PWM in nanosec, actutors control ENB

Allows for setting PWM in nanoseconds and adds normalized actuator message to control the the motor ENB line. Signed-off-by: Benjamin Perseghetti <[email protected]>
CogniPilot · Aug 18, 2023 · 0f5f02a · 0f5f02a
1 parent 2d605fb
commit 0f5f02a
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Showing 10 changed files with 369 additions and 236 deletions.
diff --git a/app/elm4/boards/vmu_rt1170.conf b/app/elm4/boards/vmu_rt1170.conf
@@ -24,15 +24,15 @@ CONFIG_ACTUATE_PWM_INDEX_0=0
 CONFIG_ACTUATE_PWM_LINEAR_0=y
 CONFIG_ACTUATE_PWM_LINEAR_M_0=400
 CONFIG_ACTUATE_PWM_LINEAR_M_DIV_0=1
-CONFIG_ACTUATE_PWM_LINEAR_C_0=1500
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_0=1
+CONFIG_ACTUATE_PWM_LINEAR_B_0=1500
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_0=1
 
 # throttle
 CONFIG_ACTUATE_PWM_INDEX_1=0
 CONFIG_ACTUATE_PWM_LINEAR_1=y
 CONFIG_ACTUATE_PWM_LINEAR_M_1=1000
-CONFIG_ACTUATE_PWM_LINEAR_C_1=1550
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_1=1
+CONFIG_ACTUATE_PWM_LINEAR_B_1=1550
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_1=1
 
 CONFIG_PWM=y
 

diff --git a/app/mrbuggy3/boards/vmu_rt1170.conf b/app/mrbuggy3/boards/vmu_rt1170.conf
@@ -1,38 +1,37 @@
 CONFIG_DREAM_SITL=n
-CONFIG_ACTUATE_PWM=n
+CONFIG_ACTUATE_PWM=y
 CONFIG_ACTUATE_PWM_NUMBER=3
 
-# can
-CONFIG_VESC_CAN=y
-CONFIG_ACTUATE_VESC_CAN=y
-CONFIG_VESC_CAN_NUMBER=1
-CONFIG_VESC_CAN_BUS_FD_0=y
-#CONFIG_VESC_CAN_BUS_FD_1=y
-CONFIG_VESC_CAN_BUS_ALIAS_CAN_N_0=0
-#CONFIG_VESC_CAN_BUS_ALIAS_CAN_N_1=0
-CONFIG_VESC_CAN_ID_0=60
-#CONFIG_VESC_CAN_ID_1=61
-CONFIG_VESC_POLE_PAIR_0=7
-#CONFIG_VESC_POLE_PAIR_1=7
-CONFIG_VESC_CAN_ACTUATOR_VEL_IDX_0=0
-#CONFIG_VESC_CAN_ACTUATOR_VEL_IDX_0=1
-
+CONFIG_BUGGY3_MOTOR_ENB_REQUIRED=y
 
 # steering
 CONFIG_ACTUATE_PWM_USE_POS_0=y
 CONFIG_ACTUATE_PWM_INDEX_0=0
 CONFIG_ACTUATE_PWM_LINEAR_0=y
 CONFIG_ACTUATE_PWM_LINEAR_M_0=400
 CONFIG_ACTUATE_PWM_LINEAR_M_DIV_0=1
-CONFIG_ACTUATE_PWM_LINEAR_C_0=1500
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_0=1
+CONFIG_ACTUATE_PWM_LINEAR_B_0=1500
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_0=1
 
-# throttle
+# motor enable
 CONFIG_ACTUATE_PWM_INDEX_1=0
-CONFIG_ACTUATE_PWM_LINEAR_1=y
-CONFIG_ACTUATE_PWM_LINEAR_M_1=1000
-CONFIG_ACTUATE_PWM_LINEAR_C_1=1550
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_1=1
+CONFIG_ACTUATE_PWM_USE_NANO_SECONDS_1=y
+CONFIG_ACTUATE_PWM_PULSE_MIN_1=0
+CONFIG_ACTUATE_PWM_PULSE_MAX_1=50000
+CONFIG_ACTUATE_PWM_PULSE_CENTER_1=25000
+
+
+# throttle
+CONFIG_ACTUATE_PWM_INDEX_2=0
+CONFIG_ACTUATE_PWM_USE_NANO_SECONDS_2=y
+CONFIG_ACTUATE_PWM_PULSE_MIN_2=0
+CONFIG_ACTUATE_PWM_PULSE_MAX_2=50000
+CONFIG_ACTUATE_PWM_PULSE_CENTER_2=25000
+CONFIG_ACTUATE_PWM_LINEAR_2=y
+CONFIG_ACTUATE_PWM_LINEAR_M_2=273158
+CONFIG_ACTUATE_PWM_LINEAR_M_DIV_2=1000
+CONFIG_ACTUATE_PWM_LINEAR_B_2=248474
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_2=10
 
 CONFIG_PWM=y
 

diff --git a/app/mrbuggy3/boards/vmu_rt1170.overlay b/app/mrbuggy3/boards/vmu_rt1170.overlay
@@ -9,10 +9,10 @@
 			pwms = <&flexpwm1_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
 		};
 		aux1: aux1 {
-			pwms = <&flexpwm1_pwm1 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
+			pwms = <&flexpwm1_pwm1 0 PWM_HZ(20000) PWM_POLARITY_NORMAL>;
 		};
 		aux2: aux2 {
-			pwms = <&flexpwm1_pwm2 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
+			pwms = <&flexpwm1_pwm2 0 PWM_HZ(20000) PWM_POLARITY_NORMAL>;
 		};
 		aux3: aux3 {
 			pwms = <&flexpwm2_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
@@ -66,11 +66,11 @@
 };
 
 &flexpwm1_pwm1 {
-	nxp,prescaler = <32>;
+	nxp,prescaler = <8>;
 };
 
 &flexpwm1_pwm2 {
-	nxp,prescaler = <32>;
+	nxp,prescaler = <8>;
 };
 
 &flexpwm2_pwm0 {

diff --git a/app/rddrone/boards/vmu_rt1170.conf b/app/rddrone/boards/vmu_rt1170.conf
@@ -24,15 +24,15 @@ CONFIG_ACTUATE_PWM_INDEX_0=0
 CONFIG_ACTUATE_PWM_LINEAR_0=y
 CONFIG_ACTUATE_PWM_LINEAR_M_0=400
 CONFIG_ACTUATE_PWM_LINEAR_M_DIV_0=1
-CONFIG_ACTUATE_PWM_LINEAR_C_0=1500
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_0=1
+CONFIG_ACTUATE_PWM_LINEAR_B_0=1500
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_0=1
 
 # throttle
 CONFIG_ACTUATE_PWM_INDEX_1=0
 CONFIG_ACTUATE_PWM_LINEAR_1=y
 CONFIG_ACTUATE_PWM_LINEAR_M_1=1000
-CONFIG_ACTUATE_PWM_LINEAR_C_1=1550
-CONFIG_ACTUATE_PWM_LINEAR_C_DIV_1=1
+CONFIG_ACTUATE_PWM_LINEAR_B_1=1550
+CONFIG_ACTUATE_PWM_LINEAR_B_DIV_1=1
 
 CONFIG_PWM=y