Allowing oneshot125 functionality to work on a Naze board.

This code has been flight tested, but will have problems on a CC3D board, and also when the looptime is longer than 8200 uS.

src/main/config/config.h

@@ -39,7 +39,8 @@ typedef enum {
     FEATURE_RX_MSP = 1 << 14,
     FEATURE_RSSI_ADC = 1 << 15,
     FEATURE_LED_STRIP = 1 << 16,
-    FEATURE_DISPLAY = 1 << 17
+    FEATURE_DISPLAY = 1 << 17,
+    FEATURE_ONESHOT125 = 1 << 18
 } features_e;
 
 bool feature(uint32_t mask);

src/main/drivers/pwm_mapping.h

@@ -34,6 +34,7 @@
 #define MAX_INPUTS  8
 
 #define PWM_TIMER_MHZ 1
+#define ONESHOT125_TIMER_MHZ 8
 
 typedef struct drv_pwm_config_t {
     bool useParallelPWM;

src/main/drivers/pwm_output.c

@@ -27,6 +27,8 @@
 
 #include "flight/failsafe.h" // FIXME dependency into the main code from a driver
 
+#include "config/config.h" // FIXME dependency into the main code from a driver
+
 #include "pwm_mapping.h"
 
 #include "pwm_output.h"
@@ -35,6 +37,7 @@ typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function poi
 
 typedef struct {
     volatile timCCR_t *ccr;
+    volatile timCNT_t *cnt;
     uint16_t period;
     pwmWriteFuncPtr pwmWritePtr;
 } pwmOutputPort_t;
@@ -43,6 +46,7 @@ static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
 
 static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
 static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
+static volatile uint16_t* lastCounterPtr;
 
 #define PWM_BRUSHED_TIMER_MHZ 8
 
@@ -116,6 +120,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
             break;
     }
     p->period = period;
+    p->cnt = &timerHardware->tim->CNT;
 
     return p;
 }
@@ -127,7 +132,7 @@ static void pwmWriteBrushed(uint8_t index, uint16_t value)
 
 static void pwmWriteStandard(uint8_t index, uint16_t value)
 {
-    *motors[index]->ccr = value;
+	*motors[index]->ccr = value;
 }
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
@@ -136,6 +141,23 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
         motors[index]->pwmWritePtr(index, value);
 }
 
+void pwmFinishedWritingMotors(uint8_t numberMotors)
+{
+	uint8_t index;
+
+	if(feature(FEATURE_ONESHOT125)){
+
+		for(index = 0; index < numberMotors; index++){
+			// Set the counter to overflow if it's the first motor to output, or if we change timers
+			if((index == 0) || (motors[index]->cnt != lastCounterPtr)){
+				lastCounterPtr = motors[index]->cnt;
+
+				*motors[index]->cnt = 0xfffe;
+			}
+		}
+	}
+}
+
 void pwmWriteServo(uint8_t index, uint16_t value)
 {
     if (servos[index] && index < MAX_SERVOS)
@@ -154,7 +176,13 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
 	uint32_t hz = PWM_TIMER_MHZ * 1000000;
-	motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
+
+	if(feature(FEATURE_ONESHOT125)){
+		motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
+	} else {
+		motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
+	}
+
 	motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 

src/main/drivers/pwm_output.h

@@ -20,6 +20,7 @@
 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 pwmWriteMotor(uint8_t index, uint16_t value);
+void pwmFinishedWritingMotors(uint8_t numberMotors);
 
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 void pwmWriteServo(uint8_t index, uint16_t value);

src/main/flight/mixer.c

@@ -395,6 +395,8 @@ void writeMotors(void)
 
     for (i = 0; i < numberMotor; i++)
         pwmWriteMotor(i, motor[i]);
+
+    pwmFinishedWritingMotors(numberMotor);
 }
 
 void writeAllMotors(int16_t mc)

src/main/io/serial_cli.c

@@ -123,7 +123,7 @@ static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
-    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", NULL
+    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125", NULL
 };
 
 // sync this with sensors_e