modified power distribution logic

crazyflie_software/crazyflie-firmware-2021.06/src/drivers/interface/motors.h

@@ -116,6 +116,18 @@
   #define MOTORS_BL_POLARITY           TIM_OCPolarity_Low
 #endif
 
+// ------------- uCart 23 Drone ---------------------------
+#define BLMC_PERIOD_uCart23 0.0025   // 2.5ms = 400Hz
+#define MOTORS_HIGH_PERIOD_ZERO_uCart23  0.001 // 1ms for zero throttle
+
+#define MOTORS_BL_PWM_PRESCALE_RAW_uCart23   (uint32_t)((TIM_CLOCK_HZ/0xFFFF) * BLMC_PERIOD_uCart23 + 1) // +1 is to not end up above 0xFFFF in the end
+#define MOTORS_BL_PWM_CNT_FOR_PERIOD_uCart23 (uint32_t)(TIM_CLOCK_HZ * BLMC_PERIOD_uCart23 / MOTORS_BL_PWM_PRESCALE_RAW_uCart23)
+#define MOTORS_BL_PWM_CNT_FOR_HIGH_uCart23    (uint32_t)(TIM_CLOCK_HZ * MOTORS_HIGH_PERIOD_ZERO_uCart23 / MOTORS_BL_PWM_PRESCALE_RAW_uCart23)
+#define MOTORS_BL_PWM_PERIOD_uCart23         MOTORS_BL_PWM_CNT_FOR_PERIOD_uCart23
+#define MOTORS_BL_PWM_PRESCALE_uCart23       (uint16_t)(MOTORS_BL_PWM_PRESCALE_RAW_uCart23 - 1)
+#define MOTORS_BL_POLARITY_uCart23           TIM_OCPolarity_Low
+// ---------------------------------------------------------
+
 #define NBR_OF_MOTORS 4
 // Motors IDs define
 #define MOTOR_M1  0

crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c

@@ -46,12 +46,14 @@ static uint16_t motorsBLConvBitsTo16(uint16_t bits);
 static uint16_t motorsBLConv16ToBits(uint16_t bits);
 static uint16_t motorsConvBitsTo16(uint16_t bits);
 static uint16_t motorsConv16ToBits(uint16_t bits);
+static uint16_t motorsConv16ToBits_uCart23(uint16_t bits);
 
 uint32_t motor_ratios[] = {0, 0, 0, 0};
 
 void motorsPlayTone(uint16_t frequency, uint16_t duration_msec);
 void motorsPlayMelody(uint16_t *notes);
 void motorsBeep(int id, bool enable, uint16_t frequency, uint16_t ratio);
+void motorsConfigureESC();
 
 #include "motors_def_cf2.c"
 
@@ -67,26 +69,31 @@ static bool isInit = false;
 
 static uint16_t motorsBLConvBitsTo16(uint16_t bits)
 {
-  return (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
+  return  motorsConv16ToBits_uCart23(bits); //(0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
 }
 
 static uint16_t motorsBLConv16ToBits(uint16_t bits)
 {
-  return (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
+  return  motorsConv16ToBits_uCart23(bits); //(MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
 }
 
 static uint16_t motorsConvBitsTo16(uint16_t bits)
 {
-  return ((bits) << (16 - MOTORS_PWM_BITS));
+  return  motorsConv16ToBits_uCart23(bits); //((bits) << (16 - MOTORS_PWM_BITS));
 }
 
 static uint16_t motorsConv16ToBits(uint16_t bits)
 {
-  return ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
+  return  motorsConv16ToBits_uCart23(bits); //((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
+}
+
+static uint16_t motorsConv16ToBits_uCart23(uint16_t bits)
+{
+  return (MOTORS_BL_PWM_CNT_FOR_HIGH_uCart23 + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH_uCart23) / 0xFFFF));
 }
 
 // We have data that maps PWM to thrust at different supply voltage levels.
-// However, it is not the PWM that drives the motors but the voltage and
+// However, it is not the PWM that drives the moStors but the voltage and
 // amps (= power). With the PWM it is possible to simulate different
 // voltage levels. The assumption is that the voltage used will be an
 // procentage of the supply voltage, we assume that 50% PWM will result in
@@ -257,10 +264,12 @@ bool motorsTest(void)
     if (motorMap[i]->drvType == BRUSHED)
     {
 #ifdef ACTIVATE_STARTUP_SOUND
+      /*
       motorsBeep(MOTORS[i], true, testsound[i], (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / A4)/ 20);
       vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
       motorsBeep(MOTORS[i], false, 0, 0);
-      vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
+      vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));*/
+      motorsConfigureESC();
 #else
       motorsSetRatio(MOTORS[i], MOTORS_TEST_RATIO);
       vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
@@ -346,6 +355,45 @@ void motorsBeep(int id, bool enable, uint16_t frequency, uint16_t ratio)
 }
 
 
+void motorsConfigureESC() {
+
+  // Set maximum throttle, 100% duty cycle
+  motorMap[0]->setCompare(motorMap[0]->tim, 0);
+  motorMap[1]->setCompare(motorMap[1]->tim, 0);
+  motorMap[2]->setCompare(motorMap[2]->tim, 0);
+  motorMap[3]->setCompare(motorMap[3]->tim, 0);
+  vTaskDelay(M2T(20)); // wait 2 ms
+
+
+
+
+  motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(65535));
+  vTaskDelay(M2T(2)); // wait 2 ms
+  motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(0));
+  vTaskDelay(M2T(20)); // wait 2 msS
+
+  motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(65535));
+  vTaskDelay(M2T(2)); // wait 2 ms
+  motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(0));
+  vTaskDelay(M2T(20)); // wait 2 ms
+
+  motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(65535));
+  vTaskDelay(M2T(2)); // wait 2 ms
+  motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(0));
+  vTaskDelay(M2T(20)); // wait 2 ms
+
+  motorMap[3]->setCompare(motorMap[3]->tim, motorsConv16ToBits_uCart23(65535));
+  vTaskDelay(M2T(2)); // wait 2 ms
+  motorMap[3]->setCompare(motorMap[3]->tim, motorsConv16ToBits_uCart23(0));
+  vTaskDelay(M2T(20)); // wait 2 ms
+  // set min throttle: duty cycle 1 ms for 2ms
+
+
+
+
+}
+
+
 // Play a tone with a given frequency and a specific duration in milliseconds (ms)
 void motorsPlayTone(uint16_t frequency, uint16_t duration_msec)
 {

crazyflie_software/crazyflie-firmware-2021.06/tools/make/config.mk.example

-## Copy this file to config.mk and modify to get you personal build configuration
-
-## Weight of the Crazyflie, including decks. The default setting is a Crazyflie 2.X without decks.
-# CFLAGS += -DCF_MASS=0.027f // in kg
-
-## Force device type string
-# CFLAGS += -DDEVICE_TYPE_STRING_FORCE="CF20"
-
-## Force a sensor implementation to be used
-# SENSORS=bosch
-
-## Set CRTP link to E-SKY receiver
-# CFLAGS += -DUSE_ESKYLINK
-
-## Redirect the console output to the UART
-# CFLAGS += -DDEBUG_PRINT_ON_UART
-
-## Redirect the console output to JLINK (using SEGGER RTT)
-# DEBUG_PRINT_ON_SEGGER_RTT = 1
-
-## Load a deck driver that has no OW memory
-# CFLAGS += -DDECK_FORCE=bcBuzzer
-
-## Load multiple deck drivers that has no OW memory
-# CFLAGS += -DDECK_FORCE=bcBuzzer:bcLedRing
-
-## Enable biq quad deck features
-# CFLAGS += -DENABLE_BQ_DECK
-# CFLAGS += -DBQ_DECK_ENABLE_PM
-# CFLAGS += -DBQ_DECK_ENABLE_OSD
-
-## Use morse when flashing the LED to indicate that the Crazyflie is calibrated
-# CFLAGS += -DCALIBRATED_LED_MORSE
-
-## Disable LEDs from turning on/flashing
-# CFLAGS += -DTURN_OFF_LEDS
-
-## Set the default LED Ring effect (if not set, effect 6 will be used)
-# CFLAGS += -DLEDRING_DEFAULT_EFFECT=0
-
-## Set LED Rings to use less LEDs
-# CFLAGS += -DLED_RING_NBR_LEDS=6
-
-## Set LED Rings to use less more LEDs (only if board is modified)
-# CFLAGS += -DLED_RING_NBR_LEDS=24
-
-## Do not send CRTP messages when parameter values are updated
-# CFLAGS += -DSILENT_PARAM_UPDATES
-
-## Turn on monitoring of queue usages
-# CFLAGS += -DDEBUG_QUEUE_MONITOR
-
-## Automatically reboot to bootloader before flashing
-# CLOAD_CMDS = -w radio://0/100/2M/E7E7E7E7E7
-
-## Set number of anchor in LocoPositioningSystem
-# CFLAGS += -DLOCODECK_NR_OF_ANCHORS=8
-
-## Set alternative pins for LOCO deck (IRQ=IO_2, RESET=IO_3, default are RX1 and TX1)
-# CFLAGS += -DLOCODECK_USE_ALT_PINS
-
-## Set other pin for reset on the LOCO deck. Only works when LOCODECK_USE_ALT_PINS is set.
-# For instance useful with Loco + Lighhouse + Flow decks where IO_3 collides with the Flow deck
-# CFLAGS += -DLOCODECK_ALT_PIN_RESET=DECK_GPIO_IO4
-
-## Disable Low Interference Mode when using Loco Deck
-# CFLAGS += -DLOCODECK_NO_LOW_INTERFERENCE
-
-## Low interference communication
-# Set the 'low interference' 2.4GHz TX power. This power is set when the loco deck is initialized
-# Possible power are: +4, 0, -4, -8, -12, -16, -20, -30
-# CFLAGS += -DPLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM="(-12)"
-
-## Set alternative pins for uSD-deck. Patch soldering required (CS->RX2(PA3), SCLK->TX1(PC10), MISO->RX1(PC11), MOSI->IO_4(PC12))
-# CFLAGS += -DUSDDECK_USE_ALT_PINS_AND_SPI
-
-## Use J-Link as Debugger/flasher
-# OPENOCD_INTERFACE ?= interface/jlink.cfg
-# OPENOCD_TARGET    ?= target/stm32f4x.cfg
-# OPENOCD_CMDS      ?= -c "transport select swd"
-
-## LPS settings ----------------------------------------------------
-## Set operation mode of the LPS system (auto is default)
-## TWR
-# CFLAGS += -DLPS_TWR_ENABLE=1
-## TDoA2
-# LPS_TDOA_ENABLE=1
-## TDoA3
-# LPS_TDOA3_ENABLE=1
-
-## TDoA 3 - experimental
-# Enable 2D positioning. The value (1.2) is the height that the tag will move at. Only use in TDoA 3
-# CFLAGS += -DLPS_2D_POSITION_HEIGHT=1.2
-
-## Enable longer range (lower bit rate). Only use in TDoA 3
-# Note: Anchors must also be built with this flag
-# CFLAGS += -DLPS_LONGER_RANGE
-
-## Full LPS TX power.
-# CFLAGS += -DLPS_FULL_TX_POWER
-
-## SDCard test configuration ------------------------------------
-# FATFS_DISKIO_TESTS  = 1	# Set to 1 to enable FatFS diskio function tests. Erases card.
-
-## Brushless handling
-# Start disarmed, needs to be armed before being able to fly
-# CFLAGS += -DSTART_DISARMED
-# IDLE motor drive when armed, 0 = 0%, 65535 = 100% (the motors runs as long as the Crazyflie is armed)
-# CFLAGS += -DDEFAULT_IDLE_THRUST=5000
-
-## Lighthouse handling
-# If lighthouse will need to act as a ground truth (so not entered in the kalman filter)
-# CFLAGS += -DLIGHTHOUSE_AS_GROUNDTRUTH