Smikkelbakje/Drone-FabAcademy-2025
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updated code to use internal pwm timers of esp instead of software pwm

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This commit is contained in:
Sam Hos
2025-05-06 13:48:27 +02:00
parent e5fbd9143c
commit a33daf2a01
1 changed files with 38 additions and 75 deletions
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111
src/drone/src/main.cpp
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@@ -4,6 +4,7 @@
#include <ESP32Servo.h>
#include <esp_now.h>
#include <WiFi.h>
#include <driver/ledc.h>
// Arduino/Teensy Flight Controller - dRehmFlight
// Author: Nicholas Rehm
// Project Start: 1/6/2020
@@ -157,6 +158,12 @@ BNO080 myIMU;
#define ACCEL_SCALE_FACTOR 1.0 // BNO085 gives values already in g's when converted in getIMUdata
#endif
#define LEDC_FREQ 500 // PWM frequency in Hz for OneShot125 (can be higher)
#define LEDC_RESOLUTION 13 // 13-bit resolution gives values from 0-8191
#define LEDC_TIMER LEDC_TIMER_0 // Use timer 0
#define LEDC_MODE LEDC_HIGH_SPEED_MODE // Use high-speed mode
//========================================================================================================================//
// USER-SPECIFIED VARIABLES //
//========================================================================================================================//
@@ -365,7 +372,7 @@ void controlMixer();
void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len);
void ESPNowSetup();
void printDebugInfo();
void setupMotorPWM();
//========================================================================================================================//
// VOID SETUP //
//========================================================================================================================//
@@ -379,15 +386,8 @@ void setup()
Serial.println("Initiating IMU");
IMUinit();
Serial.println("Initiating pins");
// Initialize all pins
// pinMode(13, OUTPUT); // Pin 13 LED blinker on board, do not modify
pinMode(m1Pin, OUTPUT);
pinMode(m2Pin, OUTPUT);
pinMode(m3Pin, OUTPUT);
pinMode(m4Pin, OUTPUT);
pinMode(m5Pin, OUTPUT);
pinMode(m6Pin, OUTPUT);
Serial.println("Initiating ESC");
setupMotorPWM();
Serial.println("Attach servos");
servo1.attach(servo1Pin, 900, 2100); // Pin, min PWM value, max PWM value
servo2.attach(servo2Pin, 900, 2100);
@@ -1487,72 +1487,24 @@ void failSafe()
}
}
void commandMotors()
{
// DESCRIPTION: Send pulses to motor pins, oneshot125 protocol
/*
* My crude implimentation of OneShot125 protocol which sends 125 - 250us pulses to the ESCs (mXPin). The pulselengths being
* sent are mX_command_PWM, computed in scaleCommands(). This may be replaced by something more efficient in the future.
*/
int wentLow = 0;
int pulseStart, timer;
int flagM1 = 0;
int flagM2 = 0;
int flagM3 = 0;
int flagM4 = 0;
int flagM5 = 0;
int flagM6 = 0;
void commandMotors() {
//https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html
// Write all motor pins high
digitalWrite(m1Pin, HIGH);
digitalWrite(m2Pin, HIGH);
digitalWrite(m3Pin, HIGH);
digitalWrite(m4Pin, HIGH);
digitalWrite(m5Pin, HIGH);
digitalWrite(m6Pin, HIGH);
pulseStart = micros();
// Convert OneShot125 pulse values (125-250μs) to duty cycle values (1100-2000) for my ESC's
uint32_t m1_duty = map(m1_command_PWM, 125, 250, 1100, 2000);
uint32_t m2_duty = map(m2_command_PWM, 125, 250, 1100, 2000);
uint32_t m3_duty = map(m3_command_PWM, 125, 250, 1100, 2000);
uint32_t m4_duty = map(m4_command_PWM, 125, 250, 1100, 2000);
uint32_t m5_duty = map(m5_command_PWM, 125, 250, 1100, 2000);
uint32_t m6_duty = map(m6_command_PWM, 125, 250, 1100, 2000);
// Write each motor pin low as correct pulse length is reached
while (wentLow < 6)
{ // Keep going until final (6th) pulse is finished, then done
timer = micros();
if ((m1_command_PWM <= timer - pulseStart) && (flagM1 == 0))
{
digitalWrite(m1Pin, LOW);
wentLow = wentLow + 1;
flagM1 = 1;
}
if ((m2_command_PWM <= timer - pulseStart) && (flagM2 == 0))
{
digitalWrite(m2Pin, LOW);
wentLow = wentLow + 1;
flagM2 = 1;
}
if ((m3_command_PWM <= timer - pulseStart) && (flagM3 == 0))
{
digitalWrite(m3Pin, LOW);
wentLow = wentLow + 1;
flagM3 = 1;
}
if ((m4_command_PWM <= timer - pulseStart) && (flagM4 == 0))
{
digitalWrite(m4Pin, LOW);
wentLow = wentLow + 1;
flagM4 = 1;
}
if ((m5_command_PWM <= timer - pulseStart) && (flagM5 == 0))
{
digitalWrite(m5Pin, LOW);
wentLow = wentLow + 1;
flagM5 = 1;
}
if ((m6_command_PWM <= timer - pulseStart) && (flagM6 == 0))
{
digitalWrite(m6Pin, LOW);
wentLow = wentLow + 1;
flagM6 = 1;
}
}
// Write the duty cycle values directly to each pin
ledcWrite(m1Pin, m1_duty);
ledcWrite(m2Pin, m2_duty);
ledcWrite(m3Pin, m3_duty);
ledcWrite(m4Pin, m4_duty);
ledcWrite(m5Pin, m5_duty);
ledcWrite(m6Pin, m6_duty);
}
void armMotors()
@@ -1730,6 +1682,17 @@ void throttleCut()
}
}
// Add this function to initialize LEDC for each motor
void setupMotorPWM() {
// Configure LEDC pins with frequency and resolution, channels selected automatically
ledcAttach(m1Pin, LEDC_FREQ, LEDC_RESOLUTION); // Channel selected automatically
ledcAttach(m2Pin, LEDC_FREQ, LEDC_RESOLUTION);
ledcAttach(m3Pin, LEDC_FREQ, LEDC_RESOLUTION);
ledcAttach(m4Pin, LEDC_FREQ, LEDC_RESOLUTION);
ledcAttach(m5Pin, LEDC_FREQ, LEDC_RESOLUTION);
ledcAttach(m6Pin, LEDC_FREQ, LEDC_RESOLUTION);
}
void calibrateMagnetometer()
{
#if defined USE_MPU9250_SPI