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Runtime ESC count / gpio / pin detection

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Runtime ESC gpio/pin detection
Runtime ESC count detection
This commit is contained in:
4712 2015-11-13 18:32:57 +01:00
parent 621008cffc
commit 02b297afa7
13 changed files with 120 additions and 56 deletions
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15
src/main/drivers/pwm_mapping.c
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@ -456,6 +456,11 @@ static const uint16_t * const hardwareMaps[] = {
airPPM,
};
static pwmOutputConfiguration_t pwmOutputConfiguration;
pwmOutputConfiguration_t *pwmGetOutputConfiguration(void){
return &pwmOutputConfiguration;
}
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
int i = 0;
@ -463,7 +468,6 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
int channelIndex = 0;
static pwmOutputConfiguration_t pwmOutputConfiguration;
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
@ -651,16 +655,25 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;
pwmOutputConfiguration.motorCount++;
pwmOutputConfiguration.outputCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.servoCount;
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmOutputConfiguration.servoCount++;
pwmOutputConfiguration.outputCount++;
#endif
}
}