Minor update to add motorProtocolFamily_e and move remaining non-motor code out of motor.c

mk/source.mk

@@ -108,6 +108,7 @@ COMMON_SRC = \
             drivers/motor.c \
             drivers/pinio.c \
             drivers/pin_pull_up_down.c \
+            drivers/pwm_output.c \
             drivers/resource.c \
             drivers/serial.c \
             drivers/serial_impl.c \

src/main/drivers/dshot.c

@@ -39,7 +39,7 @@
 
 #include "config/feature.h"
 
-#include "drivers/motor.h"
+#include "drivers/motor_types.h"
 #include "drivers/timer.h"
 
 #include "drivers/dshot_command.h"

src/main/drivers/dshot.h

@@ -138,6 +138,8 @@ void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool pac
 void initDshotTelemetry(const timeUs_t looptimeUs);
 void updateDshotTelemetry(void);
 
+bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig);
+
 uint16_t getDshotErpm(uint8_t motorIndex);
 float getDshotRpm(uint8_t motorIndex);
 float getDshotRpmAverage(void);

src/main/drivers/motor.c

@@ -132,7 +132,7 @@ void motorRequestTelemetry(unsigned index)
         return;
     }
 
-    if (motorDevice.vTable && motorDevice.vTable->requestTelemetry) {
+    if (motorDevice.vTable->requestTelemetry) {
         motorDevice.vTable->requestTelemetry(index);
     }
 }
@@ -147,24 +147,6 @@ const motorVTable_t *motorGetVTable(void)
     return motorDevice.vTable;
 }
 
-// This is not motor generic anymore; should be moved to analog pwm module
-static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
-{
-    if (featureIsEnabled(FEATURE_3D)) {
-        float outputLimitOffset = (flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - outputLimit) / 2;
-        *disarm = flight3DConfig()->neutral3d;
-        *outputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
-        *outputHigh = flight3DConfig()->limit3d_high - outputLimitOffset;
-        *deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
-        *deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
-    } else {
-        *disarm = motorConfig->mincommand;
-        const float minThrottle = motorConfig->mincommand + motorConfig->motorIdle * 0.1f;
-        *outputLow = minThrottle;
-        *outputHigh = motorConfig->maxthrottle - ((motorConfig->maxthrottle - minThrottle) * (1 - outputLimit));
-    }
-}
-
 bool checkMotorProtocolEnabled(const motorDevConfig_t *motorDevConfig, bool *isProtocolDshot)
 {
     bool enabled = false;
@@ -199,6 +181,29 @@ bool checkMotorProtocolEnabled(const motorDevConfig_t *motorDevConfig, bool *isP
     return enabled;
 }
 
+motorProtocolFamily_e motorGetProtocolFamily(void)
+{
+    switch (motorConfig()->dev.motorProtocol) {
+#ifdef USE_PWMOUTPUT
+    case MOTOR_PROTOCOL_PWM :
+    case MOTOR_PROTOCOL_ONESHOT125:
+    case MOTOR_PROTOCOL_ONESHOT42:
+    case MOTOR_PROTOCOL_MULTISHOT:
+    case MOTOR_PROTOCOL_BRUSHED:
+        return MOTOR_PROTOCOL_FAMILY_PWM;
+#endif
+#ifdef USE_DSHOT
+    case MOTOR_PROTOCOL_DSHOT150:
+    case MOTOR_PROTOCOL_DSHOT300:
+    case MOTOR_PROTOCOL_DSHOT600:
+    case MOTOR_PROTOCOL_PROSHOT1000:
+        return MOTOR_PROTOCOL_FAMILY_DSHOT;
+#endif
+    default:
+        return MOTOR_PROTOCOL_FAMILY_UNKNOWN;
+    }
+}
+
 static void checkMotorProtocol(const motorDevConfig_t *motorDevConfig)
 {
     motorProtocolEnabled = checkMotorProtocolEnabled(motorDevConfig, &motorProtocolDshot);
@@ -210,14 +215,21 @@ void motorInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, flo
     checkMotorProtocol(&motorConfig->dev);
 
     if (isMotorProtocolEnabled()) {
-        if (!isMotorProtocolDshot()) {
+        switch (motorGetProtocolFamily()) {
+#ifdef USE_PWM_OUTPUT
+        case MOTOR_PROTOCOL_FAMILY_PWM:
             analogInitEndpoints(motorConfig, outputLimit, outputLow, outputHigh, disarm, deadbandMotor3dHigh, deadbandMotor3dLow);
-        }
+            break;
-#ifdef USE_DSHOT
-        else {
-            dshotInitEndpoints(motorConfig, outputLimit, outputLow, outputHigh, disarm, deadbandMotor3dHigh, deadbandMotor3dLow);
-        }
 #endif
+#ifdef USE_DSHOT
+        case MOTOR_PROTOCOL_FAMILY_DSHOT:
+            dshotInitEndpoints(motorConfig, outputLimit, outputLow, outputHigh, disarm, deadbandMotor3dHigh, deadbandMotor3dLow);
+            break;
+#endif
+        default:
+            // TODO: perhaps a failure mode here?
+            break;
+        }
     }
 }
 
@@ -233,7 +245,7 @@ uint16_t motorConvertToExternal(float motorValue)
 
 void motorPostInit(void)
 {
-    if (motorDevice.vTable && motorDevice.vTable->postInit) {
+    if (motorDevice.vTable->postInit) {
         motorDevice.vTable->postInit();
     }
 }
@@ -311,7 +323,7 @@ void motorDisable(void)
 
 void motorEnable(void)
 {
-    if (motorDevice.initialized && motorDevice.vTable && motorDevice.vTable->enable()) {
+    if (motorDevice.initialized && motorDevice.vTable->enable()) {
         motorDevice.enabled = true;
         motorDevice.motorEnableTimeMs = millis();
     }
@@ -349,20 +361,6 @@ timeMs_t motorGetMotorEnableTimeMs(void)
 }
 #endif
 
-//TODO: Remove this function
-#ifdef USE_DSHOT_BITBANG
-bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig)
-{
-#if defined(STM32F4) || defined(APM32F4)
-    return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
-        (motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->useDshotTelemetry && motorDevConfig->motorProtocol != MOTOR_PROTOCOL_PROSHOT1000);
-#else
-    return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
-        (motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->motorProtocol != MOTOR_PROTOCOL_PROSHOT1000);
-#endif
-}
-#endif
-
 /* functions below for empty methods and no active motors */
 void motorPostInitNull(void)
 {

src/main/drivers/motor.h

@@ -46,6 +46,9 @@ void motorDevInit(unsigned motorCount);
 unsigned motorDeviceCount(void);
 const motorVTable_t *motorGetVTable(void);
 bool checkMotorProtocolEnabled(const motorDevConfig_t *motorConfig, bool *protocolIsDshot);
+
+motorProtocolFamily_e motorGetProtocolFamily(void);
+
 bool isMotorProtocolDshot(void);
 bool isMotorProtocolBidirDshot(void);
 bool isMotorProtocolEnabled(void);
@@ -58,9 +61,3 @@ bool motorIsMotorEnabled(unsigned index);
 bool motorIsMotorIdle(unsigned index);
 timeMs_t motorGetMotorEnableTimeMs(void);
 void motorShutdown(void); // Replaces stopPwmAllMotors
-
-#ifdef USE_DSHOT_BITBANG
-struct motorDevConfig_s;
-typedef struct motorDevConfig_s motorDevConfig_t;
-bool isDshotBitbangActive(const motorDevConfig_t *motorConfig);
-#endif

src/main/drivers/motor_types.h

@@ -27,6 +27,12 @@
 #define MOTOR_OUTPUT_LIMIT_PERCENT_MIN 1
 #define MOTOR_OUTPUT_LIMIT_PERCENT_MAX 100
 
+typedef enum {
+    MOTOR_PROTOCOL_FAMILY_UNKNOWN = 0,
+    MOTOR_PROTOCOL_FAMILY_PWM,
+    MOTOR_PROTOCOL_FAMILY_DSHOT,
+} motorProtocolFamily_e;
+
 typedef enum {
     MOTOR_PROTOCOL_PWM = 0,
     MOTOR_PROTOCOL_ONESHOT125,

src/main/drivers/pwm_output.c

@@ -0,0 +1,47 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#include "pg/motor.h"
+#include "fc/rc_controls.h" // for flight3DConfig_t
+#include "config/feature.h"
+
+#if defined(USE_PWM_OUTPUT) && defined(USE_MOTOR)
+
+void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
+{
+    if (featureIsEnabled(FEATURE_3D)) {
+        float outputLimitOffset = (flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - outputLimit) / 2;
+        *disarm = flight3DConfig()->neutral3d;
+        *outputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
+        *outputHigh = flight3DConfig()->limit3d_high - outputLimitOffset;
+        *deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
+        *deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
+    } else {
+        *disarm = motorConfig->mincommand;
+        const float minThrottle = motorConfig->mincommand + motorConfig->motorIdle * 0.1f;
+        *outputLow = minThrottle;
+        *outputHigh = motorConfig->maxthrottle - ((motorConfig->maxthrottle - minThrottle) * (1 - outputLimit));
+    }
+}
+
+#endif

src/main/drivers/pwm_output.h

@@ -71,3 +71,4 @@ void pwmWriteServo(uint8_t index, float value);
 
 pwmOutputPort_t *pwmGetMotors(void);
 bool pwmIsSynced(void);
+void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow);

src/platform/STM32/mk/STM32F4.mk

@@ -188,7 +188,6 @@ MCU_COMMON_SRC = \
             STM32/io_stm32.c \
             STM32/light_ws2811strip_stdperiph.c \
             STM32/persistent.c \
-            STM32/pwm_output.c \
             STM32/rcc_stm32.c \
             STM32/sdio_f4xx.c \
             STM32/serial_uart_stdperiph.c \

src/platform/STM32/mk/STM32F7.mk

@@ -157,7 +157,6 @@ MCU_COMMON_SRC = \
             STM32/io_stm32.c \
             STM32/light_ws2811strip_hal.c \
             STM32/persistent.c \
-            STM32/pwm_output.c \
             STM32/pwm_output_dshot_hal.c \
             STM32/rcc_stm32.c \
             STM32/sdio_f7xx.c \

src/platform/STM32/mk/STM32G4.mk

@@ -135,7 +135,6 @@ MCU_COMMON_SRC = \
             STM32/memprot_hal.c \
             STM32/memprot_stm32g4xx.c \
             STM32/persistent.c \
-            STM32/pwm_output.c \
             STM32/pwm_output_dshot_hal.c \
             STM32/rcc_stm32.c \
             STM32/serial_uart_hal.c \

src/platform/STM32/mk/STM32H5.mk

@@ -163,7 +163,6 @@ MCU_COMMON_SRC = \
             STM32/io_stm32.c \
             STM32/light_ws2811strip_hal.c \
             STM32/persistent.c \
-            STM32/pwm_output.c \
             STM32/pwm_output_dshot_hal.c \
             STM32/rcc_stm32.c \
             STM32/serial_uart_hal.c \

src/platform/STM32/mk/STM32H7.mk

@@ -284,7 +284,6 @@ MCU_COMMON_SRC = \
             STM32/memprot_hal.c \
             STM32/memprot_stm32h7xx.c \
             STM32/persistent.c \
-            STM32/pwm_output.c \
             STM32/pwm_output_dshot_hal.c \
             STM32/rcc_stm32.c \
             STM32/sdio_h7xx.c \

src/platform/STM32/mk/STM32_COMMON.mk

@@ -9,10 +9,10 @@ MCU_COMMON_SRC += \
             common/stm32/io_impl.c \
             common/stm32/serial_uart_hw.c \
             common/stm32/dshot_dpwm.c \
+            STM32/pwm_output_hw.c \
             common/stm32/pwm_output_dshot_shared.c \
             common/stm32/dshot_bitbang_shared.c
 
-
 SIZE_OPTIMISED_SRC += \
             common/stm32/config_flash.c \
             common/stm32/bus_spi_pinconfig.c
@@ -21,6 +21,7 @@ SPEED_OPTIMISED_SRC += \
             common/stm32/system.c \
             common/stm32/bus_spi_hw.c \
             common/stm32/pwm_output_dshot_shared.c \
+            STM32/pwm_output_hw.c \
             common/stm32/dshot_bitbang_shared.c \
             common/stm32/io_impl.c
 

src/platform/common/stm32/bus_spi_hw.c

@@ -32,7 +32,7 @@
 #include "drivers/bus_spi.h"
 #include "drivers/bus_spi_impl.h"
 #include "drivers/dma_reqmap.h"
-#include "drivers/motor.h"
+#include "drivers/dshot.h"
 #include "drivers/nvic.h"
 #include "pg/bus_spi.h"
 

src/platform/common/stm32/dshot_bitbang_impl.h

@@ -27,6 +27,7 @@
 #include "drivers/timer.h"
 #include "drivers/motor_types.h"
 #include "drivers/dshot.h"
+#include "pg/motor.h"
 
 #define USE_DMA_REGISTER_CACHE
 

src/platform/common/stm32/dshot_bitbang_shared.c

@@ -43,3 +43,16 @@ bool bbDshotIsMotorIdle(unsigned motorIndex)
     bbMotor_t *const bbmotor = &bbMotors[motorIndex];
     return bbmotor->protocolControl.value == 0;
 }
+
+#ifdef USE_DSHOT_BITBANG
+bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig)
+{
+#if defined(STM32F4) || defined(APM32F4)
+    return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
+        (motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->useDshotTelemetry && motorDevConfig->motorProtocol != MOTOR_PROTOCOL_PROSHOT1000);
+#else
+    return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
+        (motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->motorProtocol != MOTOR_PROTOCOL_PROSHOT1000);
+#endif
+}
+#endif