void activateTrigger(const actuator_t* const actuator_p)
{
ioSetOutput(actuator_p->output_on);
ioResetOutput(actuator_p->output_off);
ioToggleOutput(actuator_p->output_toggle);
setState(actuator_p->state_on);
resetState(actuator_p->state_off);
toggleState(actuator_p->state_toggle);
}
// _motorApply10 - Set PWM value for motor port #10
static void _motorApply10() {
uint8_t value = motor10;
// PWM values 126 and 128 do not give any meaningful motor impulse
if (value > 128) {
// Forward
TIM4->CCR3 = (uint16_t)0;
ioSetOutput(GPIOD, 8, 0);
ioSetOutput(GPIOD, 7, 1);
TIM4->CCR4 = (uint16_t)(value - 128);
} else if (value <= 126) {
// Reverse
TIM4->CCR4 = (uint16_t)0;
ioSetOutput(GPIOD, 7, 0);
ioSetOutput(GPIOD, 8, 1);
TIM4->CCR3 = (uint16_t)(127 - value);
} else {
// Stop - clear GPIOD 7 and 8
TIM4->CCR3 = (uint16_t)0;
TIM4->CCR4 = (uint16_t)0;
GPIOD->BRR = 0x0180;
}
TIM4->CCMR2 = (uint16_t)0x6868;
}
// _motorApply1 - Set PWM value for motor port #1
static void _motorApply1() {
uint8_t value = motor1;
// PWM values 126 and 128 do not give any meaningful motor impulse
if (value > 128) {
// Forward
TIM4->CCR1 = (uint16_t)0;
ioSetOutput(GPIOD, 4, 0);
ioSetOutput(GPIOD, 3, 1);
TIM4->CCR2 = (uint16_t)(value - 128);
} else if (value <= 126) {
// Reverse
TIM4->CCR2 = (uint16_t)0;
ioSetOutput(GPIOD, 3, 0);
ioSetOutput(GPIOD, 4, 1);
TIM4->CCR1 = (uint16_t)(127 - value);
} else {
// Stop - clear GPIOD 3 and 4
TIM4->CCR1 = (uint16_t)0;
TIM4->CCR2 = (uint16_t)0;
GPIOD->BRR = 0x0018;
}
TIM4->CCMR1 = (uint16_t)0x6868;
}
