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Initial implementation of DSHOT protocol (600 and 150)

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This commit is contained in:
blckmn 2016-10-13 22:03:37 +11:00
parent 7db9b9cbc7
commit 4e529642d1
22 changed files with 637 additions and 100 deletions
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36
src/main/flight/mixer.c
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@ -331,7 +331,6 @@ const mixerRules_t servoMixers[] = {
static servoMixer_t *customServoMixers;
#endif
static motorMixer_t *customMixers;
void mixerUseConfigs(
@ -404,14 +403,12 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
void loadCustomServoMixer(void)
{
uint8_t i;
// reset settings
servoRuleCount = 0;
memset(currentServoMixer, 0, sizeof(currentServoMixer));
// load custom mixer into currentServoMixer
for (i = 0; i < MAX_SERVO_RULES; i++) {
for (uint8_t i = 0; i < MAX_SERVO_RULES; i++) {
// check if done
if (customServoMixers[i].rate == 0)
break;
@ -421,13 +418,13 @@ void loadCustomServoMixer(void)
}
}
void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
void mixerConfigureOutput(void)
{
int i;
motorCount = 0;
syncMotorOutputWithPidLoop = !use_unsyncedPwm;
syncMotorOutputWithPidLoop = pwmIsSynced();
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
@ -518,18 +515,14 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
customMixers[i] = mixers[index].motor[i];
}
}
#else
void mixerUsePWMOutputConfiguration(bool use_unsyncedPwm)
void mixerConfigureOutput(void)
{
syncMotorOutputWithPidLoop = pwmIsSynced();
syncMotorOutputWithPidLoop = !use_unsyncedPwm;
motorCount = 4;
motorCount = QUAD_MOTOR_COUNT;
uint8_t i;
for (i = 0; i < motorCount; i++) {
for (uint8_t i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
@ -631,23 +624,22 @@ void writeServos(void)
void writeMotors(void)
{
uint8_t i;
for (i = 0; i < motorCount; i++)
for (uint8_t i = 0; i < motorCount; i++) {
pwmWriteMotor(i, motor[i]);
}
if (syncMotorOutputWithPidLoop) {
pwmCompleteOneshotMotorUpdate(motorCount);
pwmCompleteMotorUpdate(motorCount);
}
}
void writeAllMotors(int16_t mc)
{
uint8_t i;
// Sends commands to all motors
for (i = 0; i < motorCount; i++)
for (uint8_t i = 0; i < motorCount; i++) {
motor[i] = mc;
}
writeMotors();
}
@ -658,7 +650,7 @@ void stopMotors(void)
delay(50); // give the timers and ESCs a chance to react.
}
void stopPwmAllMotors()
void stopPwmAllMotors(void)
{
pwmShutdownPulsesForAllMotors(motorCount);
delayMicroseconds(1500);