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Multishot Implementation

This commit is contained in:
borisbstyle 2016-02-23 04:15:12 +01:00
parent 6b8f4f1111
commit ee76376005
6 changed files with 25 additions and 2 deletions
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1
src/main/config/config_master.h
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@ -38,6 +38,7 @@ typedef struct master_t {
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t use_fast_pwm; // Use fast PWM implementation when oneshot enabled
uint8_t use_oneshot42; // Oneshot42
uint8_t use_multiShot; // multishot
#ifdef USE_SERVOS
servoMixer_t customServoMixer[MAX_SERVO_RULES];

3
src/main/drivers/pwm_mapping.c
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@ -33,6 +33,7 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42);
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
/*
@ -806,6 +807,8 @@ if (init->useBuzzerP6) {
if (init->useOneshot) {
if (init->useFastPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42);
} else if (init->useMultiShot) {
pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
}

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

@ -38,6 +38,7 @@
#define PWM_TIMER_MHZ 1
#define ONESHOT125_TIMER_MHZ 24
#define PWM_BRUSHED_TIMER_MHZ 8
#define MULTISHOT_TIMER_MHZ 12
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;
@ -61,6 +62,7 @@ typedef struct drv_pwm_config_s {
bool useOneshot;
bool useFastPWM;
bool useOneshot42;
bool useMultiShot;
bool useSoftSerial;
bool useLEDStrip;
#ifdef SONAR

11
src/main/drivers/pwm_output.c
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@ -145,6 +145,11 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
*motors[index]->ccr = value;
}
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
*motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f)+ 60;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (motors[index] && index < MAX_MOTORS)
@ -221,6 +226,12 @@ void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
}
}
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
{
motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, 0xFFFF, 0);
motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
}
#ifdef USE_SERVOS
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
{

1
src/main/io/serial_cli.c
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@ -530,6 +530,7 @@ const clivalue_t valueTable[] = {
{ "use_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } },
{ "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 } },
#ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif

9
src/main/main.c
View File

@ -308,8 +308,13 @@ void init(void)
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
if (masterConfig.use_fast_pwm || masterConfig.use_oneshot42) {
pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false;
} else {
pwm_params.useMultiShot = masterConfig.use_multiShot ? true : false;
}
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))