Bigquad

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