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Merge pull request #5 from MDHSweden/pwmDriver

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Drivers Oneshot125 approved by Lennart
This commit is contained in:
Lennart Eriksson 2016-09-19 16:19:35 +02:00 committed by GitHub
commit 4370f1b413
4 changed files with 52 additions and 17 deletions
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10
UAV-ControlSystem/inc/drivers/motors.h
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@ -8,18 +8,24 @@
#ifndef DRIVERS_MOTORS_H_ #ifndef DRIVERS_MOTORS_H_
#define DRIVERS_MOTORS_H_ #define DRIVERS_MOTORS_H_
/* Struct of motor output protocol */
typedef enum
{
PWM, Oneshot125
}motorOutput;
/************************************************************************** /**************************************************************************
* BRIEF: Initializing a motor (maps a pwm signal to a certain pin) * * BRIEF: Initializing a motor (maps a pwm signal to a certain pin) *
* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file * * INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file *
* Example - pwmEnableMotor(MOTOR_1) * * Example - pwmEnableMotor(MOTOR_1) *
**************************************************************************/ **************************************************************************/
void pwmEnableMotor(uint8_t motor); void pwmEnableMotor(uint8_t motor, motorOutput motorOutput);
/************************************************************************** /**************************************************************************
* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) * * BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) *
* INFORMATION: All motors become active * INFORMATION: All motors become active
**************************************************************************/ **************************************************************************/
void pwmEnableAllMotors(void); void pwmEnableAllMotors(motorOutput motorOutput);
/************************************************************************** /**************************************************************************
* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin ) * BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )

2
UAV-ControlSystem/inc/drivers/pwm.h
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@ -21,7 +21,7 @@
* period = Period of PWM signal * period = Period of PWM signal
* pulse = the "duty cycle" of the pwm signal * * pulse = the "duty cycle" of the pwm signal *
**************************************************************************/ **************************************************************************/
void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Channel, uint16_t period, uint16_t pulse); void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Channel, uint16_t period, uint16_t pulse, uint32_t prescaler);
/************************************************************************** /**************************************************************************
* BRIEF: setPwmPulse changes a certain pulse for an initialized pwm signal * * BRIEF: setPwmPulse changes a certain pulse for an initialized pwm signal *

53
UAV-ControlSystem/src/drivers/motors.c
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@ -4,8 +4,8 @@
* INFORMATION: * * INFORMATION: *
* GLOBAL VARIABLES: * * GLOBAL VARIABLES: *
* Variable Type Description * * Variable Type Description *
* MOTOR_PWM_INIT_PERIODE define The initializing periode of the pwm signal to each motor * * MotorPWMPeriode define The initializing periode of the pwm signal to each motor *
* MOTOR_PWM_INIT_PULSE define The initializing pulse of the pwm signal to each motor * MotorPWMInitPulse define The initializing pulse of the pwm signal to each motor
* **************************************************************************/ * **************************************************************************/
#include "stm32f4xx.h" #include "stm32f4xx.h"
@ -13,8 +13,8 @@
#include "drivers/pwm.h" #include "drivers/pwm.h"
#include "drivers/motors.h" #include "drivers/motors.h"
#define MOTOR_PWM_INIT_PERIODE 2000 int MotorPWMPeriode = 2000; //Micro seconds
#define MOTOR_PWM_INIT_PULSE MOTOR_PWM_INIT_PERIODE/2 int MotorPWMInitPulse = 1000;
/* A struct of a pwm motor profile */ /* A struct of a pwm motor profile */
typedef struct typedef struct
@ -32,7 +32,7 @@ typedef struct
**************************************************************************/ **************************************************************************/
uint16_t checkPulse(uint16_t pulse) uint16_t checkPulse(uint16_t pulse)
{ {
return ((pulse/MOTOR_PWM_INIT_PERIODE)*100 < 94)? pulse: MOTOR_PWM_INIT_PERIODE*0.94; return ((pulse/MotorPWMPeriode)*100 < 94)? pulse: MotorPWMPeriode*0.94;
} }
/************************************************************************** /**************************************************************************
@ -114,25 +114,54 @@ motorProfile getMotorProfile(uint8_t motor)
return profile; return profile;
} }
/**************************************************************************
* BRIEF: Sets the motor output protocol to be either oneshot125 or pwm
* INFORMATION:
* Example - uint32_t prescaler = setMotorOutput(Oneshot125)
*************************************************************************/
uint32_t setMotorOutput(motorOutput motorOutput)
{
uint32_t prescaler;
switch(motorOutput)
{
case PWM:
MotorPWMPeriode = 2000;
prescaler = 88;
break;
case Oneshot125:
MotorPWMPeriode = 16000;
prescaler = 11;
break;
default:
MotorPWMPeriode = 2000;
prescaler = 88;
break;
}
return prescaler;
}
/************************************************************************** /**************************************************************************
* BRIEF: Initializing a motor (maps a pwm signal to a certain pin) * * BRIEF: Initializing a motor (maps a pwm signal to a certain pin) *
* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file * * INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file *
* Example - pwmEnableMotor(MOTOR_1) * * Example - pwmEnableMotor(MOTOR_1) *
**************************************************************************/ **************************************************************************/
void pwmEnableMotor(uint8_t motor) void pwmEnableMotor(uint8_t motor, motorOutput motorOutput)
{ {
motorProfile profile = getMotorProfile(motor); motorProfile profile = getMotorProfile(motor);
uint32_t prescaler = setMotorOutput(motorOutput);
pwmInit(profile.port, profile.pin, profile.tim, profile.channel, MOTOR_PWM_INIT_PERIODE, MOTOR_PWM_INIT_PULSE); pwmInit(profile.port, profile.pin, profile.tim, profile.channel, MotorPWMPeriode, MotorPWMInitPulse, prescaler);
} }
/************************************************************************** /**************************************************************************
* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) * * BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) *
* INFORMATION: All motors become active * INFORMATION: All motors become active
**************************************************************************/ **************************************************************************/
void pwmEnableAllMotors(void) void pwmEnableAllMotors(motorOutput motorOutput)
{ {
for (uint8_t i = 1; i < 11; i++ ) pwmEnableMotor(i); for (uint8_t i = 1; i < 11; i++ ) pwmEnableMotor(i, motorOutput);
} }
/************************************************************************** /**************************************************************************
@ -165,7 +194,7 @@ void pwmDeactivateMotor(uint8_t motor)
**************************************************************************/ **************************************************************************/
void pwmActivateAllMotors(void) void pwmActivateAllMotors(void)
{ {
for (uint8_t i = 1; i < 11; i++ ) pwmDeactivateMotor(i); for (uint8_t i = 1; i < 11; i++ ) pwmActivateMotor(i);
} }
/************************************************************************** /**************************************************************************
@ -175,7 +204,7 @@ void pwmActivateAllMotors(void)
**************************************************************************/ **************************************************************************/
void pwmDeactivateAllMotors(void) void pwmDeactivateAllMotors(void)
{ {
for (uint8_t i = 1; i < 11; i++ ) pwmActivateMotor(i); for (uint8_t i = 1; i < 11; i++ ) pwmDeactivateMotor(i);
} }
/************************************************************************** /**************************************************************************
@ -197,7 +226,7 @@ void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse)
**************************************************************************/ **************************************************************************/
void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle) void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle)
{ {
uint16_t pulse = (DutyCycle*MOTOR_PWM_INIT_PERIODE)/100; /* Converts the DutyCycle to a pulse */ uint16_t pulse = (DutyCycle*MotorPWMPeriode)/100; /* Converts the DutyCycle to a pulse */
motorProfile profile = getMotorProfile(motor); motorProfile profile = getMotorProfile(motor);
setPwmPulse(profile.channel, profile.tim, checkPulse(pulse)); setPwmPulse(profile.channel, profile.tim, checkPulse(pulse));

4
UAV-ControlSystem/src/drivers/pwm.c
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@ -47,7 +47,7 @@ pwmProfile get_Pwm_Profile(GPIO_TypeDef * GPIO, uint16_t pin, uint32_t Channel,
* period = Period of PWM signal * period = Period of PWM signal
* pulse = the "duty cycle" of the pwm signal * * pulse = the "duty cycle" of the pwm signal *
**************************************************************************/ **************************************************************************/
void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Channel, uint16_t period, uint16_t pulse) void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Channel, uint16_t period, uint16_t pulse, uint32_t prescaler)
{ {
pwmProfile profile; pwmProfile profile;
@ -83,7 +83,7 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
TimHandle.Instance = profile.tim; /* Sets timer */ TimHandle.Instance = profile.tim; /* Sets timer */
TimHandle.Init.Period = period; /* Sets period of pwm */ TimHandle.Init.Period = period; /* Sets period of pwm */
TimHandle.Init.Prescaler = 88; /* pwm prescaler of clk */ TimHandle.Init.Prescaler = prescaler; /* pwm prescaler of clk */
TimHandle.Init.ClockDivision = 0; TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;