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Code Issues Wiki Activity

Initial IO remapping capability

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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
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21
src/main/flight/mixer.c
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@ -32,7 +32,6 @@
#include "drivers/system.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_mapping.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
@ -68,7 +67,7 @@ static flight3DConfig_t *flight3DConfig;
static motorConfig_t *motorConfig;
static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig;
static bool syncPwmWithPidLoop = false;
static bool syncMotorOutputWithPidLoop = false;
static mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@ -79,7 +78,6 @@ static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
static gimbalConfig_t *gimbalConfig;
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
STATIC_UNIT_TESTED uint8_t servoCount;
static servoParam_t *servoConf;
#endif
@ -378,7 +376,7 @@ int servoDirection(int servoIndex, int inputSource)
return 1;
}
void servoInit(servoMixer_t *initialCustomServoMixers)
void servoMixerInit(servoMixer_t *initialCustomServoMixers)
{
customServoMixers = initialCustomServoMixers;
@ -423,14 +421,13 @@ void loadCustomServoMixer(void)
}
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
{
int i;
motorCount = 0;
servoCount = pwmOutputConfiguration->servoCount;
syncPwmWithPidLoop = !use_unsyncedPwm;
syncMotorOutputWithPidLoop = !use_unsyncedPwm;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
@ -524,16 +521,12 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
#else
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
{
UNUSED(pwmOutputConfiguration);
syncPwmWithPidLoop = !use_unsyncedPwm;
syncMotorOutputWithPidLoop = !use_unsyncedPwm;
motorCount = 4;
#ifdef USE_SERVOS
servoCount = 0;
#endif
uint8_t i;
for (i = 0; i < motorCount; i++) {
@ -643,7 +636,7 @@ void writeMotors(void)
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
if (syncPwmWithPidLoop) {
if (syncMotorOutputWithPidLoop) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}