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Split PWM code into appropriate separate files - mapping, rx and output.

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By decoupling everything the structures now only contain members they need.  The mapping code is simplified.  The calculation of timer periods is now where it belongs (with the output code, not with the mapping code).  Also, since each motor output has it's own callback method it is technically possible to mix brushed and brushless motors if the brushed motors and brushless motors use different timers.  Additional code would be required to fully support that.
This commit is contained in:
Dominic Clifton 2014-05-06 07:48:11 +01:00
parent adfbb8ac43
commit 6721587566
13 changed files with 601 additions and 473 deletions
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56
src/drivers/pwm_common.h
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@ -1,56 +0,0 @@
#pragma once
#define MAX_PWM_MOTORS 12
#define MAX_PWM_SERVOS 8
#define MAX_PPM_AND_PWM_INPUTS 8
#define PULSE_1MS (1000) // 1ms pulse width
#define PULSE_MIN (750) // minimum PWM pulse width which is considered valid
#define PULSE_MAX (2250) // maximum PWM pulse width which is considered valid
#define MAX_MOTORS 12
#define MAX_SERVOS 8
#define MAX_INPUTS 8
typedef struct drv_pwm_config_t {
bool enableInput;
bool usePPM;
bool useUART;
bool useSoftSerial;
bool useServos;
bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors
bool airplane; // fixed wing hardware config, lots of servos etc
uint8_t adcChannel; // steal one RC input for current sensor
uint16_t motorPwmRate;
uint16_t servoPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
uint16_t servoCenterPulse;
uint16_t failsafeThreshold;
} drv_pwm_config_t;
// This indexes into the read-only hardware definition structure, timerHardware_t, as well as into pwmPorts structure with dynamic data.
enum {
PWM1 = 0,
PWM2,
PWM3,
PWM4,
PWM5,
PWM6,
PWM7,
PWM8,
PWM9,
PWM10,
PWM11,
PWM12,
PWM13,
PWM14
};
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmWriteServo(uint8_t index, uint16_t value);
uint16_t pwmRead(uint8_t channel);
// void pwmWrite(uint8_t channel, uint16_t value);