airbourne/airbourne/examples/pwm/main.cpp
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1 /*
2  * Copyright (c) 2017, James Jackson
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
8  *
9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
15  *
16  * * Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #include "led.h"
33 #include "pwm.h"
34 #include "revo_f4.h"
35 #include "system.h"
36 
37 int main()
38 {
39  systemInit();
40 
41  LED info;
42  info.init(LED2_GPIO, LED2_PIN);
43 
44  PWM_OUT esc_out[PWM_NUM_OUTPUTS];
45  for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
46  {
47  esc_out[i].init(&pwm_config[i], 490, 2000, 1000);
48  esc_out[i].write(1.0);
49  }
50 
51  // Calibrate ESC
52  while (millis() < 5000)
53  ;
54 
55  for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
56  {
57  esc_out[i].write(0.0);
58  }
59 
60  while (millis() < 1000)
61  ;
62 
63  bool use_us_driver = true;
64  ;
65  uint32_t throttle = 1000;
66  while (1)
67  {
68  for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
69  {
70  if (use_us_driver)
71  {
72  esc_out[i].writeUs(throttle);
73  }
74  else
75  {
76  esc_out[i].write((float)(throttle - 1000) / 1000.0);
77  }
78  }
79  throttle += 1;
80  if (throttle > 2000)
81  {
82  throttle = 0;
83  info.toggle();
84  use_us_driver = !use_us_driver;
85  }
86  delay(2);
87  }
88 }
void systemInit(void)
Definition: system.c:55
void toggle(void)
Definition: gpio.cpp:52
volatile uint32_t millis(void)
Definition: system.c:50
void init(GPIO_TypeDef *gpio_port, uint16_t pin)
Definition: led.cpp:34
#define LED2_PIN
Definition: revo_f4.h:129
#define LED2_GPIO
Definition: revo_f4.h:128
Definition: led.h:38
Definition: pwm.h:37
#define PWM_NUM_OUTPUTS
Definition: revo_f4.h:133
void writeUs(uint16_t value)
Definition: pwm.cpp:151
const pwm_hardware_struct_t pwm_config[PWM_NUM_CHANNELS]
Definition: revo_f4.h:144
void init(const pwm_hardware_struct_t *pwm_init, uint16_t frequency, uint32_t max_us, uint32_t min_us)
Definition: pwm.cpp:36
void write(float value)
Definition: pwm.cpp:146
void delay(uint32_t ms)
Definition: system.c:101


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Sat May 9 2020 03:16:52