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Code Issues Wiki Activity

Fix compilation when USE_DSHOT and USE_PWM_OUTPUT are not defined.

Browse source 
Fix compilation when USE_DMA and USE_DMA_SPEC are not defined.

Cleanup calling code of `isMotorProtocolDshot`.

Fix 'unused' warning when USE_PWM_OUTPUT is not defined.

Undo isMotoroProtocolDshot change.

Disable USE_SERIAL_4WAY_BLHELI_INTERFACE when USE_PWM_OUTPUT is not
enabled.

Style cleanup.
This commit is contained in:
Dominic Clifton 2019-06-11 18:35:59 +02:00 • committed by Michael Keller
parent 1631831147
commit 1f2ef98042
7 changed files with 46 additions and 22 deletions
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38
src/main/flight/mixer.c
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@ -557,17 +557,22 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
// INVERTED
motorRangeMin = motorOutputLow;
motorRangeMax = deadbandMotor3dLow;
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorOutputMin = motorOutputLow;
motorOutputRange = deadbandMotor3dLow - motorOutputLow;
} else {
} else
#endif
{
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
reversalTimeUs = currentTimeUs;
}
motorOutputMixSign = -1;
rcThrottlePrevious = rcCommand[THROTTLE];
throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE];
currentThrottleInputRange = rcCommandThrottleRange3dLow;
@ -590,17 +595,23 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
// INVERTED_TO_DEADBAND
motorRangeMin = motorOutputLow;
motorRangeMax = deadbandMotor3dLow;
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorOutputMin = motorOutputLow;
motorOutputRange = deadbandMotor3dLow - motorOutputLow;
} else {
} else
#endif
{
motorOutputMin = deadbandMotor3dLow;
motorOutputRange = motorOutputLow - deadbandMotor3dLow;
}
if (motorOutputMixSign != -1) {
reversalTimeUs = currentTimeUs;
}
motorOutputMixSign = -1;
throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
} else {
@ -720,9 +731,11 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
}
#endif
if (failsafeIsActive()) {
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
}
#endif
motorOutput = constrain(motorOutput, disarmMotorOutput, motorRangeMax);
} else {
motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
@ -940,9 +953,8 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
float convertExternalToMotor(uint16_t externalValue)
{
uint16_t motorValue;
switch ((int)isMotorProtocolDshot()) {
#ifdef USE_DSHOT
case true:
if (isMotorProtocolDshot()) {
externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
if (featureIsEnabled(FEATURE_3D)) {
@ -956,13 +968,11 @@ float convertExternalToMotor(uint16_t externalValue)
} else {
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
}
break;
case false:
}
else
#endif
default:
{
motorValue = externalValue;
break;
}
return (float)motorValue;
@ -971,9 +981,8 @@ float convertExternalToMotor(uint16_t externalValue)
uint16_t convertMotorToExternal(float motorValue)
{
uint16_t externalValue;
switch ((int)isMotorProtocolDshot()) {
#ifdef USE_DSHOT
case true:
if (isMotorProtocolDshot()) {
if (featureIsEnabled(FEATURE_3D)) {
if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MID;
@ -985,12 +994,11 @@ uint16_t convertMotorToExternal(float motorValue)
} else {
externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
}
break;
case false:
}
else
#endif
default:
{
externalValue = motorValue;
break;
}
return externalValue;