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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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18
src/main/fc/fc_msp.c
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@ -1124,14 +1124,14 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, pidConfig()->pid_process_denom);
}
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, (uint16_t)lrintf(motorConfig()->digitalIdleOffsetPercent * 100));
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
sbufWriteU8(dst, motorConfig()->motorPwmInversion);
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
break;
case MSP_FILTER_CONFIG :
@ -1491,13 +1491,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADVANCED_CONFIG:
gyroConfigMutable()->gyro_sync_denom = sbufReadU8(src);
pidConfigMutable()->pid_process_denom = sbufReadU8(src);
motorConfigMutable()->useUnsyncedPwm = sbufReadU8(src);
motorConfigMutable()->dev.useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
motorConfigMutable()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
motorConfigMutable()->dev.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
#else
motorConfigMutable()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
motorConfigMutable()->dev.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfigMutable()->motorPwmRate = sbufReadU16(src);
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
@ -1511,7 +1511,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) {
motorConfigMutable()->motorPwmInversion = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
}
break;