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Make burst and non-burst runtime configurable

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This commit is contained in:
jflyper 2018-02-01 22:44:31 +09:00
parent 5866a1a662
commit 9475988218
16 changed files with 262 additions and 219 deletions
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15
src/main/drivers/pwm_output.h
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@ -109,7 +109,7 @@ typedef enum {
typedef struct {
TIM_TypeDef *timer;
#if defined(USE_DSHOT_DMAR)
#if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR)
#if !defined(USE_HAL_DRIVER)
#ifdef STM32F3
DMA_Channel_TypeDef *dmaBurstRef;
@ -118,18 +118,18 @@ typedef struct {
#endif
uint16_t dmaBurstLength;
#endif
uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
#else
uint16_t timerDmaSources;
#endif
uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
uint16_t timerDmaSources;
} motorDmaTimer_t;
typedef struct {
ioTag_t ioTag;
const timerHardware_t *timerHardware;
uint16_t value;
#if !defined(USE_DSHOT_DMAR)
#ifdef USE_DSHOT
uint16_t timerDmaSource;
bool configured;
#endif
motorDmaTimer_t *timer;
volatile bool requestTelemetry;
@ -170,9 +170,14 @@ typedef struct motorDevConfig_s {
uint8_t motorPwmProtocol; // Pwm Protocol
uint8_t motorPwmInversion; // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
uint8_t useUnsyncedPwm;
#ifdef USE_DSHOT_DMAR
uint8_t useBurstDshot;
#endif
ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
} motorDevConfig_t;
extern bool useBurstDshot;
void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount);
typedef struct servoDevConfig_s {