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Fix bug where PPM rx stops working on sparky or CC3D when using motor

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PWM rate > 500 (brushed motor mode).

Fix is the same as for OneShot since both brushed motors and oneshot use
an 8mhz timer.

Fixes #58
This commit is contained in:
Dominic Clifton 2015-09-09 19:25:08 +01:00
parent b2f9e603df
commit 5d5fd81b2e
4 changed files with 12 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/drivers/pwm_mapping.c
View file

@ -580,12 +580,12 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
if (type == MAP_TO_PPM_INPUT) { if (type == MAP_TO_PPM_INPUT) {
#ifdef CC3D #ifdef CC3D
if (init->useOneshot) { if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4); ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
} }
#endif #endif
#ifdef SPARKY #ifdef SPARKY
if (init->useOneshot) { if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2); ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
} }
#endif #endif
@ -596,7 +596,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
} else if (type == MAP_TO_MOTOR_OUTPUT) { } else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->useOneshot) { if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount); pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else if (init->motorPwmRate > 500) { } else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse); pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else { } else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse); pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

2
src/main/drivers/pwm_mapping.h
View file

@ -35,6 +35,8 @@
#define PWM_TIMER_MHZ 1 #define PWM_TIMER_MHZ 1
#define ONESHOT125_TIMER_MHZ 8 #define ONESHOT125_TIMER_MHZ 8
#define PWM_BRUSHED_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s { typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio; GPIO_TypeDef *gpio;

6
src/main/drivers/pwm_output.c
View file

@ -47,7 +47,6 @@ static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
#ifdef USE_SERVOS #ifdef USE_SERVOS
static pwmOutputPort_t *servos[MAX_PWM_SERVOS]; static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
#endif #endif
#define PWM_BRUSHED_TIMER_MHZ 8
static uint8_t allocatedOutputPortCount = 0; static uint8_t allocatedOutputPortCount = 0;
@ -172,6 +171,11 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
} }
} }
bool isMotorBrushed(uint16_t motorPwmRate)
{
return (motorPwmRate > 500);
}
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse) void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{ {
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000; uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;

2
src/main/drivers/pwm_output.h
View file

@ -22,3 +22,5 @@ void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount); void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, uint16_t value); void pwmWriteServo(uint8_t index, uint16_t value);
bool isMotorBrushed(uint16_t motorPwmRate);