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Two options added #5

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7293dd8
Disable PWM after translation if LIMP is defined
geissbuehler Jan 16, 2020
db91872
Time multiplied with TIMEMULTIPLIER if defined
geissbuehler Jan 16, 2020
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37 changes: 29 additions & 8 deletions Firmware/ServoTrigger/ServoTrigger.c
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Original file line number Diff line number Diff line change
Expand Up @@ -139,10 +139,10 @@ static const int32_t PHASOR_MAX = 0x0000ffff; // Phasor counts from 0 to 0xf
// Table is 17 entries long so we can do linear interpolation between
// the N and N+1th entries, indexed using 4 MSBs of T value, interpolated
// using the next 4 bits.
static const int16_t timelut[17] =
static int16_t timelut[17] =
{
#ifdef SLOWCHANGE
// Slower transitions for continuous-rotation
// Slower transitions for continuous-rotation
131, 194, 250, 350,
437, 583, 728, 874,
1092, 1456, 1748, 2621,
Expand All @@ -153,7 +153,7 @@ static const int16_t timelut[17] =
1311, 1748, 2185, 2621,
3277, 4369, 5243, 6554,
8738, 10923, 13107, 16384,
26214
26214
#endif
};

Expand Down Expand Up @@ -263,14 +263,26 @@ bool calcNextPhasor(int16_t increment)
if(current_status.phasor > PHASOR_MAX)
{
current_status.phasor = PHASOR_MAX;
return true;
#ifdef LIMP
// Disable PWM output pin
DDRA &= ~0x40;
#endif
return true;
}
else if(current_status.phasor < 0)
{
current_status.phasor = 0;
return true;
#ifdef LIMP
// Disable PWM output pin
DDRA &= ~0x40;
#endif
return true;
}


#ifdef LIMP
// Enable PWM output pin
DDRA |= 0x40;
#endif
return false;
}

Expand Down Expand Up @@ -872,8 +884,10 @@ void setupPWM(void)
// This disables the peripheral
GTCCR = 1 << TSM;

// Enable timer output compare A bit as output
DDRA |= 0x40;
#ifndef LIMP
// Enable timer output compare A bit as output
DDRA |= 0x40;
#endif

// Note: WGM is 4 bits split between Ctrl registers A and B.
// We want mode FAST PWM, top set by ICR1
Expand Down Expand Up @@ -925,6 +939,13 @@ void setupPWM(void)

int main(void)
{
#ifdef TIMEMULTIPLIER
for(volatile uint8_t i = 0; i != 17; i++)
{
timelut[i] /= TIMEMULTIPLIER;
}
#endif

//DDRA |= 0x02;
//PORTA |= 0x00;

Expand Down