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Cleaner pwm functions

This commit is contained in:
Sebastian 2020-07-24 18:04:03 +02:00
parent afa987c506
commit 7505d280e2
2 changed files with 41 additions and 60 deletions
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34
firmware/main.c
View File

@ -14,14 +14,15 @@ int main(void) {
while(1) {
for(uint8_t speed = 50; speed <= 255; speed++) {
for(uint8_t speed = 50; speed < 255; speed++) {
for(uint16_t i = 0; i < 1000; i++) {
pwm_cycle_forwards(speed);
}
}
for(uint16_t i = 0; i < 10000; i++) {
pwm_cycle_forwards(255);
pwm_cycle_forwards(254);
}
hbridge_unset_h2();
@ -32,16 +33,15 @@ int main(void) {
hbridge_unset_l2();
hbridge_unset_l2();
for(uint8_t speed = 50; speed <= 255; speed++) {
for(uint8_t speed = 50; speed < 255; speed++) {
for(uint16_t i = 0; i < 1000; i++) {
pwm_cycle_backwards(speed);
}
}
for(uint16_t i = 0; i < 10000; i++) {
pwm_cycle_forwards(255);
pwm_cycle_backwards(254);
}
hbridge_unset_h2();
@ -51,28 +51,6 @@ int main(void) {
_delay_ms(1000);
hbridge_unset_l2();
hbridge_unset_l2();
/*
for(uint16_t i = 0; i < 5000; i++) {
hbridge_set_h2();
_delay_ms(0.9);
hbridge_unset_h2();
_delay_ms(0.1);
}
hbridge_set_l2();
_delay_ms(100);
hbridge_unset_l1();
for(uint16_t i = 0; i < 5000; i++) {
hbridge_set_h1();
_delay_ms(0.9);
hbridge_unset_h1();
_delay_ms(0.1);
}
*/
}

67
firmware/pwm.h
View File

@ -41,29 +41,31 @@ static inline void hbridge_unset_l2(void) {
PORTB &= ~(1 << PB4);
}
const double delay_time = 1;
const double delay_time = 0.25;
static inline void pwm_cycle_backwards(uint8_t speed) {
PIND |= (1 << PD1);
if(speed > 0) {
hbridge_unset_h1();
hbridge_set_h2();
hbridge_set_l1();
hbridge_unset_l2();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_unset_h1();
hbridge_set_h2();
hbridge_set_l1();
hbridge_unset_l2();
}
else {
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_set_l2();
}
for(uint8_t j = 0; j < (1 << i); j++) {
for(uint8_t i = 0; i < speed; i++) {
_delay_us(delay_time);
}
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_set_l2();
// Always have one cycle l2 low to recharge the bootstrap cap
for(uint8_t i = 0; i < (255 - speed) + 1; i++) {
_delay_us(delay_time);
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();
@ -72,27 +74,28 @@ static inline void pwm_cycle_backwards(uint8_t speed) {
static inline void pwm_cycle_forwards(uint8_t speed) {
PIND |= (1 << PD1);
if(speed > 0) {
hbridge_set_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_set_l2();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_set_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_set_l2();
}
else {
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_set_l1();
hbridge_unset_l2();
}
for(uint8_t j = 0; j < (1 << i); j++) {
for(uint8_t i = 0; i < speed; i++) {
_delay_us(delay_time);
}
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_set_l1();
hbridge_unset_l2();
// Always have one cycle l1 low to recharge the bootstrap cap
for(uint8_t i = 0; i < (255 - speed) + 1; i++) {
_delay_us(delay_time);
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();