Re-added use_unsyncPwm
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af2ddeeffd
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@ -35,6 +35,7 @@ typedef struct master_t {
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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uint8_t motor_pwm_protocol; // Pwm Protocol
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uint8_t use_unsyncedPwm;
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#ifdef USE_SERVOS
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servoMixer_t customServoMixer[MAX_SERVO_RULES];
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@ -66,6 +66,7 @@ static flight3DConfig_t *flight3DConfig;
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static escAndServoConfig_t *escAndServoConfig;
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static airplaneConfig_t *airplaneConfig;
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static rxConfig_t *rxConfig;
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static bool syncPwm = false;
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static mixerMode_e currentMixerMode;
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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@ -420,13 +421,15 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, se
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}
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}
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
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{
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int i;
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motorCount = 0;
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servoCount = pwmOutputConfiguration->servoCount;
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syncPwm = use_unsyncedPwm;
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if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
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// load custom mixer into currentMixer
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for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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@ -635,13 +638,6 @@ void writeServos(void)
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}
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#endif
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static bool syncPwm = false;
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void syncMotors(bool enabled)
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{
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syncPwm = enabled;
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}
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void writeMotors(void)
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{
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uint8_t i;
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@ -301,8 +301,8 @@ const clicmd_t cmdTable[] = {
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"[<index>]\r\n", cliPlaySound),
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CLI_COMMAND_DEF("profile", "change profile",
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"[<index>]", cliProfile),
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CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
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CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
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CLI_COMMAND_DEF("rateprofile", "change rate profile", "[<index>]", cliRateProfile),
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CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
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CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
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CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
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CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
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@ -413,20 +413,20 @@ static const char * const lookupTableGyroLpf[] = {
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};
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static const char * const lookupTableAccHardware[] = {
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"AUTO",
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"NONE",
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"ADXL345",
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"MPU6050",
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"MMA8452",
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"BMA280",
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"LSM303DLHC",
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"MPU6000",
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"MPU6500",
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"FAKE"
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"AUTO",
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"NONE",
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"ADXL345",
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"MPU6050",
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"MMA8452",
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"BMA280",
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"LSM303DLHC",
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"MPU6000",
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"MPU6500",
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"FAKE"
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};
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static const char * const lookupTableBaroHardware[] = {
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"AUTO",
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"AUTO",
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"NONE",
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"BMP085",
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"MS5611",
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@ -491,7 +491,7 @@ typedef enum {
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TABLE_ACC_HARDWARE,
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TABLE_BARO_HARDWARE,
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TABLE_MAG_HARDWARE,
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TABLE_DEBUG,
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TABLE_DEBUG,
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TABLE_SUPEREXPO_YAW,
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TABLE_MOTOR_PWM_PROTOCOL,
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#ifdef OSD
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@ -542,7 +542,7 @@ typedef enum {
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// value section
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MASTER_VALUE = (0 << VALUE_SECTION_OFFSET),
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PROFILE_VALUE = (1 << VALUE_SECTION_OFFSET),
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PROFILE_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
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PROFILE_RATE_VALUE = (2 << VALUE_SECTION_OFFSET),
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// value mode
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MODE_DIRECT = (0 << VALUE_MODE_OFFSET),
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MODE_LOOKUP = (1 << VALUE_MODE_OFFSET)
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@ -602,8 +602,9 @@ const clivalue_t valueTable[] = {
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#ifdef CC3D
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{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
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#endif
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{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
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{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 0, 32000 } },
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } },
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{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
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{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
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@ -2124,7 +2125,6 @@ static void cliDump(char *cmdline)
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if (dumpMask & DUMP_RATES) {
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cliDumpRateProfile(currentProfile->activeRateProfile);
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}
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}
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void cliDumpProfile(uint8_t profileIndex) {
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@ -2266,11 +2266,11 @@ static void cliBeeper(char *cmdline)
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if (len == 0) {
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cliPrintf("Disabled:");
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for (int i = 0; ; i++) {
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if (i == beeperCount-2){
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if (i == beeperCount-2){
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if (mask == 0)
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cliPrint(" none");
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break;
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}
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cliPrint(" none");
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break;
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}
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if (mask & (1 << i))
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cliPrintf(" %s", beeperNameForTableIndex(i));
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}
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@ -2299,7 +2299,7 @@ static void cliBeeper(char *cmdline)
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if (i == BEEPER_ALL-1)
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beeperOffSetAll(beeperCount-2);
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else
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if (i == BEEPER_PREFERENCE-1)
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if (i == BEEPER_PREFERENCE-1)
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setBeeperOffMask(getPreferredBeeperOffMask());
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else {
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mask = 1 << i;
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@ -2311,7 +2311,7 @@ static void cliBeeper(char *cmdline)
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if (i == BEEPER_ALL-1)
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beeperOffClearAll();
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else
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if (i == BEEPER_PREFERENCE-1)
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if (i == BEEPER_PREFERENCE-1)
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setPreferredBeeperOffMask(getBeeperOffMask());
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else {
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mask = 1 << i;
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@ -2521,18 +2521,18 @@ static void cliProfile(char *cmdline)
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}
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static void cliRateProfile(char *cmdline) {
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int i;
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int i;
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if (isEmpty(cmdline)) {
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cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i < MAX_RATEPROFILES) {
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changeControlRateProfile(i);
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cliRateProfile("");
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}
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}
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if (isEmpty(cmdline)) {
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cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile());
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return;
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} else {
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i = atoi(cmdline);
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if (i >= 0 && i < MAX_RATEPROFILES) {
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changeControlRateProfile(i);
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cliRateProfile("");
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}
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}
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}
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static void cliReboot(void) {
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@ -2597,9 +2597,9 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
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}
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if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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switch (var->type & VALUE_TYPE_MASK) {
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case VAR_UINT8:
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@ -2670,9 +2670,9 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
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if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
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}
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if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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if ((var->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
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ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile());
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}
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switch (var->type & VALUE_TYPE_MASK) {
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case VAR_UINT8:
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@ -2733,7 +2733,7 @@ static void cliSet(char *cmdline)
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if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
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bool changeValue = false;
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int_float_value_t tmp = { 0 };
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int_float_value_t tmp = { 0 };
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switch (valueTable[i].type & VALUE_MODE_MASK) {
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case MODE_DIRECT: {
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int32_t value = 0;
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@ -2809,7 +2809,7 @@ static void cliGet(char *cmdline)
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if (matchedCommands) {
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return;
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return;
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}
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cliPrint("Invalid name\r\n");
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@ -1261,7 +1261,7 @@ static bool processOutCommand(uint8_t cmdMSP)
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headSerialReply(6);
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serialize8(masterConfig.gyro_sync_denom);
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serialize8(masterConfig.pid_process_denom);
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serialize8(0);
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serialize8(masterConfig.use_unsyncedPwm);
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serialize8(masterConfig.motor_pwm_protocol);
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serialize16(masterConfig.motor_pwm_rate);
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break;
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@ -1837,7 +1837,7 @@ static bool processInCommand(void)
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case MSP_SET_PID_ADVANCED_CONFIG :
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masterConfig.gyro_sync_denom = read8();
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masterConfig.pid_process_denom = read8();
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read8();
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masterConfig.use_unsyncedPwm = read8();
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masterConfig.motor_pwm_protocol = read8();
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masterConfig.motor_pwm_rate = read16();
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break;
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@ -129,7 +129,7 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixe
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#else
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void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
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#endif
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
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void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm);
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void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
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void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
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void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
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@ -319,6 +319,8 @@ void init(void)
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featureClear(FEATURE_ONESHOT125);
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}
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bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
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// Configurator feature abused for enabling Fast PWM
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pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
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pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
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@ -326,8 +328,10 @@ void init(void)
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pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
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if (feature(FEATURE_3D))
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pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
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if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
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if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) {
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pwm_params.idlePulse = 0; // brushed motors
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use_unsyncedPwm = false;
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}
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#ifdef CC3D
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pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
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#endif
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@ -335,8 +339,7 @@ void init(void)
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pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
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syncMotors(pwm_params.motorPwmRate == 0 && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
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mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
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mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
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if (!feature(FEATURE_ONESHOT125))
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motorControlEnable = true;
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