Merge branch 'feature-oneshot125a' of https://github.com/nebbian/cleanflight into nebbian-feature-oneshot125a

docs/Oneshot.md

@@ -0,0 +1,61 @@
+# Oneshot
+
+Oneshot allows faster communication between the Flight Controller and the ESCs that are present on your multirotor.
+
+It does this in two ways:
+
+1. Use a signal that varies between 125 µs and 250 µs (instead of the normal PWM timing of 1000µs to 2000µs)
+
+1. Only send a 'shot' once per flight controller loop, and do this as soon as the flight controller has calculated the required speed of the motors.
+
+
+## Supported ESCs
+
+At present, only the FlyDuino KISS ESCs are able to use the Oneshot125 protocol.
+
+## Supported Boards
+
+The Naze boards are supported, and have been flight tested in a number of configurations.
+
+CC3D boards have been tested with a PPM receiver, however parallel PWM receivers might not work properly with this board.
+
+## Enabling Oneshot
+
+To configure Oneshot, you must turn off any power to your ESCs.  
+
+It is a good idea at this stage to configure your ESC for oneshot mode (by soldering JP1 in the case of the KISS ESC).
+
+Connect a USB cable to your board, and connect using the Chrome GUI app.
+
+Go to the CLI tab, and type the following:
+
+
+	feature ONESHOT125
+	save
+
+
+Then you can safely power up your ESCs again.
+
+
+## Configuration
+
+The process for calibrating oneshot ESCs is the same as any other ESC.
+
+1. Ensure that your ESCs are not powered up.
+
+1. Connect to the board using a USB cable, and change to the motor test page.
+
+1. Set the motor speed to maximum using the main slider.
+
+1. Connect power to your ESCs.  They will beep.
+
+1. Click on the slider to bring the motor speed down to zero.  The ESCs will beep again, usually a couple of times.
+
+1. Disconnect the power from your ESCs.
+
+1. Re-connect power to your ESCs, and verify that moving the motor slider makes your motors spin up normally.
+
+
+## References
+
+* FlyDuino (<a href="http://flyduino.net/">http://flyduino.net/</a>)

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 TIM_TypeDef *tim;
     uint16_t period;
     pwmWriteFuncPtr pwmWritePtr;
 } pwmOutputPort_t;
@@ -116,6 +119,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
             break;
     }
     p->period = period;
+    p->tim = timerHardware->tim;
 
     return p;
 }
@@ -136,6 +140,32 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
         motors[index]->pwmWritePtr(index, value);
 }
 
+void pwmFinishedWritingMotors(uint8_t numberMotors)
+{
+    uint8_t index;
+    volatile TIM_TypeDef *lastTimerPtr = NULL;
+
+
+    if(feature(FEATURE_ONESHOT125)){
+
+        for(index = 0; index < numberMotors; index++){
+
+            // Force the timer to overflow if it's the first motor to output, or if we change timers
+            if(motors[index]->tim != lastTimerPtr){
+                lastTimerPtr = motors[index]->tim;
+
+                timerForceOverflow(motors[index]->tim);
+            }
+        }
+
+        // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
+        // This compare register will be set to the output value on the next main loop.
+        for(index = 0; index < numberMotors; index++){
+            *motors[index]->ccr = 0;
+        }
+    }
+}
+
 void pwmWriteServo(uint8_t index, uint16_t value)
 {
     if (servos[index] && index < MAX_SERVOS)
@@ -148,13 +178,18 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
     uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
     motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
     motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
-
 }
 
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
     uint32_t hz = PWM_TIMER_MHZ * 1000000;
+
+    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/drivers/pwm_rx.c

@@ -24,6 +24,8 @@
 #include "build_config.h"
 
 #include "common/utils.h"
+#include "config/config.h"
+
 #include "system.h"
 
 #include "nvic.h"
@@ -80,6 +82,7 @@ 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;
 
 typedef struct ppmDevice {
     uint8_t  pulseIndex;
@@ -157,6 +160,9 @@ static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture
     /* Convert to 32-bit timer result */
     ppmDev.currentTime += ppmDev.largeCounter;
 
+    // Divide by 8 if Oneshot125 is active and this is a CC3D board
+    ppmDev.currentTime = ppmDev.currentTime >> ppmCountShift;
+
     /* Capture computation */
     ppmDev.deltaTime    = ppmDev.currentTime - ppmDev.previousTime;
 
@@ -325,6 +331,11 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
 
     timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
 
+    if((timerHardwarePtr->tim == TIM4) && (feature(FEATURE_ONESHOT125))){
+        ppmCountShift = 3;	// Divide by 8 if the timer is running at 8 MHz
+    }
+
+
     timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);
     timerChOvrHandlerInit(&self->overflowCb, ppmOverflowCallback);
     timerChConfigCallbacks(timerHardwarePtr, &self->edgeCb, &self->overflowCb);

src/main/drivers/timer.c

@@ -184,6 +184,7 @@ typedef struct timerConfig_s {
     timerCCHandlerRec_t *edgeCallback[CC_CHANNELS_PER_TIMER];
     timerOvrHandlerRec_t *overflowCallback[CC_CHANNELS_PER_TIMER];
     timerOvrHandlerRec_t *overflowCallbackActive; // null-terminated linkded list of active overflow callbacks
+	uint32_t forcedOverflowTimerValue;
 } timerConfig_t;
 timerConfig_t timerConfig[USED_TIMER_COUNT];
 
@@ -580,7 +581,14 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig)
         tim_status &= mask;
         switch(bit) {
         case __builtin_clz(TIM_IT_Update):
+
+        	if(timerConfig->forcedOverflowTimerValue != 0){
+        		capture = timerConfig->forcedOverflowTimerValue - 1;
+        		timerConfig->forcedOverflowTimerValue = 0;
+        	} else {
         		capture = tim->ARR;
+        	}
+
             timerOvrHandlerRec_t *cb = timerConfig->overflowCallbackActive;
             while(cb) {
                 cb->fn(cb, capture);
@@ -757,3 +765,22 @@ void timerStart(void)
     }
 #endif
 }
+
+/**
+ * Force an overflow for a given timer.
+ * Saves the current value of the counter in the relevant timerConfig's forcedOverflowTimerValue variable.
+ * @param TIM_Typedef *tim The timer to overflow
+ * @return void
+ **/
+void timerForceOverflow(volatile TIM_TypeDef *tim)
+{
+    uint8_t timerIndex = lookupTimerIndex((const TIM_TypeDef *)tim);
+
+    ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
+        // Save the current count so that PPM reading will work on the same timer that was forced to overflow
+        timerConfig[timerIndex].forcedOverflowTimerValue = tim->CNT + 1;
+
+        // Force an overflow by setting the UG bit
+        tim->EGR |= TIM_EGR_UG;
+    }
+}

src/main/drivers/timer.h

@@ -117,5 +117,7 @@ void timerChInit(const timerHardware_t *timHw, channelType_t type, int irqPriori
 
 void timerInit(void);
 void timerStart(void);
+void timerForceOverflow(volatile TIM_TypeDef *tim);
 
 void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz);  // TODO - just for migration
+

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