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updated pwm code to account for pico 2 clock speed

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150Mhz is a much better number to work with
This commit is contained in:
Andy Killorin 2025-02-02 18:05:04 -05:00
parent 1a0301ddd9
commit 60aa584f43
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 6 additions and 5 deletions
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11
southbridge/src/main.rs
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@ -52,10 +52,10 @@ async fn main(spawner: Spawner) {
spawner.spawn(logger_task(driver)).unwrap(); spawner.spawn(logger_task(driver)).unwrap();
let mut drive_conf: pwm::Config = Default::default(); let mut drive_conf: pwm::Config = Default::default();
drive_conf.divider = 40.into(); drive_conf.divider = 15.into();
drive_conf.top = 62500; // 20ms drive_conf.top = 50000; // 5ms
drive_conf.compare_b = 4687; // 1.5ms drive_conf.compare_b = 15000; // 1.5ms
drive_conf.compare_a = 4687; // 1.5ms drive_conf.compare_a = 15000; // 1.5ms
let stopped = drive_conf.clone(); let stopped = drive_conf.clone();
let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone()); let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone());
@ -101,6 +101,7 @@ async fn main(spawner: Spawner) {
}; };
command command
} else { } else {
info!("waiting for command");
COMMANDS.receive().await COMMANDS.receive().await
}; };
@ -196,7 +197,7 @@ async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static Ato
/// -1 to 1 /// -1 to 1
fn calc_speed(speed: f32) -> u16 { fn calc_speed(speed: f32) -> u16 {
const COUNTS_PER_MS: f32 = 3125.; const COUNTS_PER_MS: f32 = 10000.;
let speed = speed.clamp(-1., 1.); let speed = speed.clamp(-1., 1.);
let ms = (speed/2.0)+1.5; let ms = (speed/2.0)+1.5;