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authorAtle H. Havsø <atle@havso.net>2014-08-09 02:20:51 +0200
committerAtle H. Havsø <atle@havso.net>2014-08-09 02:20:51 +0200
commit3962f09c4d5cd81a0b9bbba18a253259aa05e3a6 (patch)
treee76004a3d8de6a299ff860cf0b0a48f94477a2d3 /main.cpp
parentf7ccbb9c003cc428f6ae781bbd969359aa766116 (diff)
Enabled PWM-output to ESC.
Diffstat (limited to 'main.cpp')
-rw-r--r--main.cpp27
1 files changed, 27 insertions, 0 deletions
diff --git a/main.cpp b/main.cpp
index 08072f7..392ee2d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -22,6 +22,11 @@ Pin mag_cs = GPIOC[14];
Pin mpu_cs = GPIOC[15];
Pin flash_cs = GPIOB[2];
+Pin pwm1 = GPIOA[0];
+Pin pwm2 = GPIOA[1];
+Pin pwm3 = GPIOA[2];
+Pin pwm4 = GPIOA[3];
+
Pin s1 = GPIOA[0];
Pin s2 = GPIOA[1];
@@ -97,6 +102,28 @@ int main() {
flash_cs.set_mode(Pin::Output);
flash_cs.on();
+ pwm1.set_mode(Pin::AF);
+ pwm1.set_af(1);
+ pwm2.set_mode(Pin::AF);
+ pwm2.set_af(1);
+ pwm3.set_mode(Pin::AF);
+ pwm3.set_af(1);
+ pwm4.set_mode(Pin::AF);
+ pwm4.set_af(1);
+
+ RCC.enable(RCC.TIM2);
+
+ TIM2.PSC = 71;
+ TIM2.ARR = 2500;
+ TIM2.CCER = (1 << 12) | (1 << 8) | (1 << 4) | (1 << 0);
+ TIM2.CCMR1 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3);
+ TIM2.CCMR2 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3);
+ TIM2.CCR1 = 1000;
+ TIM2.CCR2 = 1000;
+ TIM2.CCR3 = 1000;
+ TIM2.CCR4 = 1000;
+ TIM2.CR1 = (1 << 0);
+
magn.init();
mpu.init();
float buf[9] = {0,0,0,0,0,0,0,0,0};