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https://github.com/betaflight/betaflight.git
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Merge pull request #725 from martinbudden/bf_pwm_tidy
Tidied pwm_output and pwm_mapping
This commit is contained in:
J Blackman
GitHub
commit
22e8a61a6f
4 changed files with 87 additions and 91 deletions
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@ -17,21 +17,31 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <math.h>
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#include "platform.h"
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#include "io.h"
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#include "timer.h"
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#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
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#include "pwm_mapping.h"
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#include "pwm_output.h"
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#if defined(STM32F40_41xxx) // must be multiples of timer clock
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#define ONESHOT125_TIMER_MHZ 12
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#define ONESHOT42_TIMER_MHZ 21
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#define MULTISHOT_TIMER_MHZ 84
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#define PWM_BRUSHED_TIMER_MHZ 21
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#else
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#define ONESHOT125_TIMER_MHZ 8
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#define ONESHOT42_TIMER_MHZ 24
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#define MULTISHOT_TIMER_MHZ 72
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#define PWM_BRUSHED_TIMER_MHZ 24
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#endif
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#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
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#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
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typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
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typedef struct {
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@ -52,6 +62,8 @@ static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
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static uint8_t allocatedOutputPortCount = 0;
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static bool pwmMotorsEnabled = true;
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static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t ouputPolarity)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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@ -65,22 +77,22 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
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TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
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switch (channel) {
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case TIM_Channel_1:
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TIM_OC1Init(tim, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(tim, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(tim, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(tim, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_1:
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TIM_OC1Init(tim, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(tim, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(tim, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(tim, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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}
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}
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@ -90,7 +102,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
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configTimeBase(timerHardware->tim, period, mhz);
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IO_t io = IOGetByTag(timerHardware->tag);
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const IO_t io = IOGetByTag(timerHardware->tag);
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IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
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IOConfigGPIO(io, IOCFG_AF_PP);
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@ -102,18 +114,18 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
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TIM_Cmd(timerHardware->tim, ENABLE);
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switch (timerHardware->channel) {
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case TIM_Channel_1:
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p->ccr = &timerHardware->tim->CCR1;
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break;
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case TIM_Channel_2:
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p->ccr = &timerHardware->tim->CCR2;
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break;
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case TIM_Channel_3:
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p->ccr = &timerHardware->tim->CCR3;
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break;
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case TIM_Channel_4:
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p->ccr = &timerHardware->tim->CCR4;
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break;
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case TIM_Channel_1:
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p->ccr = &timerHardware->tim->CCR1;
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break;
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case TIM_Channel_2:
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p->ccr = &timerHardware->tim->CCR2;
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break;
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case TIM_Channel_3:
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p->ccr = &timerHardware->tim->CCR3;
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break;
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case TIM_Channel_4:
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p->ccr = &timerHardware->tim->CCR4;
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break;
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}
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p->period = period;
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p->tim = timerHardware->tim;
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@ -133,16 +145,16 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
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*motors[index]->ccr = value;
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}
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static void pwmWriteOneShot42(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
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}
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static void pwmWriteOneShot125(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = lrintf((float)(value * ONESHOT125_TIMER_MHZ/8.0f));
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}
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static void pwmWriteOneShot42(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = lrintf((float)(value * ONESHOT42_TIMER_MHZ/24.0f));
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}
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static void pwmWriteMultiShot(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW);
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@ -150,15 +162,14 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
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void pwmWriteMotor(uint8_t index, uint16_t value)
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{
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if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled)
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if (motors[index] && index < MAX_MOTORS && pwmMotorsEnabled) {
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motors[index]->pwmWritePtr(index, value);
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}
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}
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void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
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{
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uint8_t index;
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for(index = 0; index < motorCount; index++){
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for(int index = 0; index < motorCount; index++){
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// Set the compare register to 0, which stops the output pulsing if the timer overflows
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*motors[index]->ccr = 0;
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}
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@ -176,17 +187,14 @@ void pwmEnableMotors(void)
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void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
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{
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uint8_t index;
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TIM_TypeDef *lastTimerPtr = NULL;
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for (index = 0; index < motorCount; index++) {
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for (int index = 0; index < motorCount; index++) {
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// Force the timer to overflow if it's the first motor to output, or if we change timers
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if (motors[index]->tim != lastTimerPtr) {
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lastTimerPtr = motors[index]->tim;
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timerForceOverflow(motors[index]->tim);
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}
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// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
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// This compare register will be set to the output value on the next main loop.
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*motors[index]->ccr = 0;
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@ -195,44 +203,46 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
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void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate)
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{
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uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
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const uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, 0);
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motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
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}
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void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
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{
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uint32_t hz = PWM_TIMER_MHZ * 1000000;
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const uint32_t hz = PWM_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
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motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
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}
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void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint16_t idlePulse)
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void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType)
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{
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uint32_t timerMhzCounter;
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pwmWriteFuncPtr pwmWritePtr;
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switch (fastPwmProtocolType) {
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default:
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case (PWM_TYPE_ONESHOT125):
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timerMhzCounter = ONESHOT125_TIMER_MHZ;
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break;
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case (PWM_TYPE_ONESHOT42):
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timerMhzCounter = ONESHOT42_TIMER_MHZ;
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break;
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case (PWM_TYPE_MULTISHOT):
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timerMhzCounter = MULTISHOT_TIMER_MHZ;
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default:
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case (PWM_TYPE_ONESHOT125):
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timerMhzCounter = ONESHOT125_TIMER_MHZ;
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pwmWritePtr = pwmWriteOneShot125;
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break;
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case (PWM_TYPE_ONESHOT42):
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timerMhzCounter = ONESHOT42_TIMER_MHZ;
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pwmWritePtr = pwmWriteOneShot42;
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break;
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case (PWM_TYPE_MULTISHOT):
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timerMhzCounter = MULTISHOT_TIMER_MHZ;
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pwmWritePtr = pwmWriteMultiShot;
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break;
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}
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if (motorPwmRate > 0) {
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uint32_t hz = timerMhzCounter * 1000000;
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const uint32_t hz = timerMhzCounter * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
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} else {
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motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
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}
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motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot :
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((fastPwmProtocolType == PWM_TYPE_ONESHOT125) ? pwmWriteOneShot125 :
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pwmWriteOneShot42);
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motors[motorIndex]->pwmWritePtr = pwmWritePtr;
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}
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#ifdef USE_SERVOS
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@ -243,7 +253,8 @@ void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, ui
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void pwmWriteServo(uint8_t index, uint16_t value)
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{
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if (servos[index] && index < MAX_SERVOS)
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if (servos[index] && index < MAX_SERVOS) {
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*servos[index]->ccr = value;
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}
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}
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#endif
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