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https://github.com/betaflight/betaflight.git
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Initial IO remapping capability
This commit is contained in:
blckmn
blckmn
parent
5f47fc311b
commit
46a6e560f1
28 changed files with 506 additions and 382 deletions
127
src/main/main.c
127
src/main/main.c
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@ -42,7 +42,6 @@
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#include "drivers/serial_uart.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/pwm_mapping.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/pwm_output.h"
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#include "drivers/adc.h"
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@ -247,116 +246,46 @@ void init(void)
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mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
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#ifdef USE_SERVOS
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servoInit(masterConfig.customServoMixer);
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servoMixerInit(masterConfig.customServoMixer);
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#endif
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drv_pwm_config_t pwm_params;
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memset(&pwm_params, 0, sizeof(pwm_params));
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#ifdef SONAR
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if (feature(FEATURE_SONAR)) {
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const sonarHardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType);
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if (sonarHardware) {
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pwm_params.useSonar = true;
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pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag;
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pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag;
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}
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uint16_t idlePulse = masterConfig.motorConfig.mincommand;
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if (feature(FEATURE_3D)) {
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idlePulse = masterConfig.flight3DConfig.neutral3d;
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}
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#endif
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// when using airplane/wing mixer, servo/motor outputs are remapped
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if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE)
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pwm_params.airplane = true;
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else
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pwm_params.airplane = false;
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#if defined(USE_UART2) && defined(STM32F10X)
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pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
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#endif
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#ifdef STM32F303xC
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pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
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pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3);
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#endif
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#if defined(USE_UART2) && defined(STM32F40_41xxx)
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pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
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#endif
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#if defined(USE_UART6) && defined(STM32F40_41xxx)
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pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6);
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#endif
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pwm_params.useVbat = feature(FEATURE_VBAT);
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pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL);
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pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM);
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pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC);
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pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER)
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&& masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
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pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
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pwm_params.usePPM = feature(FEATURE_RX_PPM);
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pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
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#ifdef USE_SERVOS
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pwm_params.useServos = isMixerUsingServos();
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pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
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pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse;
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pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate;
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#endif
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bool use_unsyncedPwm = masterConfig.motorConfig.useUnsyncedPwm || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_CONVENTIONAL || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED;
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// Configurator feature abused for enabling Fast PWM
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pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol != PWM_TYPE_CONVENTIONAL && masterConfig.motorConfig.motorPwmProtocol != PWM_TYPE_BRUSHED);
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pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol;
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pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motorConfig.motorPwmRate : 0;
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pwm_params.idlePulse = masterConfig.motorConfig.mincommand;
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if (feature(FEATURE_3D))
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pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
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if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) {
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featureClear(FEATURE_3D);
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pwm_params.idlePulse = 0; // brushed motors
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idlePulse = 0; // brushed motors
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}
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#ifdef CC3D
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pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
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#ifdef USE_QUAD_MIXER_ONLY
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motorInit(&masterConfig.motorConfig, idlePulse, 4);
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#else
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motorInit(&masterConfig.motorConfig, idlePulse, mixers[masterConfig.mixerMode].motorCount);
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#endif
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#ifdef USE_SERVOS
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if (isMixerUsingServos()) {
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//pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
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servoInit(&masterConfig.servoConfig);
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}
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#endif
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#ifndef SKIP_RX_PWM_PPM
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pwmRxInit(masterConfig.inputFilteringMode);
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if (feature(FEATURE_RX_PPM)) {
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ppmRxInit(&masterConfig.ppmConfig, masterConfig.motorConfig.motorPwmProtocol);
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} else if (feature(FEATURE_RX_PARALLEL_PWM)) {
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pwmRxInit(&masterConfig.pwmConfig);
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}
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pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
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#endif
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// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
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pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
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mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
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mixerUsePWMOutputConfiguration(masterConfig.motorConfig.useUnsyncedPwm);
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systemState |= SYSTEM_STATE_MOTORS_READY;
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#ifdef BEEPER
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beeperConfig_t beeperConfig = {
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.ioTag = IO_TAG(BEEPER),
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#ifdef BEEPER_INVERTED
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.isOD = false,
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.isInverted = true
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#else
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.isOD = true,
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.isInverted = false
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#endif
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};
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#ifdef NAZE
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if (hardwareRevision >= NAZE32_REV5) {
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// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
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beeperConfig.isOD = false;
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beeperConfig.isInverted = true;
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}
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#endif
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/* temp until PGs are implemented. */
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#ifdef BLUEJAYF4
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if (hardwareRevision <= BJF4_REV2) {
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beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
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}
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#endif
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#ifdef CC3D
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if (masterConfig.use_buzzer_p6 == 1)
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beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
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#endif
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beeperInit(&beeperConfig);
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beeperInit(&masterConfig.beeperConfig);
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#endif
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#ifdef INVERTER
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@ -535,7 +464,7 @@ void init(void)
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#ifdef SONAR
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if (feature(FEATURE_SONAR)) {
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sonarInit();
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sonarInit(&masterConfig.sonarConfig);
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}
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#endif
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@ -569,10 +498,10 @@ void init(void)
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#ifdef USE_FLASHFS
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#ifdef NAZE
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if (hardwareRevision == NAZE32_REV5) {
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m25p16_init(IOTAG_NONE);
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m25p16_init(IO_TAG_NONE);
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}
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#elif defined(USE_FLASH_M25P16)
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m25p16_init(IOTAG_NONE);
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m25p16_init(IO_TAG_NONE);
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#endif
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flashfsInit();
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