FIXED optocouplers offsets, mapped thrusters for

latest electronics configuration

Author: Z4nna

Core/Src/freertos.cpp

@@ -306,26 +306,27 @@ void StartDefaultTask(void *argument)
 void inline set_pwms(uint32_t pwms[8])
 {
 	// HERE THE PWM Channel - Thruster relation is defined
-	TIM3 -> CCR4 = pwms[0] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR2 = pwms[1] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR1 = pwms[2] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR2 = pwms[3] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
+
+	TIM2 -> CCR1 = pwms[4] + 50;
+	TIM2 -> CCR2 = pwms[3] + 50;
+	TIM2 -> CCR3 = pwms[1] + 50;
+	TIM2 -> CCR4 = pwms[0] - 5;
 	// VERTICAL THRUSTERS
-	TIM2 -> CCR3 = pwms[4] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR3 = pwms[5] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR4 = pwms[6] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR1 = pwms[7] + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
+	TIM3 -> CCR1 = pwms[7] + 50;
+	TIM3 -> CCR2 = pwms[5] + 50;
+	TIM3 -> CCR3 = pwms[2] + 50;
+	TIM3 -> CCR4 = pwms[6] + 47;
 }
 void inline set_pwm_idle()
 {
-	TIM2 -> CCR1 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR2 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR3 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM2 -> CCR4 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR1 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR2 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR3 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
-	TIM3 -> CCR4 = PWM_IDLE + OPTOCOUPLER_INTRODUCED_OFFSET_uS;
+	TIM2 -> CCR1 = PWM_IDLE + 50;
+	TIM2 -> CCR2 = PWM_IDLE + 50;
+	TIM2 -> CCR3 = PWM_IDLE + 50;
+	TIM2 -> CCR4 = PWM_IDLE - 5;
+	TIM3 -> CCR1 = PWM_IDLE + 50;
+	TIM3 -> CCR2 = PWM_IDLE + 50;
+	TIM3 -> CCR3 = PWM_IDLE + 50;
+	TIM3 -> CCR4 = PWM_IDLE + 47;
 }
 void clamp_pwm_output(uint32_t pwms[], int N) {
 	for(uint16_t i = 0; i < N; i++) {