Merge pull request #872 from AlienWiiBF/PPM_fix

AlienFlightF3 and Sparky PPM fix (timer clash and PPM timer initialization)

src/main/drivers/pwm_mapping.c

@@ -293,8 +293,8 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         if (type == MAP_TO_PPM_INPUT) {
 #ifndef SKIP_RX_PWM_PPM
 #if defined(SPARKY) || defined(ALIENFLIGHTF3)
-            if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
+            if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
-                ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
+                ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2, init->pwmProtocolType);
             }
 #endif
             ppmInConfig(timerHardwarePtr);
@@ -307,7 +307,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
 
 #ifdef CC3D
-            if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
+            if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
                 // Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
                 if (timerHardwarePtr->tim == TIM2)
                     continue;

src/main/drivers/pwm_output.c

@@ -26,18 +26,6 @@
 #include "pwm_mapping.h"
 #include "pwm_output.h"
 
-#if defined(STM32F40_41xxx) // must be multiples of timer clock
-#define ONESHOT125_TIMER_MHZ 12
-#define ONESHOT42_TIMER_MHZ 21
-#define MULTISHOT_TIMER_MHZ 84
-#define PWM_BRUSHED_TIMER_MHZ 21
-#else
-#define ONESHOT125_TIMER_MHZ  8
-#define ONESHOT42_TIMER_MHZ   24
-#define MULTISHOT_TIMER_MHZ   72
-#define PWM_BRUSHED_TIMER_MHZ 24
-#endif
-
 #define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
 

src/main/drivers/pwm_output.h

@@ -25,6 +25,18 @@ typedef enum {
     PWM_TYPE_BRUSHED
 } motorPwmProtocolTypes_e;
 
+#if defined(STM32F40_41xxx) // must be multiples of timer clock
+#define ONESHOT125_TIMER_MHZ  12
+#define ONESHOT42_TIMER_MHZ   21
+#define MULTISHOT_TIMER_MHZ   84
+#define PWM_BRUSHED_TIMER_MHZ 21
+#else
+#define ONESHOT125_TIMER_MHZ  8
+#define ONESHOT42_TIMER_MHZ   24
+#define MULTISHOT_TIMER_MHZ   72
+#define PWM_BRUSHED_TIMER_MHZ 24
+#endif
+
 struct timerHardware_s;
 void pwmBrushedMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
 void pwmBrushlessMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);

src/main/drivers/pwm_rx.c

@@ -33,6 +33,7 @@
 #include "gpio.h"
 #include "timer.h"
 
+#include "pwm_output.h"
 #include "pwm_mapping.h"
 
 #include "pwm_rx.h"
@@ -85,7 +86,7 @@ static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
 
 static uint8_t ppmFrameCount = 0;
 static uint8_t lastPPMFrameCount = 0;
-static uint8_t ppmCountShift = 0;
+static uint8_t ppmCountDivisor = 1;
 
 typedef struct ppmDevice_s {
     uint8_t  pulseIndex;
@@ -204,14 +205,14 @@ static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture
         }
     }
 
-    // Divide by 8 if Oneshot125 is active and this is a CC3D board
+    // Divide value if Oneshot, Multishot or brushed motors are active and the timer is shared
-    currentTime = currentTime >> ppmCountShift;
+    currentTime = currentTime / ppmCountDivisor;
 
     /* Capture computation */
     if (currentTime > previousTime) {
-        ppmDev.deltaTime    = currentTime - (previousTime + (ppmDev.overflowed ? (PPM_TIMER_PERIOD >> ppmCountShift) : 0));
+        ppmDev.deltaTime    = currentTime - (previousTime + (ppmDev.overflowed ? (PPM_TIMER_PERIOD / ppmCountDivisor) : 0));
     } else {
-        ppmDev.deltaTime    = (PPM_TIMER_PERIOD >> ppmCountShift) + currentTime - previousTime;
+        ppmDev.deltaTime    = (PPM_TIMER_PERIOD / ppmCountDivisor) + currentTime - previousTime;
     }
 
     ppmDev.overflowed = false;
@@ -383,11 +384,25 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
 #define UNUSED_PPM_TIMER_REFERENCE 0
 #define FIRST_PWM_PORT 0
 
-void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer)
+void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer, uint8_t pwmProtocol)
 {
-    if (timerHardwarePtr->tim == sharedPwmTimer) {
+	if (timerHardwarePtr->tim == sharedPwmTimer) {
-        ppmCountShift = 3;  // Divide by 8 if the timer is running at 8 MHz
+        switch (pwmProtocol)
-    }
+        {
+        case PWM_TYPE_ONESHOT125:
+            ppmCountDivisor = ONESHOT125_TIMER_MHZ;
+            break;
+        case PWM_TYPE_ONESHOT42:
+            ppmCountDivisor = ONESHOT42_TIMER_MHZ;
+            break;
+        case PWM_TYPE_MULTISHOT:
+            ppmCountDivisor = MULTISHOT_TIMER_MHZ;
+            break;
+        case PWM_TYPE_BRUSHED:
+            ppmCountDivisor = PWM_BRUSHED_TIMER_MHZ;
+            break;
+        }
+	}
 }
 
 void ppmInConfig(const timerHardware_t *timerHardwarePtr)

src/main/drivers/pwm_rx.h

@@ -26,7 +26,7 @@ typedef enum {
 
 
 void ppmInConfig(const timerHardware_t *timerHardwarePtr);
-void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer);
+void ppmAvoidPWMTimerClash(const timerHardware_t *timerHardwarePtr, TIM_TypeDef *sharedPwmTimer, uint8_t pwmProtocol);
 
 void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel);
 uint16_t pwmRead(uint8_t channel);

src/main/target/ALIENFLIGHTF1/config.c

@@ -78,6 +78,12 @@ void targetConfiguration(void)
     masterConfig.motor_pwm_rate = 32000;
     masterConfig.failsafeConfig.failsafe_delay = 2;
     masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentProfile->pidProfile.P8[ROLL] = 90;
+    currentProfile->pidProfile.I8[ROLL] = 44;
+    currentProfile->pidProfile.D8[ROLL] = 60;
+    currentProfile->pidProfile.P8[PITCH] = 90;
+    currentProfile->pidProfile.I8[PITCH] = 44;
+    currentProfile->pidProfile.D8[PITCH] = 60;
 
     masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
     masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R

src/main/target/ALIENFLIGHTF3/target.c

@@ -63,28 +63,19 @@ const uint16_t airPWM[] = {
 
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    // 6 x 3 pin headers
+    // up to 10 Motor Outputs
     { TIM15, IO_TAG(PB15), TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1  - PB15 - TIM1_CH3N, TIM15_CH1N, *TIM15_CH2
     { TIM15, IO_TAG(PB14), TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2  - PB14 - TIM1_CH2N, *TIM15_CH1
     { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6 }, // PWM3  - PA8  - *TIM1_CH1, TIM4_ETR
     { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM4  - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
     { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5  - PA6  - *TIM3_CH1, TIM8_BKIN, TIM1_BKIN, TIM16_CH1
     { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM6  - PA2  - *TIM2_CH3, !TIM15_CH1
-
-    // 6 pin header
-    // PWM7-10
     { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM7  - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
     { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM8  - PA7  - !TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
     { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_AF_2 }, // PWM9  - PA4  - *TIM3_CH2
     { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1 }, // PWM10 - PA1  - *TIM2_CH2, TIM15_CH1N
 
     // PPM PORT - Also USART2 RX (AF5)
-    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_IPD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
+    { TIM2, IO_TAG(PA3),  TIM_Channel_4, TIM2_IRQn,                0, IOCFG_AF_PP_PD, GPIO_AF_1 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-    //{ TIM15, GPIOA, Pin_3,  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     0, IOCFG_IPD, GPIO_PinSource3, GPIO_AF_9 } // PPM   - PA3  - TIM2_CH4, TIM15_CH2 - PWM13
-
-    // USART3 RX/TX
-    // RX conflicts with PPM port
-    //{ TIM2,  GPIOB, Pin_11, TIM_Channel_4, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource11,  GPIO_AF_1 } // RX    - PB11 - *TIM2_CH4, UART3_RX (AF7) - PWM11
-    //{ TIM2,  GPIOB, Pin_10, TIM_Channel_3, TIM3_IRQn,               0, IOCFG_AF_PP, GPIO_PinSource10,  GPIO_AF_1 } // TX    - PB10 - *TIM2_CH3, UART3_TX (AF7) - PWM12
 };
 

src/main/target/ALIENFLIGHTF3/target.h

@@ -72,7 +72,7 @@
 #define USE_UART2 // Receiver - RX (PA3)
 #define USE_UART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
 #define SERIAL_PORT_COUNT       4
-#define AVOID_UART3_FOR_PWM_PPM
+#define AVOID_UART2_FOR_PWM_PPM
 
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PB7

src/main/target/SPARKY/target.h

@@ -56,7 +56,7 @@
 #define USE_UART2 // Input - RX (PA3)
 #define USE_UART3 // Servo out - 10/RX (PB11) 11/TX (PB10)
 #define SERIAL_PORT_COUNT       4
-#define AVOID_UART3_FOR_PWM_PPM
+#define AVOID_UART2_FOR_PWM_PPM
 
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PB7