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CC3D - don't share timer between PPM capture and motor output

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A periodic glitch happens on AUX channels when using OneShot on CC3D,
especially with faster update loops. This is caused by a race condition
while forcing timer overflows and sharing the timer for PPM capture.
It causes the craft the fall out of the sky when using a switch to arm.

* Remap PPM in from S1_IN to S6_IN
* Remap RSSI_ADC from S6_IN to S3_IN
* Block PWM12/S6_OUT from being used with Oneshot/brushed motors so
TIM2 (PPM_IN timer) doesn't change prescaler or is manually overflowed
* Allow only one feature out of SOFTSERIAL/RSSI_ADC/SONAR, since they
will now share the same pin
* Update docs to reflect port changes and restrictions

This fixes cleanflight/cleanflight#1748,
fixes borisbstyle/betaflight#64, fixes borisbstyle/betaflight#127

fix BP6
This commit is contained in:
edusteinhorst 2016-02-08 12:35:03 -02:00 • committed by borisbstyle
parent 3fc14404dc
commit 56e9278354
5 changed files with 47 additions and 36 deletions
Download patch file Download diff file Expand all files Collapse all files

41
src/main/drivers/pwm_mapping.c
View file

@ -146,18 +146,17 @@ static const uint16_t airPWM[] = {
#ifdef CC3D
static const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
@ -178,7 +177,7 @@ static const uint16_t multiPWM[] = {
};
static const uint16_t airPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
@ -189,7 +188,6 @@ static const uint16_t airPPM[] = {
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
0xFFFF
};
@ -209,17 +207,16 @@ static const uint16_t airPWM[] = {
0xFFFF
};
static const uint16_t multiPPM_BP6[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #3
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
@ -239,7 +236,7 @@ static const uint16_t multiPWM_BP6[] = {
};
static const uint16_t airPPM_BP6[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
@ -249,7 +246,6 @@ static const uint16_t airPPM_BP6[] = {
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
0xFFFF
};
@ -784,11 +780,6 @@ if (init->useBuzzerP6) {
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifdef CC3D
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#ifdef SPARKY
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
@ -799,6 +790,14 @@ if (init->useBuzzerP6) {
pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++;
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)){
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useOneshot) {
if (init->useFastPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);