Drivers PWM and motors

Added comment to drivers and a clk prescaler to the pwm signal

UAV-ControlSystem/inc/drivers/motors.h

@@ -8,20 +8,59 @@
 #ifndef DRIVERS_MOTORS_H_
 #define DRIVERS_MOTORS_H_
 
+/**************************************************************************
+* 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     *
+* Example - pwmEnableMotor(MOTOR_1)                                                         					*
+**************************************************************************/
 void pwmEnableMotor(uint8_t motor);
 
+/**************************************************************************
+* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor)                                                                 *
+* INFORMATION: All motors become active
+**************************************************************************/
 void pwmEnableAllMotors(void);
 
+/**************************************************************************
+* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )
+* INFORMATION:
+* Example - pwmDeactivateMotor(MOTOR_1)
+**************************************************************************/
 void pwmDeactivateMotor(uint8_t motor);
 
+/**************************************************************************
+* BRIEF: If a motor is Deactivated (no pwm signal), this function will activate the motor to it's last state (the pwm signal will go back to is's last state)  *
+* INFORMATION:
+* Example - pwmActivateMotor(MOTOR_1)
+**************************************************************************/
 void pwmActivateMotor(uint8_t motor);
 
+/**************************************************************************
+* BRIEF: Deactivates all motors (Deactivate a pwm signal to all motor pins)                  *
+* INFORMATION:																				 *
+* Example - pwmDeactivateAllMotors()                                                         *
+**************************************************************************/
 void pwmDeactivateAllMotors(void);
 
+/**************************************************************************
+* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)*                                                             *
+* INFORMATION:																			   *
+* Example - pwmActivateAllMotors()                                                         *
+**************************************************************************/
 void pwmActivateAllMotors(void);
 
+/**************************************************************************
+* BRIEF: Change the speed of a certain motor if it's active                                             *
+* INFORMATION: The speed is changes by switching the the pulse of a pwm signal							*
+* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 200)                                                         *
+**************************************************************************/
 void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse);
 
+/**************************************************************************
+* BRIEF: Change the speed of a certain motor if it's active                                             									 *
+* INFORMATION: The speed is change by switching the the Duty Cycle of a pwm signal (The Duty Cycle may only take values between 0 - 100 %)   *
+* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 50);                                                        										 *
+**************************************************************************/
 void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle);
 
 

UAV-ControlSystem/inc/drivers/pwm.h

@@ -31,8 +31,18 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
 **************************************************************************/
 void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse);
 
+/**************************************************************************
+* BRIEF:  startPwm Activates a pwm signal for a certain timer on a certain channel
+* INFORMATION:
+* Example - startPwm(TIM_CHANNEL_4, TIM3);
+**************************************************************************/
 void startPwm(uint32_t Channel, TIM_TypeDef * tim);
 
+/**************************************************************************
+* BRIEF:  stopPwm Deactivates a pwm signal for a certain timer on a certain channel
+* INFORMATION:
+* Example - stopPwm(TIM_CHANNEL_4, TIM3);
+**************************************************************************/
 void stopPwm(uint32_t Channel, TIM_TypeDef * tim);
 
 #endif /* DRIVERS_PWM_H_ */

UAV-ControlSystem/src/drivers/motors.c

@@ -13,8 +13,8 @@
 #include "drivers/pwm.h"
 #include "drivers/motors.h"
 
-#define MOTOR_PWM_INIT_PERIODE		2000
+#define MOTOR_PWM_INIT_PERIODE		65535
-#define MOTOR_PWM_INIT_PULSE		100
+#define MOTOR_PWM_INIT_PULSE		MOTOR_PWM_INIT_PERIODE/2
 
 /* A struct of a pwm motor profile */
 typedef struct
@@ -150,7 +150,7 @@ void pwmDeactivateMotor(uint8_t motor)
 }
 
 /**************************************************************************
-* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state) *                                                             *
+* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)*                                                             *
 * INFORMATION:																			   *
 * Example - pwmActivateAllMotors()                                                         *
 **************************************************************************/

UAV-ControlSystem/src/drivers/pwm.c

@@ -82,7 +82,7 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
 
 		TIM_HandleTypeDef TimHandle;
 
-		uint32_t uwPrescalerValue =0;
+		uint32_t uwPrescalerValue =2;
 		TimHandle.Instance = profile.tim; /* Sets timer */
 		TimHandle.Init.Period = period; /* Sets period of pwm */
 		TimHandle.Init.Prescaler = uwPrescalerValue;
@@ -91,6 +91,7 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
 
 		TIM_OC_InitTypeDef PWMConfig;
 
+		//PWMConfig.Pulse = 840;
 		PWMConfig.Pulse = 840;
 		PWMConfig.OCMode = TIM_OCMODE_PWM1;
 		PWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
@@ -141,10 +142,11 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
 }
 
 /**************************************************************************
-* BRIEF:  setPwmPulse changes a certain pulse for an initialized pwm signal                                                              *
+* BRIEF:  setPwmPulse changes a certain pulse for an initialized pwm signal
 * INFORMATION: It's only possible to change the pwm output for a certain timer
-* on a certain channel, not a pin output
+* on a certain channel, not a pin output. This function will only run is a pwm is active.
-* Example - setPwmPulse(TIM_CHANNEL_4, TIM3, 500);                                                         *
+* The pwm is activated and deactivated at startPwm/stopPwm
+* Example - setPwmPulse(TIM_CHANNEL_4, TIM3, 500);
 **************************************************************************/
 void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse)
 {
@@ -175,6 +177,11 @@ void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse)
 	}
 }
 
+/**************************************************************************
+* BRIEF:  startPwm Activates a pwm signal for a certain timer on a certain channel
+* INFORMATION:
+* Example - startPwm(TIM_CHANNEL_4, TIM3);
+**************************************************************************/
 void startPwm(uint32_t Channel, TIM_TypeDef * tim)
 {
 	pwmOk = true;
@@ -184,6 +191,11 @@ void startPwm(uint32_t Channel, TIM_TypeDef * tim)
 	HAL_TIM_PWM_Start(&TimHandle, Channel);
 }
 
+/**************************************************************************
+* BRIEF:  stopPwm Deactivates a pwm signal for a certain timer on a certain channel
+* INFORMATION:
+* Example - stopPwm(TIM_CHANNEL_4, TIM3);
+**************************************************************************/
 void stopPwm(uint32_t Channel, TIM_TypeDef * tim)
 {
 	pwmOk = false;