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added configurable motor and servo period settings (50-498Hz). both set by cli, default is 50 for servo, 400 for motors.

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removed feature digital_servo since its now set by cli instead.
added proper tx end check into uart, to remove delay inside printing out set values and tx buffer overrun during help()
instead of passing a bunch of params to pwm driver, made a config struct
fixed a bug in gps baudrate
fixed typo in stmloader.c
whitespace / indentation cleanups in various drivers

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@137 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-30 09:49:00 +00:00
parent 97cdebfb13
commit 58eb2b966f
16 changed files with 2645 additions and 2619 deletions
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29
src/drv_pwm.c
View file

@ -1,9 +1,9 @@
#include "board.h"
#define PULSE_1MS (1000) // 1ms pulse width
#define PULSE_PERIOD (2500) // pulse period (400Hz)
#define PULSE_PERIOD_SERVO_DIGITAL (5000) // pulse period for digital servo (200Hz)
#define PULSE_PERIOD_SERVO_ANALOG (20000) // pulse period for analog servo (50Hz)
// #define PULSE_PERIOD (2500) // pulse period (400Hz)
// #define PULSE_PERIOD_SERVO_DIGITAL (5000) // pulse period for digital servo (200Hz)
// #define PULSE_PERIOD_SERVO_ANALOG (20000) // pulse period for analog servo (50Hz)
// Forward declaration
static void pwmIRQHandler(TIM_TypeDef *tim);
@ -244,7 +244,7 @@ static void pwmInitializeInput(bool usePPM)
}
}
bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServos)
bool pwmInit(drv_pwm_config_t *init)
{
GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
@ -294,7 +294,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
#endif
// use PPM or PWM input
usePPMFlag = usePPM;
usePPMFlag = init->usePPM;
// preset channels to center
for (i = 0; i < 8; i++)
@ -302,7 +302,7 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
// Timers run at 1mhz.
// TODO: clean this shit up. Make it all dynamic etc.
if (pwmppmInput)
if (init->enableInput)
pwmInitializeInput(usePPMFlag);
// Output pins
@ -317,17 +317,14 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1);
if (useServos) {
// 50Hz/200Hz period on ch1, 2 for servo
if (useDigitalServos)
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_DIGITAL - 1;
else
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_ANALOG - 1;
if (init->useServos) {
// ch1, 2 for servo
TIM_TimeBaseStructure.TIM_Period = (1000000 / init->servoPwmRate) - 1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
} else {
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
}
@ -354,9 +351,9 @@ bool pwmInit(bool usePPM, bool pwmppmInput, bool useServos, bool useDigitalServo
TIM_CtrlPWMOutputs(TIM4, ENABLE);
// turn on more motor outputs if we're using ppm / not using pwm input
if (!pwmppmInput || usePPM) {
if (!init->enableInput || init->usePPM) {
// PWM 7,8,9,10
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseStructure.TIM_Period = (1000000 / init->motorPwmRate) - 1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;