Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-22 07:45:29 +03:00
Code Issues Wiki Activity

Initial IO remapping capability

Browse source
This commit is contained in:
blckmn 2016-10-03 17:52:08 +11:00 • committed by blckmn
parent 5f47fc311b
commit 46a6e560f1
28 changed files with 506 additions and 382 deletions
Download patch file Download diff file Expand all files Collapse all files

27
src/main/drivers/pwm_output.h
View file

@ -17,14 +17,20 @@
#pragma once
#include "io/motors.h"
#include "io/servos.h"
#include "drivers/timer.h"
typedef enum {
PWM_TYPE_CONVENTIONAL = 0,
PWM_TYPE_STANDARD = 0,
PWM_TYPE_ONESHOT125,
PWM_TYPE_ONESHOT42,
PWM_TYPE_MULTISHOT,
PWM_TYPE_BRUSHED
} motorPwmProtocolTypes_e;
#define PWM_TIMER_MHZ 1
#if defined(STM32F40_41xxx) // must be multiples of timer clock
#define ONESHOT125_TIMER_MHZ 12
#define ONESHOT42_TIMER_MHZ 21
@ -38,9 +44,20 @@ typedef enum {
#endif
struct timerHardware_s;
void pwmBrushedMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate);
void pwmBrushlessMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmFastPwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t fastPwmProtocolType);
typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
typedef struct {
volatile timCCR_t *ccr;
TIM_TypeDef *tim;
uint16_t period;
pwmWriteFuncPtr pwmWritePtr;
bool enabled;
IO_t io;
} pwmOutputPort_t;
void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount);
void servoInit(servoConfig_t *servoConfig);
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
void pwmWriteMotor(uint8_t index, uint16_t value);
@ -49,5 +66,7 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, uint16_t value);
pwmOutputPort_t *pwmGetMotors();
void pwmDisableMotors(void);
void pwmEnableMotors(void);