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Removed dependency of pwm_output driver on mixers and servos

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This commit is contained in:
Martin Budden 2017-02-17 13:42:33 +00:00
parent 367f62236a
commit 781b1b1352
22 changed files with 103 additions and 93 deletions
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38
src/main/fc/config.c
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@ -241,15 +241,15 @@ void resetLedStripConfig(ledStripConfig_t *ledStripConfig)
#ifdef USE_SERVOS
void resetServoConfig(servoConfig_t *servoConfig)
{
servoConfig->servoCenterPulse = 1500;
servoConfig->servoPwmRate = 50;
servoConfig->dev.servoCenterPulse = 1500;
servoConfig->dev.servoPwmRate = 50;
servoConfig->tri_unarmed_servo = 1;
servoConfig->servo_lowpass_freq = 0;
int servoIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && servoIndex < MAX_SUPPORTED_SERVOS; i++) {
if (timerHardware[i].usageFlags & TIM_USE_SERVO) {
servoConfig->ioTags[servoIndex] = timerHardware[i].tag;
servoConfig->dev.ioTags[servoIndex] = timerHardware[i].tag;
servoIndex++;
}
}
@ -260,22 +260,22 @@ void resetMotorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
motorConfig->minthrottle = 1000;
motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->useUnsyncedPwm = true;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
#else
#ifdef BRUSHED_ESC_AUTODETECT
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfig->minthrottle = 1000;
motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->useUnsyncedPwm = true;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
} else
#endif
{
motorConfig->minthrottle = 1070;
motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
}
#endif
motorConfig->maxthrottle = 2000;
@ -285,7 +285,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
int motorIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
motorConfig->ioTags[motorIndex] = timerHardware[i].tag;
motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
motorIndex++;
}
}
@ -906,12 +906,12 @@ void activateConfig(void)
void validateAndFixConfig(void)
{
if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
motorConfigMutable()->mincommand = 1000;
}
if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
motorConfigMutable()->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
if ((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
}
if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {
@ -1060,7 +1060,7 @@ void validateAndFixGyroConfig(void)
// check for looptime restrictions based on motor protocol. Motor times have safety margin
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
float motorUpdateRestriction;
switch(motorConfig()->motorPwmProtocol) {
switch(motorConfig()->dev.motorPwmProtocol) {
case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE;
break;
@ -1088,11 +1088,11 @@ void validateAndFixGyroConfig(void)
}
// Prevent overriding the max rate of motors
if (motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->motorPwmProtocol != PWM_TYPE_STANDARD) {
if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if(motorConfig()->motorPwmRate > maxEscRate)
motorConfigMutable()->motorPwmRate = maxEscRate;
if(motorConfig()->dev.motorPwmRate > maxEscRate)
motorConfigMutable()->dev.motorPwmRate = maxEscRate;
}
}