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Code Issues Wiki Activity

Cleaned up Dshot naming, containment.

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This commit is contained in:
Michael Keller 2017-06-23 20:06:24 +12:00 • committed by mikeller
parent 8ab13665bb
commit 779823fb79
7 changed files with 43 additions and 59 deletions
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33
src/main/drivers/pwm_output.c
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@ -49,7 +49,7 @@ static uint16_t freqBeep=0;
#endif
bool pwmMotorsEnabled = false;
bool isDigital = false;
bool isDshot = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
@ -160,9 +160,9 @@ static void pwmWriteMultiShot(uint8_t index, float value)
}
#ifdef USE_DSHOT
static void pwmWriteDigital(uint8_t index, float value)
static void pwmWriteDshot(uint8_t index, float value)
{
pwmWriteDigitalInt(index, lrintf(value));
pwmWriteDshotInt(index, lrintf(value));
}
static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet)
@ -277,24 +277,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
break;
#ifdef USE_DSHOT
case PWM_TYPE_PROSHOT1000:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferProshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
pwmWrite = &pwmWriteDigital;
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferDshot;
pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
isDigital = true;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
isDshot = true;
break;
#endif
}
if (!isDigital) {
if (!isDshot) {
pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
}
@ -313,8 +313,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
motors[motorIndex].io = IOGetByTag(tag);
#ifdef USE_DSHOT
if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
if (isDshot) {
pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
motors[motorIndex].enabled = true;
continue;
@ -354,6 +354,11 @@ pwmOutputPort_t *pwmGetMotors(void)
return motors;
}
bool isMotorProtocolDshot(void)
{
return isDshot;
}
#ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
{
@ -374,7 +379,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
void pwmWriteDshotCommand(uint8_t index, uint8_t command)
{
if (isDigital && (command <= DSHOT_MAX_COMMAND)) {
if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats;
@ -395,7 +400,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWriteDigitalInt(index, command);
pwmWriteDshotInt(index, command);
pwmCompleteMotorUpdate(0);
delay(1);