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Fix AlienFlight F3 and Sparky PPM RX

This commit is contained in:
Michael Jakob 2016-07-25 10:34:36 +02:00
parent 03608bc4fc
commit c35675d258
5 changed files with 40 additions and 25 deletions
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6
src/main/drivers/pwm_mapping.c
View File

@ -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) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
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;

12
src/main/drivers/pwm_output.c
View File

@ -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)

12
src/main/drivers/pwm_output.h
View File

@ -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);

33
src/main/drivers/pwm_rx.c
View File

@ -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
currentTime = currentTime >> ppmCountShift;
// Divide value if Oneshot, Multishot or brushed motors are active and the timer is shared
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) {
ppmCountShift = 3; // Divide by 8 if the timer is running at 8 MHz
}
if (timerHardwarePtr->tim == sharedPwmTimer) {
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)

2
src/main/drivers/pwm_rx.h
View File

@ -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);