motors.h File Reference

PWM for 4 brushed coreless motors (8520, 1S) - PREPARED, unused in phase 1. More...

#include <stdint.h>

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Macros
#define	MOTORS_ENABLE   0
	1 only with the power stage connected
#define	MOTORS_PWM_TOP   1999u

Functions
void	motors_init (void)
void	motors_arm (uint8_t armed)
	disarmed: duty forced to 0
void	motors_set (const float duty[4])
	0..1, saturated
void	motors_test (uint8_t motor, float duty)
	MOTOR_TEST (props off, disarmed): motor 1..4 at duty, the others off; motor 0 = all off.

Detailed Description

PWM for 4 brushed coreless motors (8520, 1S) - PREPARED, unused in phase 1.

TIM1 CH1..CH4, 64 MHz timer clock, ARR = 1999 -> 32 kHz, 2000 levels. The WB55 pins can NOT drive the motors: a power stage is required (low-side logic-level N-MOSFET + freewheeling diode per motor), see 03 - Docs/firmware/architecture.md. Check in CubeMX that the TIM1 pins do not clash with those used by the IKS4A1 on the Arduino connector.

Definition in file motors.h.

Macro Definition Documentation

MOTORS_ENABLE

#define MOTORS_ENABLE   0

1 only with the power stage connected

Definition at line 16 of file motors.h.

MOTORS_PWM_TOP

#define MOTORS_PWM_TOP   1999u

Definition at line 17 of file motors.h.

Function Documentation

motors_init()

void motors_init

(

void

)

Definition at line 13 of file motors.c.

References s_armed.

Referenced by app_start().

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motors_arm()

void motors_arm

(

uint8_t

armed

)

disarmed: duty forced to 0

Definition at line 24 of file motors.c.

References motors_set(), and s_armed.

Referenced by app_start().

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motors_set()

void motors_set

(

const float

duty[4]

)

0..1, saturated

Definition at line 30 of file motors.c.

References MOTORS_PWM_TOP, and s_armed.

Referenced by motors_arm().

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motors_test()

void motors_test	(	uint8_t	motor,
		float	duty
	)

MOTOR_TEST (props off, disarmed): motor 1..4 at duty, the others off; motor 0 = all off.

Does nothing with MOTORS_ENABLE = 0.

Definition at line 44 of file motors.c.

References MOTORS_PWM_TOP, and s_armed.

Referenced by motor_test_hook().

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