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Added PWM inversion to motor config

This commit is contained in:
DieHertz 2016-12-27 13:25:37 +03:00 committed by borisbstyle
parent 8f3ef2676f
commit 90e7bef9e4
8 changed files with 34 additions and 21 deletions
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14
src/main/drivers/pwm_output.c
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@ -83,7 +83,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
#endif #endif
} }
static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value) static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value, uint8_t inversion)
{ {
#if defined(USE_HAL_DRIVER) #if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim); TIM_HandleTypeDef* Handle = timerFindTimerHandle(timerHardware->tim);
@ -91,7 +91,8 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
#endif #endif
configTimeBase(timerHardware->tim, period, mhz); configTimeBase(timerHardware->tim, period, mhz);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output); pwmOCConfig(timerHardware->tim, timerHardware->channel, value,
inversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
#if defined(USE_HAL_DRIVER) #if defined(USE_HAL_DRIVER)
HAL_TIM_PWM_Start(Handle, timerHardware->channel); HAL_TIM_PWM_Start(Handle, timerHardware->channel);
@ -259,7 +260,8 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isDigital) { if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol); pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
motors[motorIndex].enabled = true; motors[motorIndex].enabled = true;
continue; continue;
} }
@ -274,9 +276,9 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
if (useUnsyncedPwm) { if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000; const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse); pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse, motorConfig->motorPwmInversion);
} else { } else {
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0); pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0, motorConfig->motorPwmInversion);
} }
bool timerAlreadyUsed = false; bool timerAlreadyUsed = false;
@ -348,7 +350,7 @@ void servoInit(const servoConfig_t *servoConfig)
break; break;
} }
pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse); pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
servos[servoIndex].enabled = true; servos[servoIndex].enabled = true;
} }
} }

2
src/main/drivers/pwm_output.h
View File

@ -119,7 +119,7 @@ void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIn
#ifdef USE_DSHOT #ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType); uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDigital(uint8_t index, uint16_t value); void pwmWriteDigital(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType); void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount); void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
#endif #endif

8
src/main/drivers/pwm_output_stm32f3xx.c
View File

@ -105,7 +105,7 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
} }
} }
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType) void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{ {
TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure; DMA_InitTypeDef DMA_InitStructure;
@ -139,14 +139,14 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) { if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OCInitStructure.TIM_OCNPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPolarity_Low : TIM_OCNPolarity_High; TIM_OCInitStructure.TIM_OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPolarity_Low : TIM_OCNPolarity_High;
} else { } else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
} }
TIM_OCInitStructure.TIM_Pulse = 0; TIM_OCInitStructure.TIM_Pulse = 0;

8
src/main/drivers/pwm_output_stm32f4xx.c
View File

@ -102,7 +102,7 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
} }
} }
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType) void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{ {
TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure; DMA_InitTypeDef DMA_InitStructure;
@ -136,14 +136,14 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) { if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OCInitStructure.TIM_OCNPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPolarity_High : TIM_OCNPolarity_Low; TIM_OCInitStructure.TIM_OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPolarity_High : TIM_OCNPolarity_Low;
} else { } else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
} }
TIM_OCInitStructure.TIM_Pulse = 0; TIM_OCInitStructure.TIM_Pulse = 0;

10
src/main/drivers/pwm_output_stm32f7xx.c
View File

@ -96,7 +96,7 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
UNUSED(motorCount); UNUSED(motorCount);
} }
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType) void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{ {
motorDmaOutput_t * const motor = &dmaMotors[motorIndex]; motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware; motor->timerHardware = timerHardware;
@ -174,9 +174,13 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
/* PWM1 Mode configuration: Channel1 */ /* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1; TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH; if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET; TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET; TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
} else {
TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;
}
TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE; TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
TIM_OCInitStructure.Pulse = 0; TIM_OCInitStructure.Pulse = 0;

1
src/main/fc/cli.c
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@ -524,6 +524,7 @@ const clivalue_t valueTable[] = {
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } }, { "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } }, { "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 200, 32000 } }, { "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 200, 32000 } },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE, &motorConfig()->motorPwmInversion, .config.lookup = { TABLE_OFF_ON } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } }, { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } }, { "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &armingConfig()->gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },

7
src/main/fc/fc_msp.c
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@ -1144,6 +1144,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz); sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision //!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update); //sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
sbufWriteU8(dst, motorConfig()->motorPwmInversion);
break; break;
case MSP_FILTER_CONFIG : case MSP_FILTER_CONFIG :
@ -1480,7 +1481,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED); motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif #endif
motorConfig()->motorPwmRate = sbufReadU16(src); motorConfig()->motorPwmRate = sbufReadU16(src);
if (dataSize > 7) { if (sbufBytesRemaining(src) >= 2) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f; motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
} }
if (sbufBytesRemaining(src)) { if (sbufBytesRemaining(src)) {
@ -1491,6 +1492,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfig()->gyro_isr_update = sbufReadU8(src); gyroConfig()->gyro_isr_update = sbufReadU8(src);
}*/ }*/
validateAndFixGyroConfig(); validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) {
motorConfig()->motorPwmInversion = sbufReadU8(src);
}
break; break;
case MSP_SET_FILTER_CONFIG: case MSP_SET_FILTER_CONFIG:

3
src/main/io/motors.h
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@ -24,8 +24,9 @@ typedef struct motorConfig_s {
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed. uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000 uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz) uint16_t motorPwmRate; // The update rate of motor outputs
uint8_t motorPwmProtocol; // Pwm Protocol uint8_t motorPwmProtocol; // Pwm Protocol
uint8_t motorPwmInversion; // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
uint8_t useUnsyncedPwm; uint8_t useUnsyncedPwm;
float digitalIdleOffsetPercent; float digitalIdleOffsetPercent;
ioTag_t ioTags[MAX_SUPPORTED_MOTORS]; ioTag_t ioTags[MAX_SUPPORTED_MOTORS];