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Output.cpp
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#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
void initializeSoftPWM(void);
#if defined(SERVO)
void initializeServo();
#endif
/**************************************************************************************/
/*************** Motor Pin order ********************/
/**************************************************************************************/
// since we are uing the PWM generation in a direct way, the pin order is just to inizialie the right pins
// its not possible to change a PWM output pin just by changing the order
#if defined(PROMINI)
uint8_t PWM_PIN[8] = {9,10,11,3,6,5,A2,12}; //for a quad+: rear,right,left,front
#endif
#if defined(PROMICRO)
#if !defined(HWPWM6)
#if defined(TEENSY20)
uint8_t PWM_PIN[8] = {14,15,9,12,22,18,16,17}; //for a quad+: rear,right,left,front
#elif defined(A32U4_4_HW_PWM_SERVOS)
uint8_t PWM_PIN[8] = {6,9,10,11,5,13,SW_PWM_P3,SW_PWM_P4}; //
#else
uint8_t PWM_PIN[8] = {9,10,5,6,4,A2,SW_PWM_P3,SW_PWM_P4}; //for a quad+: rear,right,left,front
#endif
#else
#if defined(TEENSY20)
uint8_t PWM_PIN[8] = {14,15,9,12,4,10,16,17}; //for a quad+: rear,right,left,front
#elif defined(A32U4_4_HW_PWM_SERVOS)
uint8_t PWM_PIN[8] = {6,9,10,11,5,13,SW_PWM_P3,SW_PWM_P4}; //
#else
uint8_t PWM_PIN[8] = {9,10,5,6,11,13,SW_PWM_P3,SW_PWM_P4}; //for a quad+: rear,right,left,front
#endif
#endif
#endif
#if defined(MEGA)
uint8_t PWM_PIN[8] = {3,5,6,2,7,8,9,10}; //for a quad+: rear,right,left,front //+ for y6: 7:under right 8:under left
#endif
/**************************************************************************************/
/*************** Software PWM & Servo variables ********************/
/**************************************************************************************/
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
#if (NUMBER_MOTOR > 4)
//for HEX Y6 and HEX6/HEX6X/HEX6H flat for promini
volatile uint8_t atomicPWM_PIN5_lowState;
volatile uint8_t atomicPWM_PIN5_highState;
volatile uint8_t atomicPWM_PIN6_lowState;
volatile uint8_t atomicPWM_PIN6_highState;
#endif
#if (NUMBER_MOTOR > 6)
//for OCTO on promini
volatile uint8_t atomicPWM_PINA2_lowState;
volatile uint8_t atomicPWM_PINA2_highState;
volatile uint8_t atomicPWM_PIN12_lowState;
volatile uint8_t atomicPWM_PIN12_highState;
#endif
#else
#if (NUMBER_MOTOR > 4)
//for HEX Y6 and HEX6/HEX6X/HEX6H and for Promicro
volatile uint16_t atomicPWM_PIN5_lowState;
volatile uint16_t atomicPWM_PIN5_highState;
volatile uint16_t atomicPWM_PIN6_lowState;
volatile uint16_t atomicPWM_PIN6_highState;
#endif
#if (NUMBER_MOTOR > 6)
//for OCTO on Promicro
volatile uint16_t atomicPWM_PINA2_lowState;
volatile uint16_t atomicPWM_PINA2_highState;
volatile uint16_t atomicPWM_PIN12_lowState;
volatile uint16_t atomicPWM_PIN12_highState;
#endif
#endif
#if defined(SERVO)
#if defined(HW_PWM_SERVOS)
// hw servo pwm does not need atomicServo[]
#elif defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6))
#if defined(AIRPLANE) || defined(HELICOPTER)
// To prevent motor to start at reset. atomicServo[7]=5 or 249 if reversed servo
volatile uint8_t atomicServo[8] = {125,125,125,125,125,125,125,5};
#else
volatile uint8_t atomicServo[8] = {125,125,125,125,125,125,125,125};
#endif
#else
#if defined(AIRPLANE)|| defined(HELICOPTER)
// To prevent motor to start at reset. atomicServo[7]=5 or 249 if reversed servo
volatile uint16_t atomicServo[8] = {8000,8000,8000,8000,8000,8000,8000,320};
#else
volatile uint16_t atomicServo[8] = {8000,8000,8000,8000,8000,8000,8000,8000};
#endif
#endif
#endif
/**************************************************************************************/
/*************** Calculate first and last used servos ********************/
/**************************************************************************************/
#if defined(SERVO)
#if defined(PRI_SERVO_FROM) && defined(SEC_SERVO_FROM)
#if PRI_SERVO_FROM < SEC_SERVO_FROM
#define SERVO_START PRI_SERVO_FROM
#else
#define SERVO_START SEC_SERVO_FROM
#endif
#else
#if defined(PRI_SERVO_FROM)
#define SERVO_START PRI_SERVO_FROM
#endif
#if defined(SEC_SERVO_FROM)
#define SERVO_START SEC_SERVO_FROM
#endif
#endif
#if defined(PRI_SERVO_TO) && defined(SEC_SERVO_TO)
#if PRI_SERVO_TO > SEC_SERVO_TO
#define SERVO_END PRI_SERVO_TO
#else
#define SERVO_END SEC_SERVO_TO
#endif
#else
#if defined(PRI_SERVO_TO)
#define SERVO_END PRI_SERVO_TO
#endif
#if defined(SEC_SERVO_TO)
#define SERVO_END SEC_SERVO_TO
#endif
#endif
#endif
/**************************************************************************************/
/*************** Writes the Servos values to the needed format ********************/
/**************************************************************************************/
void writeServos() {
#if defined(SERVO)
#if defined(PRI_SERVO_FROM) && !defined(HW_PWM_SERVOS) // write primary servos
for(uint8_t i = (PRI_SERVO_FROM-1); i < PRI_SERVO_TO; i++){
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
atomicServo[i] = (servo[i]-1000)>>2;
#else
atomicServo[i] = (servo[i]-1000)<<4;
#endif
}
#endif
#if defined(SEC_SERVO_FROM) && !defined(HW_PWM_SERVOS) // write secundary servos
#if (defined(SERVO_TILT)|| defined(SERVO_MIX_TILT)) && defined(MMSERVOGIMBAL)
// Moving Average Servo Gimbal by Magnetron1
static int16_t mediaMobileServoGimbalADC[3][MMSERVOGIMBALVECTORLENGHT];
static int32_t mediaMobileServoGimbalADCSum[3];
static uint8_t mediaMobileServoGimbalIDX;
uint8_t axis;
mediaMobileServoGimbalIDX = ++mediaMobileServoGimbalIDX % MMSERVOGIMBALVECTORLENGHT;
for (axis=(SEC_SERVO_FROM-1); axis < SEC_SERVO_TO; axis++) {
mediaMobileServoGimbalADCSum[axis] -= mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX];
mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX] = servo[axis];
mediaMobileServoGimbalADCSum[axis] += mediaMobileServoGimbalADC[axis][mediaMobileServoGimbalIDX];
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6))
atomicServo[axis] = (mediaMobileServoGimbalADCSum[axis] / MMSERVOGIMBALVECTORLENGHT - 1000)>>2;
#else
atomicServo[axis] = (mediaMobileServoGimbalADCSum[axis] / MMSERVOGIMBALVECTORLENGHT - 1000)<<4;
#endif
}
#else
for(uint8_t i = (SEC_SERVO_FROM-1); i < SEC_SERVO_TO; i++){
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) || (defined(MEGA) && defined(MEGA_HW_PWM_SERVOS))
atomicServo[i] = (servo[i]-1000)>>2;
#else
atomicServo[i] = (servo[i]-1000)<<4;
#endif
}
#endif
#endif
// write HW PWM servos for the mega
#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
#if (PRI_SERVO_FROM == 1 || SEC_SERVO_FROM == 1)
OCR5C = servo[0];
#endif
#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)
OCR5B = servo[1];
#endif
#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)
OCR5A = servo[2];
#endif
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)
OCR1A = servo[3];
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)
OCR1B = servo[4];
#endif
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)
OCR4A = servo[5];
#endif
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)
OCR4B = servo[6];
#endif
#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)
OCR4C = servo[7];
#endif
#endif
// write HW PWM servos for the promicro
#if defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS)
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7)
OCR1A = servo[6];// Pin 9
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5)
OCR1B = servo[4];// Pin 10
#endif
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6)
OCR3A = servo[5];// Pin 5
#endif
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4)
OCR1C = servo[3];// Pin 11
#endif
#endif
#endif
}
/**************************************************************************************/
/************ Writes the Motors values to the PWM compare register ******************/
/**************************************************************************************/
void writeMotors() { // [1000;2000] => [125;250]
/**************** Specific PWM Timers & Registers for the MEGA's *******************/
#if defined(MEGA)// [1000:2000] => [8000:16000] for timer 3 & 4 for mega
#if (NUMBER_MOTOR > 0)
#ifndef EXT_MOTOR_RANGE
OCR3C = motor[0]<<3; // pin 3
#else
OCR3C = ((motor[0]<<4) - 16000);
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifndef EXT_MOTOR_RANGE
OCR3A = motor[1]<<3; // pin 5
#else
OCR3A = ((motor[1]<<4) - 16000);
#endif
#endif
#if (NUMBER_MOTOR > 2)
#ifndef EXT_MOTOR_RANGE
OCR4A = motor[2]<<3; // pin 6
#else
OCR4A = ((motor[2]<<4) - 16000);
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifndef EXT_MOTOR_RANGE
OCR3B = motor[3]<<3; // pin 2
#else
OCR3B = ((motor[3]<<4) - 16000);
#endif
#endif
#if (NUMBER_MOTOR > 4)
#ifndef EXT_MOTOR_RANGE
OCR4B = motor[4]<<3; // pin 7
OCR4C = motor[5]<<3; // pin 8
#else
OCR4B = ((motor[4]<<4) - 16000);
OCR4C = ((motor[5]<<4) - 16000);
#endif
#endif
#if (NUMBER_MOTOR > 6)
#ifndef EXT_MOTOR_RANGE
OCR2B = motor[6]>>3; // pin 9
OCR2A = motor[7]>>3; // pin 10
#else
OCR2B = (motor[6]>>2) - 250;
OCR2A = (motor[7]>>2) - 250;
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
uint16_t Temp2;
Temp2 = motor[3] - 1000;
#if (NUMBER_MOTOR > 0)
#if defined(A32U4_4_HW_PWM_SERVOS)
// write motor0 to pin 6
// Timer 4 A & D [1000:2000] => [1000:2000]
#ifndef EXT_MOTOR_RANGE
TC4H = motor[0]>>8; OCR4D = (motor[0]&0xFF); // pin 6
#else
TC4H = (((motor[0]-1000)<<1)+16)>>8; OCR4D = ((((motor[0]-1000)<<1)+16)&0xFF); // pin 6
#endif
#else
// Timer 1 A & B [1000:2000] => [8000:16000]
#ifdef EXT_MOTOR_RANGE
OCR1A = ((motor[0]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
OCR1A = (motor[0] - 1000) >> 2; // max = 255
#elif defined(EXT_MOTOR_32KHZ)
OCR1A = (motor[0] - 1000) >> 1; // max = 511
#elif defined(EXT_MOTOR_16KHZ)
OCR1A = motor[0] - 1000; // pin 9
#elif defined(EXT_MOTOR_8KHZ)
OCR1A = (motor[0]-1000) << 1; // pin 9
#else
OCR1A = motor[0]<<3; // pin 9
#endif
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifdef EXT_MOTOR_RANGE
OCR1B = ((motor[1]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
OCR1B = (motor[1] - 1000) >> 2;
#elif defined(EXT_MOTOR_32KHZ)
OCR1B = (motor[1] - 1000) >> 1;
#elif defined(EXT_MOTOR_16KHZ)
OCR1B = motor[1] - 1000; // pin 10
#elif defined(EXT_MOTOR_8KHZ)
OCR1B = (motor[1]-1000) << 1; // pin 10
#else
OCR1B = motor[1]<<3; // pin 10
#endif
#endif
#if (NUMBER_MOTOR > 2) // Timer 4 A & D [1000:2000] => [1000:2000]
#if !defined(HWPWM6)
// to write values > 255 to timer 4 A/B we need to split the bytes
#ifndef EXT_MOTOR_RANGE
TC4H = (2047-motor[2])>>8; OCR4A = ((2047-motor[2])&0xFF); // pin 5
#else
TC4H = 2047-(((motor[2]-1000)<<1)+16)>>8; OCR4A = (2047-(((motor[2]-1000)<<1)+16)&0xFF); // pin 5
#endif
#else
#ifdef EXT_MOTOR_RANGE
OCR3A = ((motor[2]<<4) - 16000) + 128;
#elif defined(EXT_MOTOR_64KHZ)
OCR3A = (motor[2] - 1000) >> 2;
#elif defined(EXT_MOTOR_32KHZ)
OCR3A = (motor[2] - 1000) >> 1;
#elif defined(EXT_MOTOR_16KHZ)
OCR3A = motor[2] - 1000; // pin 5
#elif defined(EXT_MOTOR_8KHZ)
OCR3A = (motor[2]-1000) << 1; // pin 5
#else
OCR3A = motor[2]<<3; // pin 5
#endif
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifdef EXT_MOTOR_RANGE
TC4H = (((motor[3]-1000)<<1)+16)>>8; OCR4D = ((((motor[3]-1000)<<1)+16)&0xFF); // pin 6
#elif defined(EXT_MOTOR_64KHZ)
Temp2 = Temp2 >> 2;
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_32KHZ)
Temp2 = Temp2 >> 1;
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_16KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#elif defined(EXT_MOTOR_8KHZ)
TC4H = Temp2 >> 8;
OCR4D = Temp2 & 0xFF; // pin 6
#else
TC4H = motor[3]>>8; OCR4D = (motor[3]&0xFF); // pin 6
#endif
#endif
#if (NUMBER_MOTOR > 4)
#if !defined(HWPWM6)
#if (NUMBER_MOTOR == 6) && !defined(SERVO)
atomicPWM_PIN5_highState = motor[4]<<3;
atomicPWM_PIN5_lowState = 16383-atomicPWM_PIN5_highState;
atomicPWM_PIN6_highState = motor[5]<<3;
atomicPWM_PIN6_lowState = 16383-atomicPWM_PIN6_highState;
#else
atomicPWM_PIN5_highState = ((motor[4]-1000)<<4)+320;
atomicPWM_PIN5_lowState = 15743-atomicPWM_PIN5_highState;
atomicPWM_PIN6_highState = ((motor[5]-1000)<<4)+320;
atomicPWM_PIN6_lowState = 15743-atomicPWM_PIN6_highState;
#endif
#else
#ifndef EXT_MOTOR_RANGE
OCR1C = motor[4]<<3; // pin 11
TC4H = motor[5]>>8; OCR4A = (motor[5]&0xFF); // pin 13
#else
OCR1C = ((motor[4]<<4) - 16000) + 128;
TC4H = (((motor[5]-1000)<<1)+16)>>8; OCR4A = ((((motor[5]-1000)<<1)+16)&0xFF); // pin 13
#endif
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if !defined(HWPWM6)
atomicPWM_PINA2_highState = ((motor[6]-1000)<<4)+320;
atomicPWM_PINA2_lowState = 15743-atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7]-1000)<<4)+320;
atomicPWM_PIN12_lowState = 15743-atomicPWM_PIN12_highState;
#else
atomicPWM_PINA2_highState = ((motor[6]-1000)>>2)+5;
atomicPWM_PINA2_lowState = 245-atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7]-1000)>>2)+5;
atomicPWM_PIN12_lowState = 245-atomicPWM_PIN12_highState;
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega328P (Promini) ************/
#if defined(PROMINI)
#if (NUMBER_MOTOR > 0)
#ifdef EXT_MOTOR_RANGE // 490Hz
OCR1A = ((motor[0]>>2) - 250);
#elif defined(EXT_MOTOR_32KHZ)
OCR1A = (motor[0] - 1000) >> 2; // pin 9
#elif defined(EXT_MOTOR_4KHZ)
OCR1A = (motor[0] - 1000) << 1;
#elif defined(EXT_MOTOR_1KHZ)
OCR1A = (motor[0] - 1000) << 3;
#else
OCR1A = motor[0]>>3; // pin 9
#endif
#endif
#if (NUMBER_MOTOR > 1)
#ifdef EXT_MOTOR_RANGE // 490Hz
OCR1B = ((motor[1]>>2) - 250);
#elif defined(EXT_MOTOR_32KHZ)
OCR1B = (motor[1] - 1000) >> 2; // pin 10
#elif defined(EXT_MOTOR_4KHZ)
OCR1B = (motor[1] - 1000) << 1;
#elif defined(EXT_MOTOR_1KHZ)
OCR1B = (motor[1] - 1000) << 3;
#else
OCR1B = motor[1]>>3; // pin 10
#endif
#endif
#if (NUMBER_MOTOR > 2)
#ifdef EXT_MOTOR_RANGE // 490Hz
OCR2A = ((motor[2]>>2) - 250);
#elif defined(EXT_MOTOR_32KHZ)
OCR2A = (motor[2] - 1000) >> 2; // pin 11
#elif defined(EXT_MOTOR_4KHZ)
OCR2A = (motor[2] - 1000) >> 2;
#elif defined(EXT_MOTOR_1KHZ)
OCR2A = (motor[2] - 1000) >> 2;
#else
OCR2A = motor[2]>>3; // pin 11
#endif
#endif
#if (NUMBER_MOTOR > 3)
#ifdef EXT_MOTOR_RANGE // 490Hz
OCR2B = ((motor[3]>>2) - 250);
#elif defined(EXT_MOTOR_32KHZ)
OCR2B = (motor[3] - 1000) >> 2; // pin 3
#elif defined(EXT_MOTOR_4KHZ)
OCR2B = (motor[3] - 1000) >> 2;
#elif defined(EXT_MOTOR_1KHZ)
OCR2B = (motor[3] - 1000) >> 2;
#else
OCR2B = motor[3]>>3; // pin 3
#endif
#endif
#if (NUMBER_MOTOR > 4)
#if (NUMBER_MOTOR == 6) && !defined(SERVO)
#ifndef EXT_MOTOR_RANGE
atomicPWM_PIN6_highState = motor[4]>>3;
atomicPWM_PIN5_highState = motor[5]>>3;
#else
atomicPWM_PIN6_highState = (motor[4]>>2) - 250;
atomicPWM_PIN5_highState = (motor[5]>>2) - 250;
#endif
atomicPWM_PIN6_lowState = 255-atomicPWM_PIN6_highState;
atomicPWM_PIN5_lowState = 255-atomicPWM_PIN5_highState;
#else //note: EXT_MOTOR_RANGE not possible here
atomicPWM_PIN6_highState = ((motor[4]-1000)>>2)+5;
atomicPWM_PIN6_lowState = 245-atomicPWM_PIN6_highState;
atomicPWM_PIN5_highState = ((motor[5]-1000)>>2)+5;
atomicPWM_PIN5_lowState = 245-atomicPWM_PIN5_highState;
#endif
#endif
#if (NUMBER_MOTOR > 6) //note: EXT_MOTOR_RANGE not possible here
atomicPWM_PINA2_highState = ((motor[6]-1000)>>2)+5;
atomicPWM_PINA2_lowState = 245-atomicPWM_PINA2_highState;
atomicPWM_PIN12_highState = ((motor[7]-1000)>>2)+5;
atomicPWM_PIN12_lowState = 245-atomicPWM_PIN12_highState;
#endif
#endif
}
/**************************************************************************************/
/************ Writes the mincommand to all Motors ******************/
/**************************************************************************************/
void writeAllMotors(int16_t mc) { // Sends commands to all motors
for (uint8_t i =0;i<NUMBER_MOTOR;i++) {
motor[i]=mc;
}
writeMotors();
}
/**************************************************************************************/
/************ Initialize the PWM Timers and Registers ******************/
/**************************************************************************************/
void initOutput() {
/**************** mark all PWM pins as Output ******************/
for(uint8_t i=0;i<NUMBER_MOTOR;i++) {
pinMode(PWM_PIN[i],OUTPUT);
}
/**************** Specific PWM Timers & Registers for the MEGA's ******************/
#if defined(MEGA)
#if (NUMBER_MOTOR > 0)
// init 16bit timer 3
TCCR3A |= (1<<WGM31); // phase correct mode
TCCR3A &= ~(1<<WGM30);
TCCR3B |= (1<<WGM33);
TCCR3B &= ~(1<<CS31); // no prescaler
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3C1); // connect pin 3 to timer 3 channel C
#endif
#if (NUMBER_MOTOR > 1)
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#if (NUMBER_MOTOR > 2)
// init 16bit timer 4
TCCR4A |= (1<<WGM41); // phase correct mode
TCCR4A &= ~(1<<WGM40);
TCCR4B |= (1<<WGM43);
TCCR4B &= ~(1<<CS41); // no prescaler
ICR4 |= 0x3FFF; // TOP to 16383;
TCCR4A |= _BV(COM4A1); // connect pin 6 to timer 4 channel A
#endif
#if (NUMBER_MOTOR > 3)
TCCR3A |= _BV(COM3B1); // connect pin 2 to timer 3 channel B
#endif
#if (NUMBER_MOTOR > 4)
TCCR4A |= _BV(COM4B1); // connect pin 7 to timer 4 channel B
TCCR4A |= _BV(COM4C1); // connect pin 8 to timer 4 channel C
#endif
#if (NUMBER_MOTOR > 6)
// timer 2 is a 8bit timer so we cant change its range
TCCR2A |= _BV(COM2B1); // connect pin 9 to timer 2 channel B
TCCR2A |= _BV(COM2A1); // connect pin 10 to timer 2 channel A
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega32u4 (Promicro) ************/
#if defined(PROMICRO)
#if defined(EXT_MOTOR_64KHZ) || defined(EXT_MOTOR_32KHZ) || defined(EXT_MOTOR_16KHZ) || defined(EXT_MOTOR_8KHZ)
TCCR1A = (1<<WGM11);
TCCR1B = (1<<WGM13) | (1<<WGM12) | (1<<CS10);
TCCR3A = (1<<WGM31);
TCCR3B = (1<<WGM33) | (1<<WGM32) | (1<<CS30);
#if defined(EXT_MOTOR_64KHZ)
ICR1 = 0x00FF; // TOP to 255;
ICR3 = 0x00FF; // TOP to 255;
TC4H = 0x00;
OCR4C = 0xFF; // phase and frequency correct mode & top to 255
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_32KHZ)
ICR1 = 0x01FF; // TOP to 511;
ICR3 = 0x01FF; // TOP to 511;
TC4H = 0x01;
OCR4C = 0xFF; // phase and frequency correct mode & top to 511
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_16KHZ)
ICR1 = 0x03FF; // TOP to 1023;
ICR3 = 0x03FF; // TOP to 1023;
TC4H = 0x03;
OCR4C = 0xFF; // phase and frequency correct mode & top to 1023
TCCR4B = (1<<CS40); // prescaler to 1
#elif defined(EXT_MOTOR_8KHZ)
ICR1 = 0x07FF; // TOP to 2046;
ICR3 = 0x07FF; // TOP to 2046;
TC4H = 0x3;
OCR4C = 0xFF; // phase and frequency correct mode
TCCR4B = (1<<CS41); // prescaler to 2
#endif
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
TCCR4D = 0;
TCCR4C |= (1<<COM4D1)|(1<<PWM4D); // connect pin 6 to timer 4 channel D
#else
#if (NUMBER_MOTOR > 0) && ( !defined(A32U4_4_HW_PWM_SERVOS) )
TCCR1A |= (1<<WGM11); // phase correct mode & no prescaler
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~(1<<WGM12) & ~(1<<CS11) & ~(1<<CS12);
TCCR1B |= (1<<WGM13) | (1<<CS10);
ICR1 |= 0x3FFF; // TOP to 16383;
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
#if !defined(HWPWM6) // timer 4A
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
TCCR4A |= (1<<COM4A0)|(1<<PWM4A); // connect pin 5 to timer 4 channel A
#else // timer 3A
TCCR3A |= (1<<WGM31); // phase correct mode & no prescaler
TCCR3A &= ~(1<<WGM30);
TCCR3B &= ~(1<<WGM32) & ~(1<<CS31) & ~(1<<CS32);
TCCR3B |= (1<<WGM33) | (1<<CS30);
ICR3 |= 0x3FFF; // TOP to 16383;
TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
#endif
#endif
#if (NUMBER_MOTOR > 3) || ( (NUMBER_MOTOR > 0) && defined(A32U4_4_HW_PWM_SERVOS) )
#if defined(HWPWM6)
TCCR4E |= (1<<ENHC4); // enhanced pwm mode
TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
#endif
TCCR4C |= (1<<COM4D1)|(1<<PWM4D); // connect pin 6 to timer 4 channel D
#endif
#if (NUMBER_MOTOR > 4)
#if defined(HWPWM6)
TCCR1A |= _BV(COM1C1); // connect pin 11 to timer 1 channel C
TCCR4A |= (1<<COM4A1)|(1<<PWM4A); // connect pin 13 to timer 4 channel A
#else
initializeSoftPWM();
#endif
#endif
#if (NUMBER_MOTOR > 6)
#if defined(HWPWM6)
initializeSoftPWM();
#endif
#endif
#endif
#endif
/******** Specific PWM Timers & Registers for the atmega328P (Promini) ************/
#if defined(PROMINI)
#if defined(EXT_MOTOR_32KHZ)
TCCR1A = (1<<WGM11); // phase correct mode & no prescaler
TCCR1B = (1<<WGM13) | (1<<CS10);
ICR1 = 0x00FF; // TOP to 255;
TCCR2B = (1<<CS20);
#elif defined(EXT_MOTOR_4KHZ)
TCCR1A = (1<<WGM11); // phase correct mode & no prescaler
TCCR1B = (1<<WGM13) | (1<<CS10);
ICR1 = 0x07F8; // TOP to 1023;
TCCR2B = (1<<CS21);
#elif defined(EXT_MOTOR_1KHZ)
TCCR1A = (1<<WGM11); // phase correct mode & no prescaler
TCCR1B = (1<<WGM13) | (1<<CS10);
ICR1 = 0x1FE0; // TOP to 8184;
TCCR2B = (1<<CS20) | (1<<CS21);
#endif
#if (NUMBER_MOTOR > 0)
TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
#endif
#if (NUMBER_MOTOR > 1)
TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
#endif
#if (NUMBER_MOTOR > 2)
TCCR2A |= _BV(COM2A1); // connect pin 11 to timer 2 channel A
#endif
#if (NUMBER_MOTOR > 3)
TCCR2A |= _BV(COM2B1); // connect pin 3 to timer 2 channel B
#endif
#if (NUMBER_MOTOR > 4) // PIN 5 & 6 or A0 & A1
initializeSoftPWM();
#if defined(A0_A1_PIN_HEX) || (NUMBER_MOTOR > 6)
pinMode(5,INPUT);pinMode(6,INPUT); // we reactivate the INPUT affectation for these two PINs
pinMode(A0,OUTPUT);pinMode(A1,OUTPUT);
#endif
#endif
#endif
/******** special version of MultiWii to calibrate all attached ESCs ************/
#if defined(ESC_CALIB_CANNOT_FLY)
writeAllMotors(ESC_CALIB_HIGH);
blinkLED(2,20, 2);
delay(4000);
writeAllMotors(ESC_CALIB_LOW);
blinkLED(3,20, 2);
while (1) {
delay(5000);
blinkLED(4,20, 2);
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_2);
}
exit; // statement never reached
#endif
writeAllMotors(MINCOMMAND);
delay(300);
#if defined(SERVO)
initializeServo();
#endif
}
#if defined(SERVO)
/**************************************************************************************/
/************ Initialize the PWM Servos ******************/
/**************************************************************************************/
void initializeServo() {
#if !defined(HW_PWM_SERVOS)
// do pins init
#if (PRI_SERVO_FROM == 1) || (SEC_SERVO_FROM == 1)
SERVO_1_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)
SERVO_2_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)
SERVO_3_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)
SERVO_4_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)
SERVO_5_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)
SERVO_6_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)
SERVO_7_PINMODE;
#endif
#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)
SERVO_8_PINMODE;
#endif
#endif
#if defined(SERVO_1_HIGH)
#if defined(PROMINI) || (defined(PROMICRO) && defined(HWPWM6)) // uses timer 0 Comperator A (8 bit)
TCCR0A = 0; // normal counting mode
TIMSK0 |= (1<<OCIE0A); // Enable CTC interrupt
#define SERVO_ISR TIMER0_COMPA_vect
#define SERVO_CHANNEL OCR0A
#define SERVO_1K_US 250
#endif
#if (defined(PROMICRO) && !defined(HWPWM6)) // uses timer 3 Comperator A (11 bit)
TCCR3A &= ~(1<<WGM30) & ~(1<<WGM31); //normal counting & no prescaler
TCCR3B &= ~(1<<WGM32) & ~(1<<CS31) & ~(1<<CS32) & ~(1<<WGM33);
TCCR3B |= (1<<CS30);
TIMSK3 |= (1<<OCIE3A); // Enable CTC interrupt
#define SERVO_ISR TIMER3_COMPA_vect
#define SERVO_CHANNEL OCR3A
#define SERVO_1K_US 16000
#endif
#if defined(MEGA) // uses timer 5 Comperator A (11 bit)
TCCR5A &= ~(1<<WGM50) & ~(1<<WGM51); //normal counting & no prescaler
TCCR5B &= ~(1<<WGM52) & ~(1<<CS51) & ~(1<<CS52) & ~(1<<WGM53);
TCCR5B |= (1<<CS50);
TIMSK5 |= (1<<OCIE5A); // Enable CTC interrupt
#define SERVO_ISR TIMER5_COMPA_vect
#define SERVO_CHANNEL OCR5A
#define SERVO_1K_US 16000
#endif
#endif
#if defined(MEGA) && defined(MEGA_HW_PWM_SERVOS)
#if defined(SERVO_RFR_RATE)
#if (SERVO_RFR_RATE < 20)
#define SERVO_RFR_RATE 20
#endif
#if (SERVO_RFR_RATE > 400)
#define SERVO_RFR_RATE 400
#endif
#else
#if defined(SERVO_RFR_50HZ)
#define SERVO_RFR_RATE 50
#elif defined(SERVO_RFR_160HZ)
#define SERVO_RFR_RATE 160
#elif defined(SERVO_RFR_300HZ)
#define SERVO_RFR_RATE 300
#endif
#endif
#define SERVO_TOP_VAL (uint16_t)(1000000L / SERVO_RFR_RATE)
// init Timer 5, 1 and 4 of the mega for hw PWM
TIMSK5 &= ~(1<<OCIE5A); // Disable software PWM
#if (PRI_SERVO_TO >= 1) || (SEC_SERVO_TO >= 1)
TCCR5A |= (1<<WGM51); // phase correct mode & prescaler to 8 = 1us resolution
TCCR5A &= ~(1<<WGM50);
TCCR5B &= ~(1<<WGM52) & ~(1<<CS50) & ~(1<<CS52);
TCCR5B |= (1<<WGM53) | (1<<CS51);
ICR5 = SERVO_TOP_VAL;
#if (PRI_SERVO_FROM == 1 || SEC_SERVO_FROM == 1)
pinMode(44,OUTPUT);
TCCR5A |= (1<<COM5C1); // pin 44
#endif
#if (PRI_SERVO_FROM <= 2 && PRI_SERVO_TO >= 2) || (SEC_SERVO_FROM <= 2 && SEC_SERVO_TO >= 2)
pinMode(45,OUTPUT);
TCCR5A |= (1<<COM5B1); // pin 45
#endif
#if (PRI_SERVO_FROM <= 3 && PRI_SERVO_TO >= 3) || (SEC_SERVO_FROM <= 3 && SEC_SERVO_TO >= 3)
pinMode(46,OUTPUT);
TCCR5A |= (1<<COM5A1); // pin 46
#endif
#endif
#if (PRI_SERVO_TO >= 4) || (SEC_SERVO_TO >= 4)
TCCR1A |= (1<<WGM11); // phase correct mode & prescaler to 8
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~(1<<WGM12) & ~(1<<CS10) & ~(1<<CS12);
TCCR1B |= (1<<WGM13) | (1<<CS11);
ICR1 = SERVO_TOP_VAL;
#if (PRI_SERVO_FROM <= 4 && PRI_SERVO_TO >= 4) || (SEC_SERVO_FROM <= 4 && SEC_SERVO_TO >= 4)
pinMode(11, OUTPUT);
TCCR1A |= (1<<COM1A1); // pin 11
#endif
#if (PRI_SERVO_FROM <= 5 && PRI_SERVO_TO >= 5) || (SEC_SERVO_FROM <= 5 && SEC_SERVO_TO >= 5)
pinMode(12,OUTPUT);
TCCR1A |= (1<<COM1B1); // pin 12
#endif
#endif
#if (PRI_SERVO_TO >= 6) || (SEC_SERVO_TO >= 6)
// init 16bit timer 4
TCCR4A |= (1<<WGM41); // phase correct mode
TCCR4A &= ~(1<<WGM40);
TCCR4B &= ~(1<<WGM42) & ~(1<<CS40) & ~(1<<CS42);
TCCR4B |= (1<<WGM43) | (1<<CS41);
ICR4 = SERVO_TOP_VAL;
#if (PRI_SERVO_FROM <= 6 && PRI_SERVO_TO >= 6) || (SEC_SERVO_FROM <= 6 && SEC_SERVO_TO >= 6)
pinMode(6,OUTPUT);
TCCR4A |= _BV(COM4A1); // connect pin 6 to timer 4 channel A
#endif
#if (PRI_SERVO_FROM <= 7 && PRI_SERVO_TO >= 7) || (SEC_SERVO_FROM <= 7 && SEC_SERVO_TO >= 7)
pinMode(7,OUTPUT);
TCCR4A |= _BV(COM4B1); // connect pin 7 to timer 4 channel B
#endif
#if (PRI_SERVO_FROM <= 8 && PRI_SERVO_TO >= 8) || (SEC_SERVO_FROM <= 8 && SEC_SERVO_TO >= 8)
#if defined(AIRPLANE) || defined(HELICOPTER)
servo[7] = MINCOMMAND; // Trhottle at minimum for airplane and heli
OCR4C = MINCOMMAND;
#endif
pinMode(8,OUTPUT);
TCCR4A |= _BV(COM4C1); // connect pin 8 to timer 4 channel C
#endif
#endif
#endif // mega hw pwm
#if defined(PROMICRO) && defined(A32U4_4_HW_PWM_SERVOS)
// atm. always initialize 4 servos to pins 9, 10, 11, 5
TIMSK1 &= ~(1<<OCIE1A) & ~(1<<OCIE1B) & ~(1<<OCIE1C);
TCCR1A |= (1<<WGM11); // phase correct mode & prescaler to 8
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~(1<<WGM12) & ~(1<<CS10) & ~(1<<CS12);
TCCR1B |= (1<<WGM13) | (1<<CS11);
pinMode(9,OUTPUT);
TCCR1A |= (1<<COM1A1); // pin 9
pinMode(10,OUTPUT);
TCCR1A |= (1<<COM1B1); // pin 10
pinMode(11,OUTPUT);
TCCR1A |= (1<<COM1C1); // pin 11
TCCR3A |= (1<<WGM31); // phase correct mode & prescaler to 8
TCCR3A &= ~(1<<WGM30);
TCCR3B &= ~(1<<WGM32) & ~(1<<CS30) & ~(1<<CS32);
TCCR3B |= (1<<WGM33) | (1<<CS31);
pinMode(5,OUTPUT);
TCCR3A |= (1<<COM3A1); // pin 5
#if defined(SERVO_RFR_RATE)
#if (SERVO_RFR_RATE < 50) || (SERVO_RFR_RATE > 400)
#error "* invalid SERVO_RFR_RATE specified"
#endif
#define SERVO_TOP_VAL (uint16_t)(1000000L / SERVO_RFR_RATE)
#elif defined(SERVO_RFR_50HZ)
#define SERVO_TOP_VAL 16700
#elif defined(SERVO_RFR_160HZ)
#define SERVO_TOP_VAL 6200
#elif defined(SERVO_RFR_300HZ)
#define SERVO_TOP_VAL 3300
#else
#error "* must set SERVO_RFR_RATE or one of the fixed refresh rates of 50, 160 or 300 Hz"
#endif
#if defined(SERVO_PIN5_RFR_RATE)
#if (SERVO_PIN5_RFR_RATE < 50) || (SERVO_PIN5_RFR_RATE > 400)
#error "* invalid SERVO_PIN5_RFR_RATE specified"
#endif
#define SERVO_PIN5_TOP_VAL (uint16_t)(1000000L / SERVO_PIN5_RFR_RATE)
#else
#define SERVO_PIN5_TOP_VAL SERVO_TOP_VAL
#endif
ICR1 = SERVO_TOP_VAL; // set TOP timer 1
ICR3 = SERVO_PIN5_TOP_VAL; // set TOP timer 3
#endif // promicro hw pwm
}
/**************************************************************************************/
/************ Servo software PWM generation ******************/
/**************************************************************************************/
// prescaler is set by default to 64 on Timer0
// Duemilanove : 16MHz / 64 => 4 us
// 256 steps = 1 counter cycle = 1024 us
// for servo 2-8
// its almost the same as for servo 1
#if defined(SERVO_1_HIGH) && !defined(A32U4_4_HW_PWM_SERVOS)
#define SERVO_PULSE(PIN_HIGH,ACT_STATE,SERVO_NUM,LAST_PIN_LOW) \
}else if(state == ACT_STATE){ \
LAST_PIN_LOW; \
PIN_HIGH; \
SERVO_CHANNEL+=SERVO_1K_US; \
state++; \
}else if(state == ACT_STATE+1){ \
SERVO_CHANNEL+=atomicServo[SERVO_NUM]; \
state++; \
ISR(SERVO_ISR) {
static uint8_t state = 0; // indicates the current state of the chain
if(state == 0){
SERVO_1_HIGH; // set servo 1's pin high
SERVO_CHANNEL+=SERVO_1K_US; // wait 1000us
state++; // count up the state
}else if(state==1){
SERVO_CHANNEL+=atomicServo[SERVO_1_ARR_POS]; // load the servo's value (0-1000us)
state++; // count up the state
#if defined(SERVO_2_HIGH)
SERVO_PULSE(SERVO_2_HIGH,2,SERVO_2_ARR_POS,SERVO_1_LOW); // the same here
#endif
#if defined(SERVO_3_HIGH)
SERVO_PULSE(SERVO_3_HIGH,4,SERVO_3_ARR_POS,SERVO_2_LOW);
#endif
#if defined(SERVO_4_HIGH)
SERVO_PULSE(SERVO_4_HIGH,6,SERVO_4_ARR_POS,SERVO_3_LOW);
#endif
#if defined(SERVO_5_HIGH)
SERVO_PULSE(SERVO_5_HIGH,8,SERVO_5_ARR_POS,SERVO_4_LOW);
#endif
#if defined(SERVO_6_HIGH)
SERVO_PULSE(SERVO_6_HIGH,10,SERVO_6_ARR_POS,SERVO_5_LOW);
#endif
#if defined(SERVO_7_HIGH)
SERVO_PULSE(SERVO_7_HIGH,12,SERVO_7_ARR_POS,SERVO_6_LOW);
#endif
#if defined(SERVO_8_HIGH)
SERVO_PULSE(SERVO_8_HIGH,14,SERVO_8_ARR_POS,SERVO_7_LOW);
#endif
}else{
LAST_LOW;
#if defined(SERVO_RFR_300HZ)
#if defined(SERVO_3_HIGH) // if there are 3 or more servos we dont need to slow it down
SERVO_CHANNEL+=(SERVO_1K_US>>3); // 0 would be better but it causes bad jitter
state=0;
#else // if there are less then 3 servos we need to slow it to not go over 300Hz (the highest working refresh rate for the digital servos for what i know..)
SERVO_CHANNEL+=SERVO_1K_US;
if(state<4){
state+=2;
}else{
state=0;
}
#endif
#endif
#if defined(SERVO_RFR_160HZ)
#if defined(SERVO_4_HIGH) // if there are 4 or more servos we dont need to slow it down
SERVO_CHANNEL+=(SERVO_1K_US>>3); // 0 would be better but it causes bad jitter
state=0;
#else // if there are less then 4 servos we need to slow it to not go over ~170Hz (the highest working refresh rate for analog servos)
SERVO_CHANNEL+=SERVO_1K_US;
if(state<8){
state+=2;
}else{
state=0;
}
#endif
#endif
#if defined(SERVO_RFR_50HZ) // to have ~ 50Hz for all servos
SERVO_CHANNEL+=SERVO_1K_US;
if(state<30){
state+=2;
}else{
state=0;
}
#endif
}
}
#endif
#endif
/**************************************************************************************/
/************ Motor software PWM generation ******************/
/**************************************************************************************/
// SW PWM is only used if there are not enough HW PWM pins (for exampe hexa on a promini)
#if (NUMBER_MOTOR > 4) && (defined(PROMINI) || defined(PROMICRO))
/**************** Pre define the used ISR's and Timerchannels ******************/
#if !defined(PROMICRO)
#define SOFT_PWM_ISR1 TIMER0_COMPB_vect
#define SOFT_PWM_ISR2 TIMER0_COMPA_vect
#define SOFT_PWM_CHANNEL1 OCR0B
#define SOFT_PWM_CHANNEL2 OCR0A
#elif !defined(HWPWM6)
#define SOFT_PWM_ISR1 TIMER3_COMPB_vect
#define SOFT_PWM_ISR2 TIMER3_COMPC_vect
#define SOFT_PWM_CHANNEL1 OCR3B
#define SOFT_PWM_CHANNEL2 OCR3C
#else
#define SOFT_PWM_ISR2 TIMER0_COMPB_vect
#define SOFT_PWM_CHANNEL2 OCR0B
#endif
/**************** Initialize Timers and PWM Channels ******************/
void initializeSoftPWM(void) {