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Split PWM code into appropriate separate files - mapping, rx and output.
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
parent
adfbb8ac43
commit
6721587566
13 changed files with 601 additions and 473 deletions
225
src/drivers/pwm_mapping.c
Executable file
225
src/drivers/pwm_mapping.c
Executable file
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio_common.h"
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#include "timer_common.h"
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#include "pwm_output.h"
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#include "pwm_rx.h"
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#include "pwm_mapping.h"
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/*
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Configuration maps
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Note: this documentation is only valid for STM32F10x, for STM32F30x please read the code itself.
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1) multirotor PPM input
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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2) multirotor PPM input with more servos
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for servos
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2) multirotor PWM input
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PWM1..8 used for input
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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3) airplane / flying wing w/PWM
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PWM1..8 used for input
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM11.14 used for servos
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4) airplane / flying wing with PPM
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PWM1 used for PPM
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PWM5..8 used for servos
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM11.14 used for servos
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*/
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enum {
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TYPE_IP = 0x10,
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TYPE_IW = 0x20,
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TYPE_M = 0x40,
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TYPE_S = 0x80
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};
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static const uint8_t multiPPM[] = {
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PWM1 | TYPE_IP, // PPM input
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PWM9 | TYPE_M, // Swap to servo if needed
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PWM10 | TYPE_M, // Swap to servo if needed
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PWM11 | TYPE_M,
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PWM12 | TYPE_M,
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PWM13 | TYPE_M,
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PWM14 | TYPE_M,
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PWM5 | TYPE_M, // Swap to servo if needed
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PWM6 | TYPE_M, // Swap to servo if needed
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PWM7 | TYPE_M, // Swap to servo if needed
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PWM8 | TYPE_M, // Swap to servo if needed
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0xFF
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};
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static const uint8_t multiPWM[] = {
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PWM1 | TYPE_IW, // input #1
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PWM2 | TYPE_IW,
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PWM3 | TYPE_IW,
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PWM4 | TYPE_IW,
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PWM5 | TYPE_IW,
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PWM6 | TYPE_IW,
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PWM7 | TYPE_IW,
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PWM8 | TYPE_IW, // input #8
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PWM9 | TYPE_M, // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | TYPE_M, // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | TYPE_M, // motor #1 or #3
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PWM12 | TYPE_M,
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PWM13 | TYPE_M,
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PWM14 | TYPE_M, // motor #4 or #6
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0xFF
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};
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static const uint8_t airPPM[] = {
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PWM1 | TYPE_IP, // PPM input
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PWM9 | TYPE_M, // motor #1
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PWM10 | TYPE_M, // motor #2
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PWM11 | TYPE_S, // servo #1
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PWM12 | TYPE_S,
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PWM13 | TYPE_S,
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PWM14 | TYPE_S, // servo #4
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PWM5 | TYPE_S, // servo #5
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PWM6 | TYPE_S,
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PWM7 | TYPE_S,
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PWM8 | TYPE_S, // servo #8
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0xFF
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};
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static const uint8_t airPWM[] = {
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PWM1 | TYPE_IW, // input #1
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PWM2 | TYPE_IW,
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PWM3 | TYPE_IW,
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PWM4 | TYPE_IW,
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PWM5 | TYPE_IW,
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PWM6 | TYPE_IW,
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PWM7 | TYPE_IW,
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PWM8 | TYPE_IW, // input #8
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PWM9 | TYPE_M, // motor #1
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PWM10 | TYPE_M, // motor #2
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PWM11 | TYPE_S, // servo #1
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PWM12 | TYPE_S,
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PWM13 | TYPE_S,
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PWM14 | TYPE_S, // servo #4
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0xFF
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};
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static const uint8_t * const hardwareMaps[] = {
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multiPWM,
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multiPPM,
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airPWM,
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airPPM,
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};
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void pwmInit(drv_pwm_config_t *init)
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{
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int i = 0;
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const uint8_t *setup;
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int channelIndex = 0;
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int servoIndex = 0;
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int motorIndex = 0;
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// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
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if (init->airplane)
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i = 2; // switch to air hardware config
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if (init->usePPM)
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i++; // next index is for PPM
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setup = hardwareMaps[i];
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for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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uint8_t timerIndex = setup[i] & 0x0F;
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uint8_t mask = setup[i] & 0xF0;
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if (setup[i] == 0xFF) // terminator
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break;
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#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
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// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
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if (timerIndex == PWM2)
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continue;
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#endif
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#ifdef STM32F10X_MD
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// skip UART ports for GPS
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if (init->useUART && (timerIndex == PWM3 || timerIndex == PWM4))
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continue;
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// skip softSerial ports
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if (init->useSoftSerial && (timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
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continue;
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#endif
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#ifdef STM32F303xC
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// skip softSerial ports
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if (init->useSoftSerial && (timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11 || timerIndex == PWM12))
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continue;
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#endif
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// skip ADC for powerMeter if configured
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if (init->adcChannel && (init->adcChannel == timerIndex))
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continue;
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// hacks to allow current functionality
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if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
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mask = 0;
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if (init->useServos && !init->airplane) {
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#ifdef STM32F10X_MD
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// remap PWM9+10 as servos
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if (timerIndex == PWM9 || timerIndex == PWM10)
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mask = TYPE_S;
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#endif
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#ifdef STM32F303xC
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// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
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if (init->useSoftSerial) {
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if (timerIndex == PWM5 || timerIndex == PWM6)
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mask = TYPE_S;
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} else {
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if (timerIndex == PWM9 || timerIndex == PWM10)
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mask = TYPE_S;
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}
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#endif
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}
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if (init->extraServos && !init->airplane) {
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// remap PWM5..8 as servos when used in extended servo mode
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if (timerIndex >= PWM5 && timerIndex <= PWM8)
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mask = TYPE_S;
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}
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if (mask & TYPE_IP) {
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ppmInConfig(timerIndex);
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} else if (mask & TYPE_IW) {
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pwmInConfig(timerIndex, channelIndex);
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channelIndex++;
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} else if (mask & TYPE_M) {
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if (init->motorPwmRate > 500) {
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pwmBrushedMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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} else {
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pwmBrushlessMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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}
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motorIndex++;
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} else if (mask & TYPE_S) {
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pwmServoConfig(&timerHardware[timerIndex], servoIndex, init->servoPwmRate, init->servoCenterPulse);
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servoIndex++;
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}
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}
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}
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