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Merge pull request #3338 from mikeller/cleanup_dshot 

Cleaned up Dshot naming, containment.
This commit is contained in:
Michael Keller 2017-06-25 18:37:35 +12:00 committed by GitHub
parent 289e054693 779823fb79
commit 39f46f5ac7
7 changed files with 43 additions and 59 deletions
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33
src/main/drivers/pwm_output.c
View File

@ -49,7 +49,7 @@ static uint16_t freqBeep=0;
#endif
bool pwmMotorsEnabled = false;
bool isDigital = false;
bool isDshot = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
@ -160,9 +160,9 @@ static void pwmWriteMultiShot(uint8_t index, float value)
}
#ifdef USE_DSHOT
static void pwmWriteDigital(uint8_t index, float value)
static void pwmWriteDshot(uint8_t index, float value)
{
pwmWriteDigitalInt(index, lrintf(value));
pwmWriteDshotInt(index, lrintf(value));
}
static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet)
@ -277,24 +277,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
break;
#ifdef USE_DSHOT
case PWM_TYPE_PROSHOT1000:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferProshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferDshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
#endif
}
if (!isDigital) {
if (!isDshot) {
pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
}
@ -313,8 +313,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
motors[motorIndex].io = IOGetByTag(tag);
#ifdef USE_DSHOT
if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
if (isDshot) {
pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
motors[motorIndex].enabled = true;
continue;
@ -354,6 +354,11 @@ pwmOutputPort_t *pwmGetMotors(void)
return motors;
}
bool isMotorProtocolDshot(void)
{
return isDshot;
}
#ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
{
@ -374,7 +379,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
void pwmWriteDshotCommand(uint8_t index, uint8_t command)
{
if (isDigital && (command <= DSHOT_MAX_COMMAND)) {
if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats;
@ -395,7 +400,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWriteDigitalInt(index, command);
pwmWriteDshotInt(index, command);
pwmCompleteMotorUpdate(0);
delay(1);

17
src/main/drivers/pwm_output.h
View File

@ -30,6 +30,15 @@
#define DSHOT_MAX_COMMAND 47
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
3D Mode:
0 = stop
48 (low) - 1047 (high) -> negative direction
1048 (low) - 2047 (high) -> positive direction
*/
typedef enum {
DSHOT_CMD_MOTOR_STOP = 0,
DSHOT_CMD_BEEP1,
@ -166,6 +175,8 @@ void servoDevInit(const servoDevConfig_t *servoDevConfig);
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
bool isMotorProtocolDshot(void);
#ifdef USE_DSHOT
typedef uint8_t loadDmaBufferFunc(motorDmaOutput_t *const motor, uint16_t packet); // function pointer used to encode a digital motor value into the DMA buffer representation
@ -175,9 +186,9 @@ extern loadDmaBufferFunc *loadDmaBuffer;
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDshotCommand(uint8_t index, uint8_t command);
void pwmWriteDigitalInt(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
#endif
#ifdef BEEPER

6
src/main/drivers/pwm_output_dshot.c
View File

@ -54,7 +54,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount-1;
}
void pwmWriteDigitalInt(uint8_t index, uint16_t value)
void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
@ -70,7 +70,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
@ -94,7 +94,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
}
}
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;

6
src/main/drivers/pwm_output_dshot_hal.c
View File

@ -49,7 +49,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount - 1;
}
void pwmWriteDigitalInt(uint8_t index, uint16_t value)
void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
@ -74,7 +74,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
}
}
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
}
@ -85,7 +85,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
}
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware;

17
src/main/flight/mixer.c
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@ -336,23 +336,6 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
return false;
}
bool isMotorProtocolDshot(void) {
#ifdef USE_DSHOT
switch(motorConfig()->dev.motorPwmProtocol) {
case PWM_TYPE_PROSHOT1000:
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
return true;
default:
return false;
}
#else
return false;
#endif
}
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void) {

19
src/main/flight/mixer.h
View File

@ -25,24 +25,6 @@
#define BRUSHED_MOTORS_PWM_RATE 16000
#define BRUSHLESS_MOTORS_PWM_RATE 480
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
0 = stop
1-5: beep
6: ESC info request (FW Version and SN sent over the tlm wire)
7: spin direction 1
8: spin direction 2
9: 3d mode off
10: 3d mode on
11: ESC settings request (saved settings over the TLM wire)
12: save Settings
3D Mode:
0 = stop
48 (low) - 1047 (high) -> negative direction
1048 (low) - 2047 (high) -> positive direction
*/
// Digital protocol has fixed values
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
@ -140,6 +122,5 @@ void writeMotors(void);
void stopMotors(void);
void stopPwmAllMotors(void);
bool isMotorProtocolDshot(void);
float convertExternalToMotor(uint16_t externalValue);
uint16_t convertMotorToExternal(float motorValue);

4
src/main/target/SITL/target.c
View File

@ -392,6 +392,10 @@ pwmOutputPort_t *pwmGetMotors(void) {
bool pwmAreMotorsEnabled(void) {
return pwmMotorsEnabled;
}
bool isMotorProtocolDshot(void)
{
return false;
}
void pwmWriteMotor(uint8_t index, float value) {
motorsPwm[index] = value - idlePulse;
}