Merge remote-tracking branch 'henn1001/FastPWM' into betaflight

Conflicts:
	src/main/drivers/pwm_mapping.c

src/main/config/config.c

@@ -747,6 +747,14 @@ void validateAndFixConfig(void)
         featureClear(FEATURE_RX_PPM);
     }
 
+    if (featureConfigured(FEATURE_ONESHOT125)) {
+        featureClear(FEATURE_FASTPWM);
+    }
+
+    if (featureConfigured(FEATURE_FASTPWM)) {
+        featureClear(FEATURE_ONESHOT125);
+    }
+
     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 #if defined(STM32F10X)
         // rssi adc needs the same ports

src/main/config/config.h

@@ -42,7 +42,8 @@ typedef enum {
     FEATURE_DISPLAY = 1 << 17,
     FEATURE_ONESHOT125 = 1 << 18,
     FEATURE_BLACKBOX = 1 << 19,
-    FEATURE_CHANNEL_FORWARDING = 1 << 20
+    FEATURE_CHANNEL_FORWARDING = 1 << 20,
+    FEATURE_FASTPWM = 1 << 21
 } features_e;
 
 void handleOneshotFeatureChangeOnRestart(void);

src/main/drivers/pwm_mapping.c

@@ -31,6 +31,7 @@
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
+void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse);
 void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
@@ -638,6 +639,8 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
             if (init->useOneshot) {
                 pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
+            } else if (init->useFastPWM) {
+                fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
             } else if (isMotorBrushed(init->motorPwmRate)) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
             } else {

src/main/drivers/pwm_mapping.h

@@ -58,6 +58,7 @@ typedef struct drv_pwm_config_t {
 #endif
     bool useVbat;
     bool useOneshot;
+    bool useFastPWM;
     bool useSoftSerial;
     bool useLEDStrip;
 #ifdef SONAR

src/main/drivers/pwm_output.c

@@ -190,6 +190,13 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
+void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse)
+{
+    uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
+    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, hz / 4000, idlePulse);
+    motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
+}
+
 void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
 {
     motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, 0);

src/main/io/serial_cli.c

@@ -175,7 +175,7 @@ static const char * const featureNames[] = {
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
-    "BLACKBOX", "CHANNEL_FORWARDING", NULL
+    "BLACKBOX", "CHANNEL_FORWARDING","FASTPWM", NULL
 };
 
 // sync this with rxFailsafeChannelMode_e

src/main/main.c

@@ -256,6 +256,7 @@ void init(void)
 #endif
 
     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
+    pwm_params.useFastPWM = feature(FEATURE_FASTPWM);
     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))