Skip to content

Commit

Permalink
- correction of previous mod http://www.multiwii.com/forum/viewtopic.…
Browse files Browse the repository at this point in the history 
…php?f=8&t=3635&start=10#p43916

- we keep only 8/16/32 kHz

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1639 02679b44-d973-9852-f2fa-63770883b36c
  • Loading branch information
[email protected] committed Dec 3, 2013
1 parent 93681a4 commit fe515d3
Show file tree
Hide file tree
Showing 2 changed files with 97 additions and 146 deletions.
240 changes: 97 additions & 143 deletions Output.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -277,8 +277,7 @@ void writeMotors() { // [1000;2000] => [125;250]

/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
uint16_t Temp1,Temp2;
Temp1 = 1023 - (motor[2]-1000);
uint16_t Temp2;
Temp2 = motor[3] - 1000;
#if (NUMBER_MOTOR > 0)
#if defined(A32U4_4_HW_PWM_SERVOS)
Expand All @@ -290,24 +289,17 @@ void writeMotors() { // [1000;2000] => [125;250]
TC4H = (((motor[0]-1000)<<1)+16)>>8; OCR4D = ((((motor[0]-1000)<<1)+16)&0xFF); // pin 6
#endif
#else
// write motor0 to pin 9
// Timer 1 A & B [1000:2000] => [8000:16000]
#ifdef EXT_MOTOR_RANGE
OCR1A = ((motor[0]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
OCR1A = (motor[0] - 1000) >> 3; // max = 127
OCR1A = (motor[0] - 1000) >> 2; // max = 255
#elif defined(EXT_MOTOR_32KHZ)
OCR1A = (motor[0] - 1000) >> 2; // 1000..2000 -> 2..252, max = 255
OCR1A = (motor[0] - 1000) >> 1; // max = 511
#elif defined(EXT_MOTOR_16KHZ)
OCR1A = (motor[0] - 1000) >> 1; // 1000..2000 -> 4..504, max = 511
OCR1A = motor[0] - 1000; // pin 9
#elif defined(EXT_MOTOR_8KHZ)
OCR1A = motor[0]-1000; // pin 9
#elif defined(EXT_MOTOR_4KHZ)
OCR1A = (motor[0]-1000) << 1; // pin 9
#elif defined(EXT_MOTOR_2KHZ)
OCR1A = (motor[0]-1000) << 2; // pin 9
#elif defined(EXT_MOTOR_1KHZ)
OCR1A = (motor[0]-1000) << 3; // pin 9
OCR1A = (motor[0]-1000) << 1; // pin 9
#else
OCR1A = motor[0]<<3; // pin 9
#endif
Expand All @@ -317,19 +309,13 @@ void writeMotors() { // [1000;2000] => [125;250]
#ifdef EXT_MOTOR_RANGE
OCR1B = ((motor[1]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
OCR1B = (motor[1] - 1000) >> 3; // max = 127
OCR1B = (motor[1] - 1000) >> 2;
#elif defined(EXT_MOTOR_32KHZ)
OCR1B = (motor[1] - 1000) >> 2; // 1000..2000 -> 2..252, max = 255
OCR1B = (motor[1] - 1000) >> 1;
#elif defined(EXT_MOTOR_16KHZ)
OCR1B = (motor[1] - 1000) >> 1; // 1000..2000 -> 4..504, max = 511
OCR1B = motor[1] - 1000; // pin 10
#elif defined(EXT_MOTOR_8KHZ)
OCR1B = motor[1]-1000; // pin 10
#elif defined(EXT_MOTOR_4KHZ)
OCR1B = (motor[1]-1000) << 1; // pin 10
#elif defined(EXT_MOTOR_2KHZ)
OCR1B = (motor[1]-1000) << 2; // pin 10
#elif defined(EXT_MOTOR_1KHZ)
OCR1B = (motor[1]-1000) << 3; // pin 10
OCR1B = (motor[1]-1000) << 1; // pin 10
#else
OCR1B = motor[1]<<3; // pin 10
#endif
Expand All @@ -346,29 +332,13 @@ void writeMotors() { // [1000;2000] => [125;250]
#ifdef EXT_MOTOR_RANGE
OCR3A = ((motor[2]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
Temp1 = Temp1 >> 3;
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
OCR3A = (motor[2] - 1000) >> 2;
#elif defined(EXT_MOTOR_32KHZ)
Temp1 = Temp1 >> 2;
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
OCR3A = (motor[2] - 1000) >> 1;
#elif defined(EXT_MOTOR_16KHZ)
Temp1 = Temp1 >> 1;
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
OCR3A = motor[2] - 1000; // pin 5
#elif defined(EXT_MOTOR_8KHZ)
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
#elif defined(EXT_MOTOR_4KHZ)
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
#elif defined(EXT_MOTOR_2KHZ)
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
#elif defined(EXT_MOTOR_1KHZ)
TC4H = Temp1 >> 8;
OCR4A = Temp1 & 0xFF; // pin 5
OCR3A = (motor[2]-1000) << 1; // pin 5
#else
OCR3A = motor[2]<<3; // pin 5
#endif
Expand All @@ -378,29 +348,19 @@ void writeMotors() { // [1000;2000] => [125;250]
#ifdef EXT_MOTOR_RANGE
TC4H = (((motor[3]-1000)<<1)+16)>>8; OCR4D = ((((motor[3]-1000)<<1)+16)&0xFF); // pin 6
#elif defined(EXT_MOTOR_64KHZ)
Temp2 = Temp2 >> 3;
Temp2 = Temp2 >> 2;
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_32KHZ)
Temp2 = Temp2 >> 2;
Temp2 = Temp2 >> 1;
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_16KHZ)
Temp2 = Temp2 >> 1;
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_8KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_4KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_2KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_1KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
OCR4D = Temp2 & 0xFF; // pin 6
#else
TC4H = motor[3]>>8; OCR4D = (motor[3]&0xFF); // pin 6
#endif
Expand Down Expand Up @@ -584,95 +544,89 @@ void initOutput() {

/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
#if (NUMBER_MOTOR > 0) && ( !defined(A32U4_4_HW_PWM_SERVOS) )
TCCR1A |= (1<<WGM11); // phase correct mode & no prescaler
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~(1<<WGM12) & ~(1<<CS11) & ~(1<<CS12);
TCCR1B |= (1<<WGM13) | (1<<CS10);
ICR1 |= 0x3FFF; // TOP to 16383;
#if defined(EXT_MOTOR_64KHZ) || defined(EXT_MOTOR_32KHZ) || defined(EXT_MOTOR_16KHZ) || defined(EXT_MOTOR_8KHZ)
TCCR1A = (1<<WGM11);
TCCR1B = (1<<WGM13) | (1<<WGM12) | (1<<CS10);
TCCR3A = (1<<WGM31);
TCCR3B = (1<<WGM33) | (1<<WGM32) | (1<<CS30);
#if defined(EXT_MOTOR_64KHZ)
ICR1 = 0x00FF; // TOP to 255;
ICR3 = 0x00FF; // TOP to 255;
TC4H = 0x00;
OCR4C = 0xFF; // phase and frequency correct mode & top to 255
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_32KHZ)
ICR1 = 0x01FF; // TOP to 511;
ICR3 = 0x01FF; // TOP to 511;
TC4H = 0x01;
OCR4C = 0xFF; // phase and frequency correct mode & top to 511
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_16KHZ)
ICR1 = 0x03FF; // TOP to 1023;
ICR3 = 0x03FF; // TOP to 1023;
TC4H = 0x03;
OCR4C = 0xFF; // phase and frequency correct mode & top to 1023
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_8KHZ)
ICR1 = 0x07FF; // TOP to 2046;
ICR3 = 0x07FF; // TOP to 2046;
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
TCCR4B = (1<<CS41); // prescaler to 2
#endif
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
#if !defined(HWPWM6) // timer 4A
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
TCCR4A |= (1<<COM4A0)|(1<<PWM4A); // connect pin 5 to timer 4 channel A
#else // timer 3A
TCCR3A |= (1<<WGM31); // phase correct mode & no prescaler
TCCR3A &= ~(1<<WGM30);
TCCR3B &= ~(1<<WGM32) & ~(1<<CS31) & ~(1<<CS32);
TCCR3B |= (1<<WGM33) | (1<<CS30);
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#endif
#if (NUMBER_MOTOR > 3) || ( (NUMBER_MOTOR > 0) && defined(A32U4_4_HW_PWM_SERVOS) )
#if defined(HWPWM6)
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
#endif
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
TCCR4D = 0;
TCCR4C |= (1<<COM4D1)|(1<<PWM4D); // connect pin 6 to timer 4 channel D
#endif
#if (NUMBER_MOTOR > 4)
#if defined(HWPWM6)
TCCR1A |= _BV(COM1C1); // connect pin 11 to timer 1 channel C
TCCR4A |= (1<<COM4A1)|(1<<PWM4A); // connect pin 13 to timer 4 channel A
#else
initializeSoftPWM();
#else
#if (NUMBER_MOTOR > 0) && ( !defined(A32U4_4_HW_PWM_SERVOS) )
TCCR1A |= (1<<WGM11); // phase correct mode & no prescaler
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~(1<<WGM12) & ~(1<<CS11) & ~(1<<CS12);
TCCR1B |= (1<<WGM13) | (1<<CS10);
ICR1 |= 0x3FFF; // TOP to 16383;
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if defined(HWPWM6)
initializeSoftPWM();
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
#if !defined(HWPWM6) // timer 4A
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
TCCR4A |= (1<<COM4A0)|(1<<PWM4A); // connect pin 5 to timer 4 channel A
#else // timer 3A
TCCR3A |= (1<<WGM31); // phase correct mode & no prescaler
TCCR3A &= ~(1<<WGM30);
TCCR3B &= ~(1<<WGM32) & ~(1<<CS31) & ~(1<<CS32);
TCCR3B |= (1<<WGM33) | (1<<CS30);
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#endif
#if (NUMBER_MOTOR > 3) || ( (NUMBER_MOTOR > 0) && defined(A32U4_4_HW_PWM_SERVOS) )
#if defined(HWPWM6)
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
#endif
TCCR4C |= (1<<COM4D1)|(1<<PWM4D); // connect pin 6 to timer 4 channel D
#endif
#if (NUMBER_MOTOR > 4)
#if defined(HWPWM6)
TCCR1A |= _BV(COM1C1); // connect pin 11 to timer 1 channel C
TCCR4A |= (1<<COM4A1)|(1<<PWM4A); // connect pin 13 to timer 4 channel A
#else
initializeSoftPWM();
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if defined(HWPWM6)
initializeSoftPWM();
#endif
#endif
#endif
#if defined(EXT_MOTOR_64KHZ)
ICR1 = 0x007F; // TOP to 127;
TCCR4B &= ~(1<<CS42) & ~(1<<CS41);
TCCR4B |= (1<<CS40); // prescaler to 1
TC4H = 0x0;
OCR4C = 0x7F; // phase and frequency correct mode & top to 127
#elif defined(EXT_MOTOR_32KHZ)
ICR1 = 0x00FF; // TOP to 255;
TCCR4B &= ~(1<<CS42) & ~(1<<CS41);
TCCR4B |= (1<<CS40); // prescaler to 1
TC4H = 0x0;
OCR4C = 0xFF; // phase and frequency correct mode & top to 255
#elif defined(EXT_MOTOR_16KHZ)
ICR1 = 0x01FF; // TOP to 511;
TCCR4B &= ~(1<<CS42) & ~(1<<CS41);
TCCR4B |= (1<<CS40); // prescaler to 1
TC4H = 0x1;
OCR4C = 0xFF; // phase and frequency correct mode & top to 511
#elif defined(EXT_MOTOR_8KHZ)
ICR1 = 0x03FF; // TOP to 1023;
TCCR4B &= ~(1<<CS42) & ~(1<<CS41);
TCCR4B |= (1<<CS40); // prescaler to 1
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
#elif defined(EXT_MOTOR_4KHZ)
ICR1 = 0x07FE; // TOP to 2046;
TCCR4B &= ~(1<<CS42) & ~(1<<CS40);
TCCR4B |= (1<<CS41); // prescaler to 2
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
#elif defined(EXT_MOTOR_2KHZ)
ICR1 = 0x0FFC; // TOP to 4092;
TCCR4B &= ~(1<<CS42);
TCCR4B |= (1<<CS41) | (1<<CS40); // prescaler to 4
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
#elif defined(EXT_MOTOR_1KHZ)
ICR1 = 0x1FF8; // TOP to 8184;
TCCR4B &= ~(1<<CS40) & ~(1<<CS41);
TCCR4B |= (1<<CS42); // prescaler to 8
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
#endif
#endif

Expand Down
3 changes: 0 additions & 3 deletions config.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -915,9 +915,6 @@
//#define EXT_MOTOR_32KHZ
//#define EXT_MOTOR_16KHZ
//#define EXT_MOTOR_8KHZ
//#define EXT_MOTOR_4KHZ
//#define EXT_MOTOR_2KHZ
//#define EXT_MOTOR_1KHZ

/**************************************************************************************/
/*********************** motor, servo and other presets ***********************/
Expand Down

0 comments on commit fe515d3

Please sign in to comment.