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CC3D - Add sonar.

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This also ensures that the PWM mapping does not use the sonar pins when
sonar is enabled in a board agnostic way.
Conflicts:
	src/main/config/config.c
	src/main/drivers/pwm_mapping.h
	src/main/main.c
	src/main/target/CC3D/target.h
This commit is contained in:
Dominic Clifton 2015-01-29 16:33:45 +01:00
parent a370d60595
commit 4ed6fdfea5
13 changed files with 91 additions and 34 deletions
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20
src/main/main.c
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@ -47,6 +47,7 @@
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "rx/rx.h"
@ -114,6 +115,8 @@ void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void loop(void);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
#ifdef STM32F303xC
// from system_stm32f30x.c
@ -193,6 +196,21 @@ void init(void)
mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
memset(&pwm_params, 0, sizeof(pwm_params));
#ifdef SONAR
const sonarHardware_t *sonarHardware = NULL;
if (feature(FEATURE_SONAR)) {
sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
sonarGPIOConfig_t sonarGPIOConfig = {
.echoPin = sonarHardware->trigger_pin,
.triggerPin = sonarHardware->echo_pin,
.gpio = SONAR_GPIO
};
pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
}
#endif
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING)
pwm_params.airplane = true;
@ -383,7 +401,7 @@ void init(void)
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
sonarInit(&masterConfig.batteryConfig);
sonarInit(sonarHardware);
}
#endif