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#include "motormixer.h"
#include <ch.h>
#include <hal.h>
namespace {
uint16_t motors[4];
void foo(PWMDriver*) {
pwmEnableChannel(&PWMD2, 0, 1000 + motors[0]);
pwmEnableChannel(&PWMD2, 1, 1000 + motors[1]);
pwmEnableChannel(&PWMD2, 2, 1000 + motors[2]);
pwmEnableChannel(&PWMD2, 3, 1000 + motors[3]);
}
static PWMConfig pwmcfg = {
1000000,
1000000 / 50,
foo,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL}
},
0
};
};
void MotorMixer::start() {
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 0, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
pwmEnableChannel(&PWMD2, 0, 1000);
pwmEnableChannel(&PWMD2, 1, 1000);
pwmEnableChannel(&PWMD2, 2, 1000);
pwmEnableChannel(&PWMD2, 3, 1000);
}
void MotorMixer::update(int16_t thrust, int16_t pitch, int16_t roll, int16_t yaw) {
//thrust = ppmsum.data[2];
if(thrust < 0) {
thrust = 0;
}
if(thrust > 1000) {
thrust = 1000;
}
//pitch = ((ppmsum.data[1] - 500) * thrust) >> 10;
//roll = ((ppmsum.data[0] - 500) * thrust) >> 10;
//yaw = ((ppmsum.data[3] - 500) * thrust) >> 10;
//pitch = (-i2c_thread.x) >> 5;
//roll = i2c_thread.y >> 5;
//yaw = i2c_thread.z >> 5;
motors[0] = thrust + pitch + roll - yaw;
motors[1] = thrust + pitch - roll + yaw;
motors[2] = thrust - pitch + roll + yaw;
motors[3] = thrust - pitch - roll - yaw;
//sensordata[20] = motor_1;
//sensordata[21] = motor_2;
//sensordata[22] = motor_3;
//sensordata[23] = motor_4;
}
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