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Code Issues Wiki Activity

Tightening up code inside atomic block, and whitespace changes (tabs to spaces)

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This commit is contained in:
Ben Hitchcock 2014-12-04 06:59:27 +08:00
parent 8a9e51c779
commit 895d215265
3 changed files with 40 additions and 40 deletions
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57
src/main/drivers/pwm_output.c
View file

@ -131,7 +131,7 @@ static void pwmWriteBrushed(uint8_t index, uint16_t value)
static void pwmWriteStandard(uint8_t index, uint16_t value)
{
*motors[index]->ccr = value;
*motors[index]->ccr = value;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
@ -142,28 +142,28 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
void pwmFinishedWritingMotors(uint8_t numberMotors)
{
uint8_t index;
volatile TIM_TypeDef *lastTimerPtr = NULL;
uint8_t index;
volatile TIM_TypeDef *lastTimerPtr = NULL;
if(feature(FEATURE_ONESHOT125)){
if(feature(FEATURE_ONESHOT125)){
for(index = 0; index < numberMotors; index++){
for(index = 0; index < numberMotors; index++){
// Force the timer to overflow if it's the first motor to output, or if we change timers
if(motors[index]->tim != lastTimerPtr){
lastTimerPtr = motors[index]->tim;
// Force the timer to overflow if it's the first motor to output, or if we change timers
if(motors[index]->tim != lastTimerPtr){
lastTimerPtr = motors[index]->tim;
timerForceOverflow(motors[index]->tim);
}
}
timerForceOverflow(motors[index]->tim);
}
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.
for(index = 0; index < numberMotors; index++){
*motors[index]->ccr = 0;
}
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.
for(index = 0; index < numberMotors; index++){
*motors[index]->ccr = 0;
}
}
}
void pwmWriteServo(uint8_t index, uint16_t value)
@ -175,26 +175,25 @@ void pwmWriteServo(uint8_t index, uint16_t value)
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
}
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_TIMER_MHZ * 1000000;
uint32_t hz = PWM_TIMER_MHZ * 1000000;
if(feature(FEATURE_ONESHOT125)){
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
} else {
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
}
if(feature(FEATURE_ONESHOT125)){
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
} else {
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
}
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
{
servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
}

8
src/main/drivers/pwm_rx.c
View file

@ -161,7 +161,7 @@ static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture
ppmDev.currentTime += ppmDev.largeCounter;
// Divide by 8 if Oneshot125 is active and this is a CC3D board
ppmDev.currentTime = ppmDev.currentTime >> ppmCountShift;
ppmDev.currentTime = ppmDev.currentTime >> ppmCountShift;
/* Capture computation */
ppmDev.deltaTime = ppmDev.currentTime - ppmDev.previousTime;
@ -331,9 +331,9 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
timerConfigure(timerHardwarePtr, (uint16_t)PPM_TIMER_PERIOD, PWM_TIMER_MHZ);
if((timerHardwarePtr->tim == TIM4) && (feature(FEATURE_ONESHOT125))){
ppmCountShift = 3; // Divide by 8 if the timer is running at 8 MHz
}
if((timerHardwarePtr->tim == TIM4) && (feature(FEATURE_ONESHOT125))){
ppmCountShift = 3; // Divide by 8 if the timer is running at 8 MHz
}
timerChCCHandlerInit(&self->edgeCb, ppmEdgeCallback);

15
src/main/drivers/timer.c
View file

@ -806,12 +806,13 @@ void timerStart(void)
**/
void timerForceOverflow(volatile TIM_TypeDef *tim)
{
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
// Save the current count so that PPM reading will work on the same timer that was forced to overflow
uint8_t timerIndex = lookupTimerIndex((const TIM_TypeDef *)tim);
timerConfig[timerIndex].forcedOverflowTimerValue = tim->CNT + 1;
uint8_t timerIndex = lookupTimerIndex((const TIM_TypeDef *)tim);
// Force an overflow by setting the UG bit
tim->EGR |= TIM_EGR_UG;
}
ATOMIC_BLOCK(NVIC_PRIO_TIMER) {
// Save the current count so that PPM reading will work on the same timer that was forced to overflow
timerConfig[timerIndex].forcedOverflowTimerValue = tim->CNT + 1;
// Force an overflow by setting the UG bit
tim->EGR |= TIM_EGR_UG;
}
}