Changes @beholder77 made for IBT_2

motor.ino

--- motor.ino	2019-11-25 11:57:31.874180846 +1100
+++ motor-ibt2.ino	2019-11-25 11:53:44.063533486 +1100
@@ -102,9 +102,9 @@
                  gnd        gnd
 */
 
-//#define VNH2SP30 // defined if this board is used
-//#define DISABLE_TEMP_SENSE    // if no temp sensors avoid errors
-//#define DISABLE_VOLTAGE_SENSE // if no voltage sense
+#define VNH2SP30 // defined if this board is used
+#define DISABLE_TEMP_SENSE    // if no temp sensors avoid errors
+#define DISABLE_VOLTAGE_SENSE // if no voltage sense
 //#define DISABLE_RUDDER_SENSE  // if no rudder sense
 
 
@@ -163,23 +163,34 @@
 // and will be noticed by the control program
 
 #define pwm_output_pin 9
+#define pwm_output_pin2 10
 
 #define hbridge_a_bottom_pin 2
 #define hbridge_b_bottom_pin 3
 #define hbridge_a_top_pin 9
 #define hbridge_b_top_pin 10
-#define enable_pin 10 // for vnh2sp30
+#define enable_pin 12 // for vnh2sp30
 
 // for direct mosfet mode, define how to turn on/off mosfets
 // do not use digitalWrite!
-#define a_top_on  PORTB |= _BV(PB1)
-#define a_top_off PORTB &= ~_BV(PB1)
-#define a_bottom_on PORTD |= _BV(PD2)
-#define a_bottom_off PORTD &= ~_BV(PD2)
-#define b_top_on  PORTB |= _BV(PB2)
-#define b_top_off PORTB &= ~_BV(PB2)
-#define b_bottom_on PORTD |= _BV(PD3)
-#define b_bottom_off PORTD &= ~_BV(PD3)
+//#define a_top_on  PORTB |= _BV(PB1) 
+//#define a_top_off PORTB &= ~_BV(PB1)
+//#define a_bottom_on PORTD |= _BV(PD2)
+//#define a_bottom_off PORTD &= ~_BV(PD2)
+//#define b_top_on  PORTB |= _BV(PB2)
+//#define b_top_off PORTB &= ~_BV(PB2)
+//#define b_bottom_on PORTD |= _BV(PD3)
+//#define b_bottom_off PORTD &= ~_BV(PD3)
+
+#define a_top_on  PORTB |= _BV(PB1) //9 
+#define a_top_off PORTB &= ~_BV(PB1) //9 
+#define a_bottom_on PORTD |= _BV(PD2) //2 
+#define a_bottom_off PORTD &= ~_BV(PD2) //2
+#define b_top_on  PORTB |= _BV(PB2) //10
+#define b_top_off PORTB &= ~_BV(PB2) //10
+#define b_bottom_on PORTD |= _BV(PD2) //3 -2
+#define b_bottom_off PORTD &= ~_BV(PD2) //3 -2
+
 
 #define clutch_pin 11 // use pin 11 to engage clutch
 
@@ -373,6 +384,8 @@
     if(pwm_style) {
         digitalWrite(pwm_output_pin, LOW); /* enable internal pullups */
         pinMode(pwm_output_pin, OUTPUT);
+        digitalWrite(pwm_output_pin2, LOW); /* enable internal pullups */
+        pinMode(pwm_output_pin2, OUTPUT);
     }
     // test shunt type, if pin wired to ground, we have 0.01 ohm, otherwise 0.05 ohm
     shunt_resistance = digitalRead(shunt_sense_pin);
@@ -417,16 +430,22 @@
         OCR1A = 1500/DIV_CLOCK + value * 3 / 2 / DIV_CLOCK;
     //OCR1A = 1350/DIV_CLOCK + value * 27 / 20 / DIV_CLOCK;
     else if(pwm_style == 2) {
-        OCR1A = abs((int)value - 1000) * DIV_CLOCK;
+        //OCR1A = abs((int)value - 1000) * DIV_CLOCK;
         if(value > 1040) {
-            a_bottom_off;
+            OCR1A = 0;
+            OCR1B = abs((int)value - 1000) * DIV_CLOCK;
+            a_bottom_on;
             b_bottom_on;
         } else if(value < 960) {
-            b_bottom_off;
+            OCR1B = 0;
+            OCR1A = abs((int)value - 1000) * DIV_CLOCK;
+            b_bottom_on;
             a_bottom_on;
         } else { // low, set pwm for brake
-            a_bottom_off;
-            b_bottom_off;
+          a_bottom_off;
+          b_bottom_off;
+          OCR1A = abs((int)value - 1000) * DIV_CLOCK;
+          OCR1B = abs((int)value - 1000) * DIV_CLOCK;
         }            
     } else {
         uint16_t OCR1A_u = 16000, OCR1B_u = 16000, ICR1_u = 1000;
@@ -559,7 +578,7 @@
     if(pwm_style) {
         TCCR1A=0;
         TCCR1B=0;
-        while(digitalRead(pwm_output_pin)); // wait for end of pwm if pulse is high
+        while(digitalRead(pwm_output_pin)||digitalRead(pwm_output_pin2)); // wait for end of pwm if pulse is high
         TIMSK1 = 0;
         if(pwm_style == 2) {
             a_bottom_off;
@@ -595,7 +614,8 @@
         TIMSK1 = 0;
     } else if(pwm_style == 2) {
         TCNT1 = 0;
-        TCCR1A=_BV(COM1A1)|_BV(WGM11);        //NON Inverted PWM
+        TCCR1A=_BV(COM1A1)|_BV(COM1B1)|_BV(WGM11);        //NON Inverted PWM
+        //TCCR1A=_BV(WGM11);        //NON Inverted PWM
         TCCR1B=_BV(WGM13)|_BV(WGM12)|_BV(CS10); //PRESCALER=0 MODE 14(FAST PWM)
 
         // use 1khz safe at all speeds.   20khz is nice to avoid
@@ -603,6 +623,12 @@
         // or it will overheat the part at very low speeds.
         ICR1=16000/DIV_CLOCK;  //fPWM=1khz
         TIMSK1 = 0;
+        
+        a_top_off;
+        a_bottom_off;
+        b_top_off;
+        b_bottom_off;
+
 
         digitalWrite(hbridge_a_bottom_pin, LOW);
         digitalWrite(hbridge_b_bottom_pin, LOW);
@@ -610,6 +636,8 @@
 
         pinMode(hbridge_a_bottom_pin, OUTPUT);
         pinMode(hbridge_b_bottom_pin, OUTPUT);
+        pinMode(hbridge_a_top_pin, OUTPUT);
+        pinMode(hbridge_b_top_pin, OUTPUT);
         pinMode(enable_pin, INPUT);
 
         digitalWrite(enable_pin, HIGH);
@@ -767,8 +795,7 @@
     uint32_t v = TakeADC(CURRENT, p);
 
     if(pwm_style == 2) // VNH2SP30
-        return v * 9 / 34 / 16;
-    
+                return v * 9 / 34 / 16;
     if(low_current) {
     // current units of 10mA
     // 275 / 128 = 100.0/1024/.05*1.1   for 0.05 ohm shunt
@@ -1253,4 +1280,4 @@
         out_sync_b = 0;
         break;
     }
-}
+}