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Merge pull request #1505 from blckmn/disable_motors_dshot

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Disable output of DSHOT when motors disabled
This commit is contained in:
borisbstyle 2016-11-10 12:55:18 +01:00 • committed by GitHub
commit 0415285475
6 changed files with 30 additions and 2 deletions
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2
src/main/drivers/pwm_output.c
View file

@ -35,7 +35,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif
static bool pwmMotorsEnabled = true;
bool pwmMotorsEnabled = true;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{

2
src/main/drivers/pwm_output.h
View file

@ -75,6 +75,8 @@ typedef struct {
#endif
} motorDmaOutput_t;
extern bool pwmMotorsEnabled;
struct timerHardware_s;
typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount); // function pointer used after motors are written

2
src/main/drivers/pwm_output_hal.c
View file

@ -35,7 +35,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif
static bool pwmMotorsEnabled = true;
bool pwmMotorsEnabled = true;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{

9
src/main/drivers/pwm_output_stm32f3xx.c
View file

@ -59,6 +59,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -86,6 +91,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
TIM_SetCounter(dmaMotorTimers[i].timer, 0);
TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);

8
src/main/drivers/pwm_output_stm32f4xx.c
View file

@ -58,6 +58,10 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -85,6 +89,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
TIM_SetCounter(dmaMotorTimers[i].timer, 0);
TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);

9
src/main/drivers/pwm_output_stm32f7xx.c
View file

@ -57,6 +57,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -87,6 +92,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
//TIM_SetCounter(dmaMotorTimers[i].timer, 0);
//TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);