Changed function pointer semantics.
This commit is contained in:
mikeller
parent
559079ff31
commit
76869eb3dd
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@ -31,12 +31,12 @@
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#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
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#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
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static pwmWriteFuncPtr pwmWritePtr;
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static pwmWriteFunc *pwmWrite;
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static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
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static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
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static pwmCompleteWriteFunc *pwmCompleteWrite = NULL;
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#ifdef USE_DSHOT
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loadDmaBufferFuncPtr loadDmaBufferPtr;
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loadDmaBufferFunc *loadDmaBuffer;
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#endif
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#ifdef USE_SERVOS
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@ -189,7 +189,7 @@ static uint8_t loadDmaBufferProshot(motorDmaOutput_t *const motor, uint16_t pack
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void pwmWriteMotor(uint8_t index, float value)
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{
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if (pwmMotorsEnabled) {
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pwmWritePtr(index, value);
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pwmWrite(index, value);
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}
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}
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@ -212,7 +212,7 @@ void pwmDisableMotors(void)
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void pwmEnableMotors(void)
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{
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/* check motors can be enabled */
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pwmMotorsEnabled = (pwmWritePtr != pwmWriteUnused);
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pwmMotorsEnabled = (pwmWrite != &pwmWriteUnused);
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}
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bool pwmAreMotorsEnabled(void)
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@ -239,7 +239,7 @@ static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
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void pwmCompleteMotorUpdate(uint8_t motorCount)
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{
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pwmCompleteWritePtr(motorCount);
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pwmCompleteWrite(motorCount);
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}
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void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
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@ -253,49 +253,49 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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default:
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case PWM_TYPE_ONESHOT125:
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timerMhzCounter = ONESHOT125_TIMER_MHZ;
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pwmWritePtr = pwmWriteOneShot125;
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pwmWrite = &pwmWriteOneShot125;
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break;
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case PWM_TYPE_ONESHOT42:
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timerMhzCounter = ONESHOT42_TIMER_MHZ;
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pwmWritePtr = pwmWriteOneShot42;
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pwmWrite = &pwmWriteOneShot42;
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break;
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case PWM_TYPE_MULTISHOT:
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timerMhzCounter = MULTISHOT_TIMER_MHZ;
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pwmWritePtr = pwmWriteMultiShot;
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pwmWrite = &pwmWriteMultiShot;
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break;
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case PWM_TYPE_BRUSHED:
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timerMhzCounter = PWM_BRUSHED_TIMER_MHZ;
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pwmWritePtr = pwmWriteBrushed;
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pwmWrite = &pwmWriteBrushed;
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useUnsyncedPwm = true;
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idlePulse = 0;
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break;
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case PWM_TYPE_STANDARD:
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timerMhzCounter = PWM_TIMER_MHZ;
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pwmWritePtr = pwmWriteStandard;
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pwmWrite = &pwmWriteStandard;
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useUnsyncedPwm = true;
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idlePulse = 0;
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break;
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#ifdef USE_DSHOT
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case PWM_TYPE_PROSHOT1000:
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pwmWritePtr = pwmWriteDigital;
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loadDmaBufferPtr = loadDmaBufferProshot;
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pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
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pwmWrite = &pwmWriteDigital;
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loadDmaBuffer = &loadDmaBufferProshot;
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pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
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isDigital = true;
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break;
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case PWM_TYPE_DSHOT1200:
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case PWM_TYPE_DSHOT600:
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case PWM_TYPE_DSHOT300:
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case PWM_TYPE_DSHOT150:
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pwmWritePtr = pwmWriteDigital;
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loadDmaBufferPtr = loadDmaBufferDshot;
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pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
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pwmWrite = &pwmWriteDigital;
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loadDmaBuffer = &loadDmaBufferDshot;
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pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
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isDigital = true;
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break;
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#endif
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}
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if (!isDigital) {
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pwmCompleteWritePtr = useUnsyncedPwm ? pwmCompleteWriteUnused : pwmCompleteOneshotMotorUpdate;
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pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
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}
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for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
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@ -304,8 +304,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
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if (timerHardware == NULL) {
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/* not enough motors initialised for the mixer or a break in the motors */
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pwmWritePtr = pwmWriteUnused;
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pwmCompleteWritePtr = pwmCompleteWriteUnused;
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pwmWrite = &pwmWriteUnused;
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pwmCompleteWrite = &pwmCompleteWriteUnused;
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/* TODO: block arming and add reason system cannot arm */
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return;
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}
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@ -133,8 +133,8 @@ motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
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extern bool pwmMotorsEnabled;
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struct timerHardware_s;
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typedef void(*pwmWriteFuncPtr)(uint8_t index, float value); // function pointer used to write motors
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typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount); // function pointer used after motors are written
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typedef void pwmWriteFunc(uint8_t index, float value); // function pointer used to write motors
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typedef void pwmCompleteWriteFunc(uint8_t motorCount); // function pointer used after motors are written
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typedef struct {
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volatile timCCR_t *ccr;
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@ -167,11 +167,11 @@ void servoDevInit(const servoDevConfig_t *servoDevConfig);
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void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
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#ifdef USE_DSHOT
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typedef uint8_t(*loadDmaBufferFuncPtr)(motorDmaOutput_t *const motor, uint16_t packet); // function pointer used to encode a digital motor value into the DMA buffer representation
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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
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uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, uint16_t value);
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extern loadDmaBufferFuncPtr loadDmaBufferPtr;
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extern loadDmaBufferFunc *loadDmaBuffer;
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uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
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void pwmWriteDshotCommand(uint8_t index, uint8_t command);
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@ -64,7 +64,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
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uint16_t packet = prepareDshotPacket(motor, value);
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uint8_t bufferSize = loadDmaBufferPtr(motor, packet);
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uint8_t bufferSize = loadDmaBuffer(motor, packet);
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DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, bufferSize);
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DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
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@ -59,7 +59,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
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uint16_t packet = prepareDshotPacket(motor, value);
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uint8_t bufferSize = loadDmaBufferPtr(motor, packet);
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uint8_t bufferSize = loadDmaBuffer(motor, packet);
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if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
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if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
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