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Merge remote-tracking branch 'borisbstyle/betaflight' into blackbox-enhancements

This commit is contained in:
Gary Keeble 2016-05-07 09:53:23 +01:00
parent c514d4f5e6 9e5c5e88c7
commit a4e789fca6
22 changed files with 181 additions and 158 deletions
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3
Makefile
View File

@ -255,6 +255,9 @@ endif
ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
ifeq ($(TARGET),CC3D_OPBL)
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
endif
TARGET_DIR = $(ROOT)/src/main/target/CC3D
endif

13
src/main/config/config.c
View File

@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 134;
static const uint8_t EEPROM_CONF_VERSION = 135;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -190,8 +190,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->dterm_lpf_hz = 80; // filtering ON by default
pidProfile->dynamic_pterm = 1;
pidProfile->H_sensitivity = 75; // TODO - Cleanup during next EEPROM changes
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 10; // [0..200] Lower limit of PITCH P during G tune.
@ -485,7 +483,8 @@ static void resetConf(void)
masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
#endif
masterConfig.servo_pwm_rate = 50;
masterConfig.use_oneshot42 = 0;
masterConfig.fast_pwm_protocol = 0;
masterConfig.use_unsyncedPwm = 0;
#ifdef CC3D
masterConfig.use_buzzer_p6 = 0;
#endif
@ -500,11 +499,7 @@ static void resetConf(void)
resetSerialConfig(&masterConfig.serialConfig);
#if defined(STM32F10X) && !defined(CC3D)
masterConfig.emf_avoidance = 1;
#else
masterConfig.emf_avoidance = 0;
#endif
masterConfig.emf_avoidance = 0; // TODO - needs removal
resetPidProfile(&currentProfile->pidProfile);

4
src/main/config/config_master.h
View File

@ -34,8 +34,8 @@ 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_oneshot42; // Oneshot42
uint8_t use_multiShot; // multishot
uint8_t fast_pwm_protocol; // Fast Pwm Protocol
uint8_t use_unsyncedPwm; // unsync fast pwm protocol from PID loop
#ifdef USE_SERVOS
servoMixer_t customServoMixer[MAX_SERVO_RULES];

7
src/main/debug.h
View File

@ -42,10 +42,13 @@ extern uint32_t sectionTimes[2][4];
#endif
typedef enum {
DEBUG_CYCLETIME = 1,
DEBUG_NONE,
DEBUG_CYCLETIME,
DEBUG_BATTERY,
DEBUG_GYRO,
DEBUG_ACCELEROMETER,
DEBUG_MIXER,
DEBUG_AIRMODE
DEBUG_AIRMODE,
DEBUG_PIDLOOP,
DEBUG_COUNT
} debugType_e;

15
src/main/drivers/pwm_mapping.c
View File

@ -31,8 +31,7 @@
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 pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
/*
@ -912,7 +911,7 @@ if (init->useBuzzerP6) {
if (type == MAP_TO_PPM_INPUT) {
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
@ -923,18 +922,14 @@ if (init->useBuzzerP6) {
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)){
if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)){
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useOneshot) {
if (init->useMultiShot) {
pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
}
if (init->useFastPwm) {
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->fastPwmProtocolType, init->motorPwmRate, init->useUnsyncedPwm, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

16
src/main/drivers/pwm_mapping.h
View File

@ -36,9 +36,11 @@
#define MAX_INPUTS 8
#define PWM_TIMER_MHZ 1
#define ONESHOT_TIMER_MHZ 24
#define PWM_BRUSHED_TIMER_MHZ 8
#define MULTISHOT_TIMER_MHZ 12
#define ONESHOT42_TIMER_MHZ 24
#define ONESHOT125_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
@ -59,9 +61,8 @@ typedef struct drv_pwm_config_s {
bool useUART3;
#endif
bool useVbat;
bool useOneshot;
bool useOneshot42;
bool useMultiShot;
bool useFastPwm;
bool useUnsyncedPwm;
bool useSoftSerial;
bool useLEDStrip;
#ifdef SONAR
@ -70,11 +71,12 @@ typedef struct drv_pwm_config_s {
#ifdef USE_SERVOS
bool useServos;
bool useChannelForwarding; // configure additional channels as servos
#ifdef CC3D
bool useBuzzerP6;
#endif
uint8_t fastPwmProtocolType;
uint16_t servoPwmRate;
uint16_t servoCenterPulse;
#endif
#ifdef CC3D
bool useBuzzerP6;
#endif
bool airplane; // fixed wing hardware config, lots of servos etc
uint16_t motorPwmRate;

55
src/main/drivers/pwm_output.c
View File

@ -135,27 +135,6 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value;
}
#if defined(STM32F10X) && !defined(CC3D)
static void pwmWriteOneshot125(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value * 21 / 6; // 24Mhz -> 8Mhz
}
static void pwmWriteOneshot42(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value * 7 / 6;
}
#else
static void pwmWriteOneshot125(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;
}
#endif
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
@ -227,20 +206,30 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse)
{
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, 0xFFFF, 0);
if (useOneshot42) {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
} else {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
}
}
uint32_t timerMhzCounter;
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
{
motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, 0xFFFF, 0);
motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
switch (fastPwmProtocolType) {
default:
case (PWM_TYPE_ONESHOT125):
timerMhzCounter = ONESHOT125_TIMER_MHZ;
break;
case (PWM_TYPE_ONESHOT42):
timerMhzCounter = ONESHOT42_TIMER_MHZ;
break;
case (PWM_TYPE_MULTISHOT):
timerMhzCounter = MULTISHOT_TIMER_MHZ;
}
if (useUnsyncedPwm) {
uint32_t hz = timerMhzCounter * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
} else {
motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
}
motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot : pwmWriteStandard;
}
#ifdef USE_SERVOS

6
src/main/drivers/pwm_output.h
View File

@ -17,6 +17,12 @@
#pragma once
typedef enum {
PWM_TYPE_ONESHOT125 = 0,
PWM_TYPE_ONESHOT42 = 1,
PWM_TYPE_MULTISHOT = 2
} FastPwmProtocolTypes_e;
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);

6
src/main/flight/mixer.c
View File

@ -633,7 +633,7 @@ void writeServos(void)
}
#endif
void writeMotors(void)
void writeMotors(uint8_t unsyncedPwm)
{
uint8_t i;
@ -641,7 +641,7 @@ void writeMotors(void)
pwmWriteMotor(i, motor[i]);
if (feature(FEATURE_ONESHOT125)) {
if (feature(FEATURE_ONESHOT125) && !unsyncedPwm) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
// Sends commands to all motors
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors();
writeMotors(1);
}
void stopMotors(void)

2
src/main/flight/mixer.h
View File

@ -218,6 +218,6 @@ int servoDirection(int servoIndex, int fromChannel);
#endif
void mixerResetDisarmedMotors(void);
void mixTable(void);
void writeMotors(void);
void writeMotors(uint8_t unsyncedPwm);
void stopMotors(void);
void StopPwmAllMotors(void);

20
src/main/flight/pid.c
View File

@ -62,9 +62,10 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
uint8_t PIDweight[3];
static int32_t errorGyroI[3], errorGyroILimit[3];
#ifndef SKIP_PID_LUXFLOAT
static float errorGyroIf[3], errorGyroIfLimit[3];
static int32_t errorAngleI[2];
static float errorAngleIf[2];
#endif
static bool lowThrottlePidReduction;
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
@ -103,22 +104,15 @@ uint16_t getDynamicKp(int axis, pidProfile_t *pidProfile) {
return dynamicKp;
}
void pidResetErrorAngle(void)
{
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
errorAngleIf[ROLL] = 0.0f;
errorAngleIf[PITCH] = 0.0f;
}
void pidResetErrorGyroState(uint8_t resetOption)
{
if (resetOption >= RESET_ITERM) {
int axis;
for (axis = 0; axis < 3; axis++) {
errorGyroI[axis] = 0;
#ifndef SKIP_PID_LUXFLOAT
errorGyroIf[axis] = 0.0f;
#endif
}
}
@ -141,6 +135,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterStatePt1_t deltaFilterState[3];
static filterStatePt1_t yawFilterState;
#ifndef SKIP_PID_LUXFLOAT
static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
@ -280,6 +275,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
#endif
}
}
#endif
static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
@ -426,8 +422,10 @@ void pidSetController(pidControllerType_e type)
case PID_CONTROLLER_MWREWRITE:
pid_controller = pidMultiWiiRewrite;
break;
#ifndef SKIP_PID_LUXFLOAT
case PID_CONTROLLER_LUX_FLOAT:
pid_controller = pidLuxFloat;
#endif
}
}

1
src/main/flight/pid.h
View File

@ -97,7 +97,6 @@ bool antiWindupProtection;
extern uint32_t targetPidLooptime;
void pidSetController(pidControllerType_e type);
void pidResetErrorAngle(void);
void pidResetErrorGyroState(uint8_t resetOption);
void setTargetPidLooptime(uint8_t pidProcessDenom);

26
src/main/io/display.c
View File

@ -22,6 +22,7 @@
#include "platform.h"
#include "version.h"
#include "debug.h"
#include "build_config.h"
@ -58,14 +59,16 @@
#include "flight/navigation.h"
#endif
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/runtime_config.h"
#include "config/config_profile.h"
#include "display.h"
#include "scheduler.h"
extern profile_t *currentProfile;
controlRateConfig_t *getControlRateConfig(uint8_t profileIndex);
#define MICROSECONDS_IN_A_SECOND (1000 * 1000)
@ -317,13 +320,26 @@ void showProfilePage(void)
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
static const char* const axisTitles[3] = {"ROL", "PIT", "YAW"};
const pidProfile_t *pidProfile = &currentProfile->pidProfile;
for (int axis = 0; axis < 3; ++axis) {
tfp_sprintf(lineBuffer, "%s P:%3d I:%3d D:%3d",
axisTitles[axis],
pidProfile->P8[axis],
pidProfile->I8[axis],
pidProfile->D8[axis]
);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
const uint8_t currentRateProfileIndex = getCurrentControlRateProfile();
tfp_sprintf(lineBuffer, "Rate profile: %d", currentRateProfileIndex);
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
const controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex);
tfp_sprintf(lineBuffer, "RCE: %d, RCR: %d",
controlRateConfig->rcExpo8,
controlRateConfig->rcRate8

2
src/main/io/display.h
View File

@ -15,7 +15,7 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
//#define ENABLE_DEBUG_OLED_PAGE
#define ENABLE_DEBUG_OLED_PAGE
typedef enum {
PAGE_WELCOME,

20
src/main/io/serial_cli.c
View File

@ -26,6 +26,7 @@
#include "platform.h"
#include "scheduler.h"
#include "version.h"
#include "debug.h"
#include "build_config.h"
@ -426,20 +427,25 @@ static const char * const lookupTableMagHardware[] = {
"AK8963"
};
static const char * const lookupTableDebug[] = {
static const char * const lookupTableDebug[DEBUG_COUNT] = {
"NONE",
"CYCLETIME",
"BATTERY",
"GYRO",
"ACCELEROMETER",
"MIXER",
"AIRMODE"
"AIRMODE",
"PIDLOOP",
};
static const char * const lookupTableSuperExpoYaw[] = {
"OFF", "ON", "ALWAYS"
};
static const char * const lookupTableFastPwm[] = {
"ONESHOT125", "ONESHOT42", "MULTISHOT"
};
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@ -466,6 +472,7 @@ typedef enum {
TABLE_MAG_HARDWARE,
TABLE_DEBUG,
TABLE_SUPEREXPO_YAW,
TABLE_FAST_PWM,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -488,7 +495,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
{ lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) },
};
#define VALUE_TYPE_OFFSET 0
@ -564,12 +572,12 @@ 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 } },
{ "use_oneshot42", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
{ "use_multishot", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
{ "unsynced_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "fast_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.fast_pwm_protocol, .config.lookup = { TABLE_FAST_PWM } },
#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 = { 300, 32000 } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },

7
src/main/io/serial_msp.c
View File

@ -172,7 +172,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
}
#endif
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
// Oneshot125 protection
if ((masterConfig.fast_pwm_protocol == 0) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125) && masterConfig.pid_process_denom < 3) masterConfig.pid_process_denom = 3;
}
}
@ -1861,6 +1862,10 @@ void mspProcess(void)
waitForSerialPortToFinishTransmitting(candidatePort->port);
stopMotors();
handleOneshotFeatureChangeOnRestart();
// On real flight controllers, systemReset() will do a soft reset of the device,
// reloading the program. But to support offline testing this flag needs to be
// cleared so that the software doesn't continuously attempt to reboot itself.
isRebootScheduled = false;
systemReset();
}
}

14
src/main/main.c
View File

@ -176,7 +176,7 @@ void init(void)
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
SetSysClock(0); // TODO - Remove from config in the future
#endif
//i2cSetOverclock(masterConfig.i2c_overclock);
@ -311,18 +311,14 @@ void init(void)
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
if (masterConfig.use_oneshot42) {
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false;
} else {
pwm_params.useMultiShot = masterConfig.use_multiShot ? true : false;
}
pwm_params.useFastPwm = feature(FEATURE_ONESHOT125); // Configurator feature abused for enabling Fast PWM
pwm_params.fastPwmProtocolType = masterConfig.fast_pwm_protocol;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;

16
src/main/mw.c
View File

@ -504,7 +504,6 @@ void processRx(void)
} else {
pidResetErrorGyroState(RESET_ITERM_AND_REDUCE_PID);
}
pidResetErrorAngle();
}
} else {
pidResetErrorGyroState(RESET_DISABLE);
@ -655,6 +654,7 @@ void processRx(void)
void subTaskPidController(void)
{
const uint32_t startTime = micros();
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile->pidProfile,
@ -663,10 +663,13 @@ void subTaskPidController(void)
&masterConfig.accelerometerTrims,
&masterConfig.rxConfig
);
if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
}
void subTaskMainSubprocesses(void) {
const uint32_t startTime = micros();
if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
filterRc();
}
@ -730,16 +733,18 @@ void subTaskMainSubprocesses(void) {
#ifdef TRANSPONDER
updateTransponder();
#endif
if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
}
void subTaskMotorUpdate(void)
{
const uint32_t startTime = micros();
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime;
uint32_t currentDeltaTime = micros() - previousMotorUpdateTime;
const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
debug[2] = currentDeltaTime;
debug[3] = currentDeltaTime - targetPidLooptime;
previousMotorUpdateTime = micros();
previousMotorUpdateTime = startTime;
}
mixTable();
@ -750,8 +755,9 @@ void subTaskMotorUpdate(void)
#endif
if (motorControlEnable) {
writeMotors();
writeMotors(masterConfig.use_unsyncedPwm);
}
if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
}
uint8_t setPidUpdateCountDown(void) {
@ -778,10 +784,12 @@ void taskMainPidLoopCheck(void)
debug[1] = averageSystemLoadPercent;
}
const uint32_t startTime = micros();
while (true) {
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
static uint8_t pidUpdateCountdown;
if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses();
runTaskMainSubprocesses = false;

6
src/main/scheduler.h
View File

@ -44,14 +44,14 @@ typedef enum {
/* Actual tasks */
TASK_SYSTEM = 0,
TASK_GYROPID,
TASK_ATTITUDE,
TASK_ACCEL,
TASK_ATTITUDE,
TASK_RX,
TASK_SERIAL,
TASK_BATTERY,
#ifdef BEEPER
TASK_BEEPER,
#endif
TASK_BATTERY,
TASK_RX,
#ifdef GPS
TASK_GPS,
#endif

52
src/main/scheduler_tasks.c
View File

@ -22,14 +22,15 @@
#include <platform.h>
#include "scheduler.h"
void taskSystem(void);
void taskMainPidLoopCheck(void);
void taskUpdateAccelerometer(void);
void taskHandleSerial(void);
void taskUpdateAttitude(void);
void taskUpdateBeeper(void);
void taskUpdateBattery(void);
bool taskUpdateRxCheck(uint32_t currentDeltaTime);
void taskUpdateRxMain(void);
void taskHandleSerial(void);
void taskUpdateBattery(void);
void taskUpdateBeeper(void);
void taskProcessGPS(void);
void taskUpdateCompass(void);
void taskUpdateBaro(void);
@ -39,7 +40,6 @@ void taskUpdateDisplay(void);
void taskTelemetry(void);
void taskLedStrip(void);
void taskTransponder(void);
void taskSystem(void);
#ifdef USE_BST
void taskBstReadWrite(void);
void taskBstMasterProcess(void);
@ -61,13 +61,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = taskUpdateAttitude,
.desiredPeriod = 1000000 / 100,
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
@ -75,6 +68,21 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = taskUpdateAttitude,
.desiredPeriod = 1000000 / 100,
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = taskUpdateRxCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
@ -82,6 +90,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#ifdef BEEPER
[TASK_BEEPER] = {
.taskName = "BEEPER",
@ -91,21 +106,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = taskUpdateRxCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
#ifdef GPS
[TASK_GPS] = {
.taskName = "GPS",

1
src/main/sensors/initialisation.c
View File

@ -240,6 +240,7 @@ bool fakeGyroDetect(gyro_t *gyro)
gyro->init = fakeGyroInit;
gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemp;
gyro->scale = 1.0f / 16.4f;
return true;
}
#endif

47
src/main/target/CC3D/target.h
View File

@ -71,10 +71,6 @@
#define MAG
#define USE_MAG_HMC5883
#define INVERTER
#define BEEPER
#define DISPLAY
#define USE_VCP
#define USE_USART1
#define USE_USART3
@ -117,28 +113,31 @@
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define SONAR
#define USE_SERVOS
#define USE_CLI
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#undef DISPLAY
#undef SONAR
//#if defined(OPBL) && defined(USE_SERIAL_1WIRE)
#undef BARO
//#undef BLACKBOX
#undef GPS
//#endif
#define SKIP_CLI_COMMAND_HELP
#define SPEKTRUM_BIND
// USART3, PB11 (Flexport)
#define BIND_PORT GPIOB
#define BIND_PIN Pin_11
#define USE_QUATERNION
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define INVERTER
#define BEEPER
#define DISPLAY
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define USE_SERVOS
#define USE_CLI
#define SONAR
//#define GPS
#undef BARO
#ifdef CC3D_OPBL
#define SKIP_CLI_COMMAND_HELP
//#define SKIP_PID_LUXFLOAT
#undef DISPLAY
#undef SONAR
#undef GPS
#endif