Removed software servo driver, fixed hw servo driver to work with all…

… hardwares
TDA-2030 · Feb 28, 2018 · bf27cb6 · bf27cb6
1 parent 264946d
commit bf27cb6
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Showing 54 changed files with 69 additions and 1,048 deletions.
diff --git a/CHANGELOG b/CHANGELOG
@@ -1,3 +1,7 @@
+=== FW 3.35 ===
+* Added option to disable nRF transmission (option in Transmit Power parameter).
+* Fixed servo output driver for all hardwares and removed software servo driver.
+
 === FW 3.34 ===
 * Added motor PID position to COMM_GET_VALUES.
 * Inverted direction angle normalization in mc_interface.

diff --git a/Makefile b/Makefile
@@ -133,7 +133,6 @@ CSRC = $(STARTUPSRC) \
        mcpwm.c \
        servo_dec.c \
        utils.c \
-       servo.c \
        servo_simple.c \
        packet.c \
        terminal.c \

diff --git a/build_all/410_o_411_o_412/VESC_0005ohm.bin b/build_all/410_o_411_o_412/VESC_0005ohm.bin
diff --git a/build_all/410_o_411_o_412/VESC_default.bin b/build_all/410_o_411_o_412/VESC_default.bin
diff --git a/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin b/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin
diff --git a/build_all/410_o_411_o_412/VESC_ws2811.bin b/build_all/410_o_411_o_412/VESC_ws2811.bin
diff --git a/build_all/46_o_47/VESC_0005ohm.bin b/build_all/46_o_47/VESC_0005ohm.bin
diff --git a/build_all/46_o_47/VESC_33k.bin b/build_all/46_o_47/VESC_33k.bin
diff --git a/build_all/46_o_47/VESC_default.bin b/build_all/46_o_47/VESC_default.bin
diff --git a/build_all/46_o_47/VESC_ws2811.bin b/build_all/46_o_47/VESC_ws2811.bin
diff --git a/build_all/46_o_47/VESC_ws2811_33k.bin b/build_all/46_o_47/VESC_ws2811_33k.bin
diff --git a/build_all/48/VESC_0005ohm.bin b/build_all/48/VESC_0005ohm.bin
diff --git a/build_all/48/VESC_default.bin b/build_all/48/VESC_default.bin
diff --git a/build_all/48/VESC_ws2811.bin b/build_all/48/VESC_ws2811.bin
diff --git a/build_all/60/VESC_default.bin b/build_all/60/VESC_default.bin
diff --git a/build_all/60/VESC_default_no_hw_limits.bin b/build_all/60/VESC_default_no_hw_limits.bin
diff --git a/build_all/60/VESC_servoout.bin b/build_all/60/VESC_servoout.bin
diff --git a/build_all/60/VESC_ws2811.bin b/build_all/60/VESC_ws2811.bin
diff --git a/build_all/DAS_RS/VESC_default.bin b/build_all/DAS_RS/VESC_default.bin
diff --git a/commands.c b/commands.c
@@ -22,7 +22,6 @@
 #include "hal.h"
 #include "mc_interface.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 #include "servo_simple.h"
 #include "buffer.h"
 #include "terminal.h"
@@ -241,11 +240,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 	case COMM_SET_SERVO_POS:
 #if SERVO_OUT_ENABLE
 		ind = 0;
-#if SERVO_OUT_SIMPLE
 		servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
-#else
-		servos[0].pos = (int16_t)(buffer_get_float16(data, 1000.0, &ind) * 255.0);
-#endif
 #endif
 		break;
 

diff --git a/conf_general.h b/conf_general.h
@@ -118,7 +118,6 @@
 #ifndef SERVO_OUT_ENABLE
 #define SERVO_OUT_ENABLE			0		// Enable servo output
 #endif
-#define SERVO_OUT_SIMPLE			1		// Use simple HW-based driver (recommended)
 #define SERVO_OUT_PULSE_MIN_US		1000	// Minimum pulse length in microseconds
 #define SERVO_OUT_PULSE_MAX_US		2000	// Maximum pulse length in microseconds
 #define SERVO_OUT_RATE_HZ			50		// Update rate in Hz

diff --git a/hwconf/hw.h b/hwconf/hw.h
@@ -61,7 +61,6 @@
 // Functions
 void hw_init_gpio(void);
 void hw_setup_adc_channels(void);
-void hw_setup_servo_outputs(void);
 void hw_start_i2c(void);
 void hw_stop_i2c(void);
 void hw_try_restore_i2c(void);

diff --git a/hwconf/hw_40.c b/hwconf/hw_40.c
@@ -28,7 +28,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 
 // Variables
 static volatile bool i2c_running = false;
@@ -139,22 +138,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_6, 2, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_40.h b/hwconf/hw_40.h
@@ -98,7 +98,7 @@
 // NTC Termistors
 #define NTC_RES(adc_val)		(0.0)
 #define NTC_TEMP(adc_ind)		(32.0)
-#define NTC_TEMP_MOTOR()		(0.0)
+#define NTC_TEMP_MOTOR(beta)	(0.0)
 
 // Double samples in beginning and end for positive current measurement.
 // Useful when the shunt sense traces have noise that causes offset.
@@ -121,6 +121,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_410.c b/hwconf/hw_410.c
@@ -21,7 +21,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 
 // Variables
 static volatile bool i2c_running = false;
@@ -131,22 +130,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_410.h b/hwconf/hw_410.h
@@ -119,6 +119,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_45.c b/hwconf/hw_45.c
@@ -28,7 +28,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 #include "commands.h"
 
 // Threads
@@ -148,22 +147,6 @@ void hw_setup_adc_channels(void) {
 	chThdCreateStatic(temp_thread_wa, sizeof(temp_thread_wa), NORMALPRIO, temp_thread, NULL);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_45.h b/hwconf/hw_45.h
@@ -124,6 +124,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_46.c b/hwconf/hw_46.c
@@ -28,7 +28,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 
 // Variables
 static volatile bool i2c_running = false;
@@ -139,22 +138,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_6, 2, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_46.h b/hwconf/hw_46.h
@@ -125,6 +125,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_48.c b/hwconf/hw_48.c
@@ -20,7 +20,6 @@
 
 #include "ch.h"
 #include "hal.h"
-#include "servo.h"
 
 // Variables
 static volatile bool i2c_running = false;
@@ -131,22 +130,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_6, 2, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_48.h b/hwconf/hw_48.h
@@ -119,6 +119,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_49.c b/hwconf/hw_49.c
@@ -21,7 +21,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 
 // Variables
 static volatile bool i2c_running = false;
@@ -132,22 +131,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-
-	// Set up servo structures
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOB;
-	servos[1].pin = 4;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_49.h b/hwconf/hw_49.h
@@ -119,6 +119,8 @@
 #define HW_UART_RX_PIN			7
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM3
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
 #define HW_ICU_DEV				ICUD3
 #define HW_ICU_CHANNEL			ICU_CHANNEL_2
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM3

diff --git a/hwconf/hw_60.c b/hwconf/hw_60.c
@@ -21,7 +21,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 #include "utils.h"
 #include "drv8301.h"
 
@@ -144,22 +143,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
-
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOD;
-	servos[1].pin = 2;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_60.h b/hwconf/hw_60.h
@@ -139,6 +139,8 @@
 #define HW_UART_RX_PIN			11
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM4
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
 #define HW_ICU_DEV				ICUD4
 #define HW_ICU_CHANNEL			ICU_CHANNEL_1
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM4

diff --git a/hwconf/hw_das_rs.c b/hwconf/hw_das_rs.c
@@ -21,7 +21,6 @@
 #include "ch.h"
 #include "hal.h"
 #include "stm32f4xx_conf.h"
-#include "servo.h"
 #include "utils.h"
 
 // Variables
@@ -125,22 +124,6 @@ void hw_setup_adc_channels(void) {
 	ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
 }
 
-void hw_setup_servo_outputs(void) {
-	// Set up GPIO ports
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
-
-	servos[0].gpio = GPIOB;
-	servos[0].pin = 5;
-	servos[0].offset = 0;
-	servos[0].pos = 128;
-
-	servos[1].gpio = GPIOD;
-	servos[1].pin = 2;
-	servos[1].offset = 0;
-	servos[1].pos = 0;
-}
-
 void hw_start_i2c(void) {
 	i2cAcquireBus(&HW_I2C_DEV);
 

diff --git a/hwconf/hw_das_rs.h b/hwconf/hw_das_rs.h
@@ -151,6 +151,8 @@
 #define HW_UART_RX_PIN			11
 
 // ICU Peripheral for servo decoding
+#define HW_ICU_TIMER			TIM4
+#define HW_ICU_TIM_CLK_EN()		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
 #define HW_ICU_DEV				ICUD4
 #define HW_ICU_CHANNEL			ICU_CHANNEL_1
 #define HW_ICU_GPIO_AF			GPIO_AF_TIM4