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Oneshot42 Implementation

This commit is contained in:
borisbstyle 2016-02-22 15:13:36 +01:00
parent e561ec3cb7
commit 6b8f4f1111
7 changed files with 33 additions and 11 deletions
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1
src/main/config/config.c
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@ -484,6 +484,7 @@ static void resetConf(void)
#endif
masterConfig.servo_pwm_rate = 50;
masterConfig.use_fast_pwm = 0;
masterConfig.use_oneshot42 = 0;
#ifdef CC3D
masterConfig.use_buzzer_p6 = 0;
#endif

1
src/main/config/config_master.h
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@ -37,6 +37,7 @@ typedef struct master_t {
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t use_fast_pwm; // Use fast PWM implementation when oneshot enabled
uint8_t use_oneshot42; // Oneshot42
#ifdef USE_SERVOS
servoMixer_t customServoMixer[MAX_SERVO_RULES];

8
src/main/drivers/pwm_mapping.c
View File

@ -31,8 +31,8 @@
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42);
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
/*
@ -805,9 +805,9 @@ if (init->useBuzzerP6) {
#endif
if (init->useOneshot) {
if (init->useFastPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42);
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
} else if (isMotorBrushed(init->motorPwmRate)) {

4
src/main/drivers/pwm_mapping.h
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@ -36,10 +36,9 @@
#define MAX_INPUTS 8
#define PWM_TIMER_MHZ 1
#define ONESHOT125_TIMER_MHZ 8
#define ONESHOT125_TIMER_MHZ 24
#define PWM_BRUSHED_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
uint16_t triggerPin;
@ -61,6 +60,7 @@ typedef struct drv_pwm_config_s {
bool useVbat;
bool useOneshot;
bool useFastPWM;
bool useOneshot42;
bool useSoftSerial;
bool useLEDStrip;
#ifdef SONAR

26
src/main/drivers/pwm_output.c
View File

@ -135,6 +135,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
*motors[index]->ccr = value;
}
static void pwmWriteOneshot(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value * 3; // 24Mhz -> 8Mhz
}
static void pwmWriteOneshot42(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (motors[index] && index < MAX_MOTORS)
@ -190,17 +200,25 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42)
{
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
if (useOneshot42) {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
} else {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot;
}
}
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
{
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, 0);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
if (useOneshot42) {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
} else {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot;
}
}
#ifdef USE_SERVOS

3
src/main/io/serial_cli.c
View File

@ -528,7 +528,8 @@ const clivalue_t valueTable[] = {
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "enable_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } },
{ "use_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } },
{ "use_oneshot42", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
#ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif

1
src/main/main.c
View File

@ -309,6 +309,7 @@ void init(void)
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))