airbourne/airbourne/examples/pwm/main.cpp

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/*
 * Copyright (c) 2017, James Jackson
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "led.h"
#include "pwm.h"
#include "revo_f4.h"
#include "system.h"

int main()
{
  systemInit();

  LED info;
  info.init(LED2_GPIO, LED2_PIN);

  PWM_OUT esc_out[PWM_NUM_OUTPUTS];
  for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
  {
    esc_out[i].init(&pwm_config[i], 490, 2000, 1000);
    esc_out[i].write(1.0);
  }

  // Calibrate ESC
  while (millis() < 5000)
    ;

  for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
  {
    esc_out[i].write(0.0);
  }

  while (millis() < 1000)
    ;

  bool use_us_driver = true;
  ;
  uint32_t throttle = 1000;
  while (1)
  {
    for (int i = 0; i < PWM_NUM_OUTPUTS; ++i)
    {
      if (use_us_driver)
      {
        esc_out[i].writeUs(throttle);
      }
      else
      {
        esc_out[i].write((float)(throttle - 1000) / 1000.0);
      }
    }
    throttle += 1;
    if (throttle > 2000)
    {
      throttle = 0;
      info.toggle();
      use_us_driver = !use_us_driver;
    }
    delay(2);
  }
}