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Remove usage of feature() from pwm driver code so that driver code does 

not have a dependency on config.c.
This commit is contained in:
Dominic Clifton 2014-12-06 11:39:31 +00:00
parent d7e26980a8
commit e802e2d032
7 changed files with 42 additions and 41 deletions
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4
src/main/drivers/pwm_mapping.c
View File

@ -370,7 +370,9 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++;
} else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->motorPwmRate > 500) {
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
} else if (init->motorPwmRate > 500) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

1
src/main/drivers/pwm_mapping.h
View File

@ -45,6 +45,7 @@ typedef struct drv_pwm_config_t {
bool useUART2;
#endif
bool useVbat;
bool useOneshot;
bool useSoftSerial;
bool useLEDStrip;
bool useServos;

38
src/main/drivers/pwm_output.c
View File

@ -27,8 +27,6 @@
#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"
@ -37,7 +35,7 @@ typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function poi
typedef struct {
volatile timCCR_t *ccr;
volatile TIM_TypeDef *tim;
TIM_TypeDef *tim;
uint16_t period;
pwmWriteFuncPtr pwmWritePtr;
} pwmOutputPort_t;
@ -140,29 +138,23 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
motors[index]->pwmWritePtr(index, value);
}
void pwmFinishedWritingMotors(uint8_t numberMotors)
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{
uint8_t index;
volatile TIM_TypeDef *lastTimerPtr = NULL;
TIM_TypeDef *lastTimerPtr = NULL;
for(index = 0; index < motorCount; index++){
if(feature(FEATURE_ONESHOT125)){
// 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;
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);
}
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;
}
*motors[index]->ccr = 0;
}
}
@ -183,13 +175,13 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
if(feature(FEATURE_ONESHOT125)){
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
} else {
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
}
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse)
{
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}

4
src/main/drivers/pwm_output.h
View File

@ -19,8 +19,10 @@
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, uint16_t idlePulse);
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmFinishedWritingMotors(uint8_t numberMotors);
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
void pwmWriteServo(uint8_t index, uint16_t value);

33
src/main/flight/mixer.c
View File

@ -42,7 +42,7 @@
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
static uint8_t numberMotor = 0;
static uint8_t motorCount = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
@ -271,21 +271,21 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
if (customMixers[i].throttle == 0.0f)
break;
currentMixer[i] = customMixers[i];
numberMotor++;
motorCount++;
}
} else {
numberMotor = mixers[currentMixerConfiguration].numberMotor;
motorCount = mixers[currentMixerConfiguration].motorCount;
// copy motor-based mixers
if (mixers[currentMixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerConfiguration].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (numberMotor > 1) {
for (i = 0; i < numberMotor; i++) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
@ -323,7 +323,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].numberMotor; i++)
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
@ -393,10 +393,13 @@ void writeMotors(void)
{
uint8_t i;
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
pwmFinishedWritingMotors(numberMotor);
if (feature(FEATURE_ONESHOT125)) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
void writeAllMotors(int16_t mc)
@ -404,7 +407,7 @@ void writeAllMotors(int16_t mc)
uint8_t i;
// Sends commands to all motors
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors();
}
@ -460,14 +463,14 @@ void mixTable(void)
int16_t maxMotor;
uint32_t i;
if (numberMotor > 3) {
if (motorCount > 3) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
}
// motors for non-servo mixes
if (numberMotor > 1)
for (i = 0; i < numberMotor; i++)
if (motorCount > 1)
for (i = 0; i < motorCount; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes
@ -568,10 +571,10 @@ void mixTable(void)
}
maxMotor = motor[0];
for (i = 1; i < numberMotor; i++)
for (i = 1; i < motorCount; i++)
if (motor[i] > maxMotor)
maxMotor = motor[i];
for (i = 0; i < numberMotor; i++) {
for (i = 0; i < motorCount; i++) {
if (maxMotor > escAndServoConfig->maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
if (feature(FEATURE_3D)) {

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

@ -58,7 +58,7 @@ typedef struct motorMixer_t {
// Custom mixer configuration
typedef struct mixer_t {
uint8_t numberMotor;
uint8_t motorCount;
uint8_t useServo;
const motorMixer_t *motor;
} mixer_t;

1
src/main/main.c
View File

@ -269,6 +269,7 @@ void init(void)
pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER);
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;