=value;
set_output(MOTOR_0_CHANNEL,value);
set_output(MOTOR_1_CHANNEL,value);
#if (NUM_MOTORS>2)
set_output(MOTOR_2_CHANNEL,value);
#endif
#if (NUM_MOTORS>3)
set_output(MOTOR_3_CHANNEL,value);
#endif
#if (NUM_MOTORS>4)
set_output(MOTOR_4_CHANNEL,value);
set_output(MOTOR_5_CHANNEL,value);
#endif
#if (NUM_MOTORS>6)
set_output(MOTOR_6_CHANNEL,value);
set_output(MOTOR_7_CHANNEL,value);
#endif
}
void set_all_servo_outputs(int value) {
#if (NUM_SERVOS>0)
for (int x=0;x<NUM_SERVOS;++x)
global.servoOutputValue[x]=value;
set_output(SERVO_0_CHANNEL,value);
#if (NUM_SERVOS>1)
set_output(SERVO_1_CHANNEL,value);
#endif
#endif
}
void set_output(unsigned char outputchannel, unsigned int value) {
// value is from 1000 to 2000
unsigned char timernum=outputchannel & 0xF0;
unsigned char timerchannel=outputchannel & 0x0F;
unsigned int pwmvalue;
#if defined (DC_MOTORS)
pwmvalue=value-1000;
#elif !defined(EXT_MOTOR_RANGE)
pwmvalue=value<<3;
#else
pwmvalue=((value<<4) - 16000) + 128;
#endif
#ifdef USEPWM1
if (timernum==OUTPUT_TIMER1) {
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty1A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty1B(pwmvalue);
return;
}
#endif
#ifdef USEPWM2
if (timernum==OUTPUT_TIMER2) {
// timer 2 only has an 8 bit range
#ifndef EXT_MOTOR_RANGE
pwmvalue=value>>3;
#else
pwmvalue=((value>>2) - 250) + 2;
#endif
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty2A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty2B(pwmvalue);
return;
}
#endif
#ifdef USEPWM3
if (timernum==OUTPUT_TIMER3) {
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty3A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty3B(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELC) lib_pwm_setduty3C(pwmvalue);
return;
}
#endif
#ifdef USEPWM4
if (timernum==OUTPUT_TIMER4) {
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty4A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty4B(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELC) lib_pwm_setduty4C(pwmvalue);
return;
}
#endif
#ifdef USEPWM411BIT
if (timernum==OUTPUT_TIMER4) {
#ifdef DC_MOTORS
// the value is already set
#elif !defined(EXT_MOTOR_RANGE)
pwmvalue=value;
#else
pwmvalue=((value-1000)<<1)+16;
#endif
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty4A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty4B(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELD) lib_pwm_setduty4D(pwmvalue);
return;
}
#endif
#ifdef USEPWM5
if (timernum==OUTPUT_TIMER5) {
if (timerchannel==OUTPUT_CHANNELA) lib_pwm_setduty5A(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELB) lib_pwm_setduty5B(pwmvalue);
else if (timerchannel==OUTPUT_CHANNELC) lib_pwm_setduty5C(pwmvalue);
return;
}
#endif
}
void write_servo_outputs() {
// Store the computed numbers and write out to the channel
#if (NUM_SERVOS>0)
for (int x=0;x<NUM_SERVOS;++x)
global.servoOutputValue[x]=global.servo[x];
set_output(SERVO_0_CHANNEL,global.servo[0]);
#if (NUM_SERVOS>1)
set_output(SERVO_1_CHANNEL,global.servo[1]);
#endif
#endif
}
void write_motor_outputs() {
// Store the computed numbers and write out to the channel
for (int x=0;x<NUM_MOTORS;++x)
global.motorOutputValue[x]=global.motor[x];
set_output(MOTOR_0_CHANNEL,global.motor[0]);
set_output(MOTOR_1_CHANNEL,global.motor[1]);
#if (NUM_MOTORS>2)
set_output(MOTOR_2_CHANNEL,global.motor[2]);
#endif
#if (NUM_MOTORS>3)
set_output(MOTOR_3_CHANNEL,global.motor[3]);
#endif
#if (NUM_MOTORS>4)
set_output(MOTOR_4_CHANNEL,global.motor[4]);
set_output(MOTOR_5_CHANNEL,global.motor[5]);
#endif
#if (NUM_MOTORS>6)
set_output(MOTOR_6_CHANNEL,global.motor[6]);
set_output(MOTOR_7_CHANNEL,global.motor[7]);
#endif
}