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Updated PWM Variant 

- PWM Variant should now support that the PWM for the 2 channels (steering, throttle) can happen:
• in the same time (ussually the case if Servo library from Arduino is used)
•or offseted (ussually if commercial RC PWM received is used)
- made the PWM timeout for the 2 channels independent to be able to use only one channel if desired.
This commit is contained in:
EmanuelFeru 2020-06-13 00:08:34 +02:00
parent 558759b2c5
commit 8ddfc82882
1 changed files with 27 additions and 18 deletions
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29
Src/control.c
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@ -88,40 +88,49 @@ void PPM_Init(void) {
#ifdef CONTROL_PWM
uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500;
uint32_t pwm_timeout = 0;
uint32_t pwm_timeout_ch1 = 0;
uint32_t pwm_timeout_ch2 = 0;
void PWM_ISR_CH1_Callback(void) {
// Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT;
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2)) { // Rising Edge interrupt -> reset timer
TIM2->CNT = 0;
} else { // Falling Edge interrupt -> measure pulse duration
uint16_t rc_signal = TIM2->CNT;
if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0;
pwm_timeout = 0;
pwm_timeout_ch1 = 0;
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
}
}
}
void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around
uint16_t rc_signal = TIM2->CNT;
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3)) { // Rising Edge interrupt -> reset timer
TIM2->CNT = 0;
} else { // Falling Edge interrupt -> measure pulse duration
uint16_t rc_signal = TIM2->CNT;
if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0;
pwm_timeout = 0;
pwm_timeout_ch2 = 0;
pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
}
}
}
// SysTick executes once each ms
void PWM_SysTick_Callback(void) {
pwm_timeout++;
pwm_timeout_ch1++;
pwm_timeout_ch2++;
// Stop after 500 ms without PPM signal
if(pwm_timeout > 500) {
if(pwm_timeout_ch1 > 500) {
pwm_captured_ch1_value = 500;
pwm_timeout_ch1 = 0;
}
if(pwm_timeout_ch2 > 500) {
pwm_captured_ch2_value = 500;
pwm_timeout = 0;
pwm_timeout_ch2 = 0;
}
}