51ec5b4170
Fixed an issue in the SBUS RC command read. Also fixed some things in the motormix, not yet fixed totally. Also added a command in CLI to calibrate the motors of the aircraft.
85 lines
4.4 KiB
C
85 lines
4.4 KiB
C
/*
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* motors.h
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*
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* Created on: 15 sep. 2016
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* Author: jgr12001
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*/
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#ifndef DRIVERS_MOTORS_H_
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#define DRIVERS_MOTORS_H_
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#include "stm32f4xx_revo.h"
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/* Struct of motor output protocol */
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typedef enum {
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PWM,
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Oneshot125
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}motorOutput;
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extern bool perfromMotorCalibration;
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/**************************************************************************
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* BRIEF: Initializing a motor (maps a pwm signal to a certain pin) *
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* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file *
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* Example - pwmEnableMotor(MOTOR_1) *
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**************************************************************************/
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void pwmEnableMotor(uint8_t motor, motorOutput motorOutput);
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/**************************************************************************
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* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) *
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* INFORMATION: All motors become active
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**************************************************************************/
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void pwmEnableAllMotors(motorOutput motorOutput);
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/**************************************************************************
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* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )
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* INFORMATION:
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* Example - pwmDeactivateMotor(MOTOR_1)
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**************************************************************************/
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void pwmDeactivateMotor(uint8_t motor);
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/**************************************************************************
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* 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) *
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* INFORMATION:
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* Example - pwmActivateMotor(MOTOR_1)
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**************************************************************************/
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void pwmActivateMotor(uint8_t motor);
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/**************************************************************************
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* BRIEF: Deactivates all motors (Deactivate a pwm signal to all motor pins) *
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* INFORMATION: *
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* Example - pwmDeactivateAllMotors() *
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**************************************************************************/
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void pwmDeactivateAllMotors(void);
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/**************************************************************************
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* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)* *
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* INFORMATION: *
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* Example - pwmActivateAllMotors() *
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**************************************************************************/
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void pwmActivateAllMotors(void);
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/**************************************************************************
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* BRIEF: Change the speed of a certain motor if it's active *
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* INFORMATION: The speed is changes by switching the the pulse of a pwm signal *
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* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 200) *
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**************************************************************************/
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void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse);
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/**************************************************************************
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* BRIEF: Change the speed of a certain motor if it's active *
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* 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 %) *
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* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 50); *
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**************************************************************************/
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void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle);
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/**************************************************************************
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* BRIEF: Calibrates the motors if it should *
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* INFORMATION: Will perform a sequence that will calibrate the motors. The
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* motors will only be calibrated if a boolean value that is <20>
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* checked inside have been set to true *
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**************************************************************************/
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void calibrateMotors();
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#endif /* DRIVERS_MOTORS_H_ */
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