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atbetaflight
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Configurable Beeper PIN6 CC3D // Less CC3D targets

This commit is contained in:
borisbstyle 2015-12-22 21:32:27 +01:00
parent 36aee11cd8
commit 8ecd05b911
7 changed files with 95 additions and 24 deletions
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16
Makefile
View File

@ -40,7 +40,7 @@ FLASH_SIZE ?=
FORKNAME = betaflight
CC3D_TARGETS = CC3D CC3D_OPBL CC3D_BP6 CC3D_OPBL_BP6
CC3D_TARGETS = CC3D CC3D_OPBL
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENWIIF1 ALIENWIIF3 COLIBRI_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI
@ -48,8 +48,7 @@ VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARG
VCP_VALID_TARGETS = $(CC3D_TARGETS)
# Valid targets for OP BootLoader support
OPBL_VALID_TARGETS = CC3D_OPBL CC3D_OPBL_BP6
BP6_VALID_TARGETS = CC3D_BP6 CC3D_OPBL_BP6
OPBL_VALID_TARGETS = CC3D_OPBL
64K_TARGETS = CJMCU
128K_TARGETS = ALIENWIIF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
@ -247,15 +246,6 @@ $(error OPBL specified with a unsupported target)
endif
endif
ifneq ($(filter $(TARGET),$(BP6_VALID_TARGETS)),)
BP6=yes
endif
ifeq ($(BP6),yes)
TARGET_FLAGS := -DBEEPER_PIN6 $(TARGET_FLAGS)
endif
ifeq ($(TARGET),AFROMINI)
# AFROMINI is a VARIANT of NAZE being recognized as rev4, but needs to use rev5 config
TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DAFROMINI
@ -748,8 +738,6 @@ $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
endif
CC3D_OPBL_SRC = $(CC3D_SRC)
CC3D_OPBL_BP6_SRC = $(CC3D_SRC)
CC3D_BP6_SRC = $(CC3D_SRC)
TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex

3
src/main/config/config.c
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@ -465,6 +465,9 @@ static void resetConf(void)
#endif
masterConfig.servo_pwm_rate = 50;
masterConfig.use_fast_pwm = 0;
#ifdef CC3D
masterConfig.use_buzzer_p6 = 0;
#endif
#ifdef GPS
// gps/nav stuff

3
src/main/config/config_master.h
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@ -38,6 +38,9 @@ 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
#ifdef CC3D
uint8_t use_buzzer_p6;
#endif
// global sensor-related stuff

85
src/main/drivers/pwm_mapping.c
View File

@ -152,9 +152,7 @@ static const uint16_t multiPPM[] = {
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
#ifndef BEEPER_PIN6
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
#endif
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
@ -162,6 +160,7 @@ static const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
static const uint16_t multiPWM[] = {
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8),
@ -174,9 +173,7 @@ static const uint16_t multiPWM[] = {
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
#ifndef BEEPER_PIN6
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
#endif
0xFFFF
};
@ -187,9 +184,7 @@ static const uint16_t airPPM[] = {
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
#ifndef BEEPER_PIN6
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
#endif
PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
@ -210,9 +205,66 @@ static const uint16_t airPWM[] = {
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
#ifndef BEEPER_PIN6
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
#endif
0xFFFF
};
static const uint16_t multiPPM_BP6[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
static const uint16_t multiPWM_BP6[] = {
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
static const uint16_t airPPM_BP6[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
0xFFFF
};
static const uint16_t airPWM_BP6[] = {
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
PWM2 | (MAP_TO_PWM_INPUT << 8),
PWM3 | (MAP_TO_PWM_INPUT << 8),
PWM4 | (MAP_TO_PWM_INPUT << 8),
PWM5 | (MAP_TO_PWM_INPUT << 8),
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
0xFFFF
};
#endif
@ -476,6 +528,15 @@ static const uint16_t * const hardwareMaps[] = {
airPPM,
};
#ifdef CC3D
static const uint16_t * const hardwareMapsBP6[] = {
multiPWM_BP6,
multiPPM_BP6,
airPWM_BP6,
airPPM_BP6,
};
#endif
static pwmOutputConfiguration_t pwmOutputConfiguration;
pwmOutputConfiguration_t *pwmGetOutputConfiguration(void){
@ -497,7 +558,15 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
#ifdef CC3D
if (init->useBuzzerP6) {
setup = hardwareMapsBP6[i];
} else {
setup = hardwareMaps[i];
}
#else
setup = hardwareMaps[i];
#endif
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;

3
src/main/drivers/pwm_mapping.h
View File

@ -69,6 +69,9 @@ typedef struct drv_pwm_config_s {
#ifdef USE_SERVOS
bool useServos;
bool useChannelForwarding; // configure additional channels as servos
#ifdef CC3D
bool useBuzzerP6;
#endif
uint16_t servoPwmRate;
uint16_t servoCenterPulse;
#endif

5
src/main/io/serial_cli.c
View File

@ -464,7 +464,10 @@ 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 } },
{ "enable_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .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
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 50, 32000 } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },

4
src/main/main.c
View File

@ -264,7 +264,9 @@ void init(void)
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !masterConfig.use_fast_pwm)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
#endif
pwmRxInit(masterConfig.inputFilteringMode);
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);