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Add RSSI PWM on CH2 input.
Also support FrSky 1khz RSSI. See documentation also added in this commit. This commit also cleans up the PWM mapping code. 'mask' didn't need to be a mask and it wasn't possible to add another 'type' since there were only 4 possible values when it was a mask and they were already defined. Combined with switching to using 16 bits instead of 8 for the mapping configurations, it's now possible to have 256 types instead of 4 at the expense of a few bytes of flash. Moved the RSSI calculation into rx_common.c, previously it was in the main loop.
This commit is contained in:
Dominic Clifton
parent
1b80c76e30
commit
1925df26ca
14 changed files with 312 additions and 92 deletions
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@ -10,6 +10,7 @@
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#include "timer_common.h"
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#include "pwm_output.h"
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#include "pwm_rssi.h"
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#include "pwm_rx.h"
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#include "pwm_mapping.h"
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/*
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@ -47,79 +48,82 @@
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*/
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enum {
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TYPE_IP = 0x10,
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TYPE_IW = 0x20,
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TYPE_M = 0x40,
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TYPE_S = 0x80
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TYPE_IP = 1,
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TYPE_IW,
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TYPE_IR,
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TYPE_M,
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TYPE_S,
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};
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static const uint8_t multiPPM[] = {
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PWM1 | TYPE_IP, // PPM input
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PWM9 | TYPE_M, // Swap to servo if needed
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PWM10 | TYPE_M, // Swap to servo if needed
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PWM11 | TYPE_M,
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PWM12 | TYPE_M,
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PWM13 | TYPE_M,
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PWM14 | TYPE_M,
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PWM5 | TYPE_M, // Swap to servo if needed
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PWM6 | TYPE_M, // Swap to servo if needed
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PWM7 | TYPE_M, // Swap to servo if needed
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PWM8 | TYPE_M, // Swap to servo if needed
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0xFF
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_IR << 8), // PWM RSSI input
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PWM9 | (TYPE_M << 8), // Swap to servo if needed
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PWM10 | (TYPE_M << 8), // Swap to servo if needed
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8), // Swap to servo if needed
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PWM6 | (TYPE_M << 8), // Swap to servo if needed
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PWM7 | (TYPE_M << 8), // Swap to servo if needed
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PWM8 | (TYPE_M << 8), // Swap to servo if needed
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0xFFFF
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};
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static const uint8_t multiPWM[] = {
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PWM1 | TYPE_IW, // input #1
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PWM2 | TYPE_IW,
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PWM3 | TYPE_IW,
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PWM4 | TYPE_IW,
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PWM5 | TYPE_IW,
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PWM6 | TYPE_IW,
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PWM7 | TYPE_IW,
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PWM8 | TYPE_IW, // input #8
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PWM9 | TYPE_M, // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | TYPE_M, // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | TYPE_M, // motor #1 or #3
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PWM12 | TYPE_M,
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PWM13 | TYPE_M,
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PWM14 | TYPE_M, // motor #4 or #6
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0xFF
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (TYPE_M << 8), // motor #1 or #3
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8), // motor #4 or #6
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0xFFFF
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};
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static const uint8_t airPPM[] = {
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PWM1 | TYPE_IP, // PPM input
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PWM9 | TYPE_M, // motor #1
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PWM10 | TYPE_M, // motor #2
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PWM11 | TYPE_S, // servo #1
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PWM12 | TYPE_S,
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PWM13 | TYPE_S,
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PWM14 | TYPE_S, // servo #4
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PWM5 | TYPE_S, // servo #5
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PWM6 | TYPE_S,
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PWM7 | TYPE_S,
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PWM8 | TYPE_S, // servo #8
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0xFF
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_IR << 8), // PWM RSSI input
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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PWM5 | (TYPE_S << 8), // servo #5
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PWM6 | (TYPE_S << 8),
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PWM7 | (TYPE_S << 8),
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PWM8 | (TYPE_S << 8), // servo #8
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0xFFFF
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};
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static const uint8_t airPWM[] = {
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PWM1 | TYPE_IW, // input #1
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PWM2 | TYPE_IW,
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PWM3 | TYPE_IW,
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PWM4 | TYPE_IW,
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PWM5 | TYPE_IW,
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PWM6 | TYPE_IW,
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PWM7 | TYPE_IW,
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PWM8 | TYPE_IW, // input #8
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PWM9 | TYPE_M, // motor #1
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PWM10 | TYPE_M, // motor #2
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PWM11 | TYPE_S, // servo #1
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PWM12 | TYPE_S,
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PWM13 | TYPE_S,
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PWM14 | TYPE_S, // servo #4
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0xFF
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static const uint16_t airPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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0xFFFF
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};
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static const uint8_t * const hardwareMaps[] = {
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static const uint16_t * const hardwareMaps[] = {
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multiPWM,
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multiPPM,
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airPWM,
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@ -129,7 +133,7 @@ static const uint8_t * const hardwareMaps[] = {
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void pwmInit(drv_pwm_config_t *init)
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{
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int i = 0;
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const uint8_t *setup;
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const uint16_t *setup;
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int channelIndex = 0;
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int servoIndex = 0;
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@ -144,10 +148,10 @@ void pwmInit(drv_pwm_config_t *init)
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setup = hardwareMaps[i];
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for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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uint8_t timerIndex = setup[i] & 0x0F;
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uint8_t mask = setup[i] & 0xF0;
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uint8_t timerIndex = setup[i] & 0x00FF;
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uint8_t type = (setup[i] & 0xFF00) >> 8;
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if (setup[i] == 0xFF) // terminator
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if (setup[i] == 0xFFFF) // terminator
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break;
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#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
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@ -189,27 +193,30 @@ void pwmInit(drv_pwm_config_t *init)
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#endif
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// hacks to allow current functionality
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if (mask & TYPE_IW && !init->useParallelPWM)
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mask = 0;
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if (type == TYPE_IW && !init->useParallelPWM)
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type = 0;
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if (mask & TYPE_IP && !init->usePPM)
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mask = 0;
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if (type == TYPE_IP && !init->usePPM)
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type = 0;
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if (type == TYPE_IR && (!init->usePWMRSSI || init->useParallelPWM))
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type = 0;
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if (init->useServos && !init->airplane) {
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#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
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// remap PWM9+10 as servos
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if (timerIndex == PWM9 || timerIndex == PWM10)
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mask = TYPE_S;
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type = TYPE_S;
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#endif
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#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
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// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
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if (init->useSoftSerial) {
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if (timerIndex == PWM5 || timerIndex == PWM6)
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mask = TYPE_S;
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type = TYPE_S;
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} else {
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if (timerIndex == PWM9 || timerIndex == PWM10)
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mask = TYPE_S;
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type = TYPE_S;
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}
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#endif
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}
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@ -217,24 +224,24 @@ void pwmInit(drv_pwm_config_t *init)
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if (init->extraServos && !init->airplane) {
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// remap PWM5..8 as servos when used in extended servo mode
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if (timerIndex >= PWM5 && timerIndex <= PWM8)
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mask = TYPE_S;
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type = TYPE_S;
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}
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if (mask & TYPE_IP) {
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if (type == TYPE_IP) {
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ppmInConfig(timerIndex);
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} else if (mask & TYPE_IW) {
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} else if (type == TYPE_IW) {
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pwmInConfig(timerIndex, channelIndex);
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channelIndex++;
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} else if (mask & TYPE_M) {
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} else if (type == TYPE_IR) {
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pwmRSSIInConfig(timerIndex);
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} else if (type == TYPE_M) {
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if (init->motorPwmRate > 500) {
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pwmBrushedMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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} else {
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pwmBrushlessMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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}
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motorIndex++;
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} else if (mask & TYPE_S) {
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} else if (type == TYPE_S) {
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pwmServoConfig(&timerHardware[timerIndex], servoIndex, init->servoPwmRate, init->servoCenterPulse);
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servoIndex++;
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}
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