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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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9
src/main.c
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@ -15,7 +15,7 @@
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart_common.h"
#include "drivers/accgyro_common.h"
#include "drivers/pwm_common.h"
#include "drivers/pwm_mapping.h"
#include "drivers/adc_common.h"
#include "flight_common.h"
@ -56,7 +56,8 @@ void timerInit(void);
void initTelemetry(serialPorts_t *serialPorts);
void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void pwmInit(drv_pwm_config_t *init);
void pwmRxInit(failsafe_t *initialFailsafe, failsafeConfig_t *initialFailsafeConfig);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
@ -172,7 +173,6 @@ int main(void)
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = masterConfig.rxConfig.midrc;
pwm_params.failsafeThreshold = currentProfile.failsafeConfig.failsafe_detect_threshold;
switch (masterConfig.power_adc_channel) {
case 1:
@ -191,7 +191,8 @@ int main(void)
#ifndef FY90Q
timerInit();
#endif
pwmInit(&pwm_params, failsafe);
pwmInit(&pwm_params);
pwmRxInit(failsafe, &currentProfile.failsafeConfig);
rxInit(&masterConfig.rxConfig, failsafe);