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Alternative switching pattern for better bootstraping

This commit is contained in:
Sebastian 2020-07-23 19:04:18 +02:00
parent cfc583a8cf
commit afa987c506
2 changed files with 44 additions and 13 deletions
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20
firmware/main.c
View File

@ -14,14 +14,16 @@ int main(void) {
while(1) {
//hbridge_set_l1();
for(uint8_t speed = 0; speed <= 250; speed++) {
for(uint16_t i = 0; i < 250; i++) {
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);
}
hbridge_unset_h2();
hbridge_unset_h2();
hbridge_set_l1();
@ -30,12 +32,18 @@ int main(void) {
hbridge_unset_l2();
hbridge_unset_l2();
for(uint8_t speed = 0; speed <= 250; speed++) {
for(uint16_t i = 0; i < 250; i++) {
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);
}
hbridge_unset_h2();
hbridge_unset_h2();
hbridge_set_l1();

37
firmware/pwm.h
View File

@ -41,39 +41,62 @@ static inline void hbridge_unset_l2(void) {
PORTB &= ~(1 << PB4);
}
const double delay_time = 2.0;
const double delay_time = 1;
static inline void pwm_cycle_backwards(uint8_t speed) {
PIND |= (1 << PD1);
hbridge_unset_l2();
hbridge_set_l1();
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++) {
_delay_us(delay_time);
}
hbridge_unset_h2();
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_unset_l2();
}
static inline void pwm_cycle_forwards(uint8_t speed) {
PIND |= (1 << PD1);
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++) {
_delay_us(delay_time);
}
hbridge_unset_h1();
}
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_unset_l1();
hbridge_unset_l2();
}
#endif