fix for pwm preload (not possible with this firmware, reported by marcin)

added gimbal flags to mixer. allows making gimbal tilt only or pantilt or disabling all pan/tilt by aux3/4

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@149 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -102,6 +102,7 @@ const clivalue_t valueTable[] = {
     { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
     { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
+    { "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
     { "gimbal_pitch_gain", VAR_INT8, &cfg.gimbal_pitch_gain, -100, 100 },
     { "gimbal_roll_gain", VAR_INT8, &cfg.gimbal_roll_gain, -100, 100 },
     { "gimbal_pitch_min", VAR_UINT16, &cfg.gimbal_pitch_min, 100, 3000 },

src/config.c

@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 12;
+static uint8_t checkNewConf = 13;
 
 void parseRcChannels(const char *input)
 {
@@ -149,6 +149,7 @@ void checkFirstTime(bool reset)
     // gimbal
     cfg.gimbal_pitch_gain = 10;
     cfg.gimbal_roll_gain = 10;
+    cfg.gimbal_flags = GIMBAL_NORMAL;
     cfg.gimbal_pitch_min = 1020;
     cfg.gimbal_pitch_max = 2000;
     cfg.gimbal_pitch_mid = 1500;

src/drv_pwm.c

@@ -339,11 +339,18 @@ bool pwmInit(drv_pwm_config_t *init)
     // PWM1,2
     TIM_OC1Init(TIM1, &TIM_OCInitStructure);
     TIM_OC4Init(TIM1, &TIM_OCInitStructure);
+    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
+    TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
+
     // PWM3,4,5,6
     TIM_OC1Init(TIM4, &TIM_OCInitStructure);
     TIM_OC2Init(TIM4, &TIM_OCInitStructure);
     TIM_OC3Init(TIM4, &TIM_OCInitStructure);
     TIM_OC4Init(TIM4, &TIM_OCInitStructure);
+    TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
 
     TIM_Cmd(TIM1, ENABLE);
     TIM_Cmd(TIM4, ENABLE);
@@ -374,6 +381,10 @@ bool pwmInit(drv_pwm_config_t *init)
         TIM_OC2Init(TIM3, &TIM_OCInitStructure);
         TIM_OC3Init(TIM3, &TIM_OCInitStructure);
         TIM_OC4Init(TIM3, &TIM_OCInitStructure);
+        TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
+        TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
+        TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
+        TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
 
         TIM_Cmd(TIM3, ENABLE);
         TIM_CtrlPWMOutputs(TIM3, ENABLE);

src/drv_pwm_fy90q.c

@@ -300,9 +300,14 @@ bool pwmInit(drv_pwm_config_t *init)
     TIM_OC2Init(TIM4, &TIM_OCInitStructure);
     TIM_OC3Init(TIM4, &TIM_OCInitStructure);
     TIM_OC4Init(TIM4, &TIM_OCInitStructure);
+    TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
+    TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
 
     TIM_Cmd(TIM4, ENABLE);
     TIM_CtrlPWMOutputs(TIM4, ENABLE);
+    TIM_OC1PreloadConfig (TIM4, TIM_OCPreload_Enable);
 
     // turn on more motor outputs if we're using ppm / not using pwm input
     if (!init->enableInput || init->usePPM) {

src/mixer.c

@@ -232,8 +232,15 @@ void mixTable(void)
 
     // do camstab
     if (feature(FEATURE_SERVO_TILT)) {
-        servo[0] = cfg.gimbal_pitch_mid + rcData[AUX3] - cfg.midrc;
-        servo[1] = cfg.gimbal_roll_mid + rcData[AUX4] - cfg.midrc;
+        uint16_t aux[2] = { 0, 0 };
+
+        if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
+            aux[0] = rcData[AUX3];
+        if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
+            aux[1] = rcData[AUX4];
+
+        servo[0] = cfg.gimbal_pitch_mid + aux[0] - cfg.midrc;
+        servo[1] = cfg.gimbal_roll_mid + aux[1] - cfg.midrc;
 
         if (rcOptions[BOXCAMSTAB]) {
             servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;

src/mw.h

@@ -75,6 +75,12 @@ typedef enum MultiType
     MULTITYPE_LAST = 18
 } MultiType;
 
+typedef enum GimbalFlags {
+    GIMBAL_NORMAL = 1 << 0,
+    GIMBAL_TILTONLY = 1 << 1,
+    GIMBAL_DISABLEAUX34 = 1 << 2,
+} GimbalFlags;
+
 /*********** RC alias *****************/
 #define ROLL       0
 #define PITCH      1
@@ -168,6 +174,7 @@ typedef struct config_t {
     // gimbal-related configuration
     int8_t gimbal_pitch_gain;               // gimbal pitch servo gain (tied to angle) can be negative to invert movement
     int8_t gimbal_roll_gain;                // gimbal roll servo gain (tied to angle) can be negative to invert movement
+    uint8_t gimbal_flags;                   // in servotilt mode, various things that affect stuff
     uint16_t gimbal_pitch_min;              // gimbal pitch servo min travel
     uint16_t gimbal_pitch_max;              // gimbal pitch servo max travel
     uint16_t gimbal_pitch_mid;              // gimbal pitch servo neutral value