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Allowing oneshot125 functionality to work on a Naze board.

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This code has been flight tested, but will have problems on a CC3D board, and also when the looptime is longer than 8200 uS.
This commit is contained in:
Ben Hitchcock 2014-11-22 22:53:36 +08:00
parent f5a579de14
commit 94c5573c39
6 changed files with 37 additions and 4 deletions
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32
src/main/drivers/pwm_output.c
View file

@ -27,6 +27,8 @@
#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
#include "config/config.h" // FIXME dependency into the main code from a driver
#include "pwm_mapping.h"
#include "pwm_output.h"
@ -35,6 +37,7 @@ typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function poi
typedef struct {
volatile timCCR_t *ccr;
volatile timCNT_t *cnt;
uint16_t period;
pwmWriteFuncPtr pwmWritePtr;
} pwmOutputPort_t;
@ -43,6 +46,7 @@ static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
static volatile uint16_t* lastCounterPtr;
#define PWM_BRUSHED_TIMER_MHZ 8
@ -116,6 +120,7 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
break;
}
p->period = period;
p->cnt = &timerHardware->tim->CNT;
return p;
}
@ -127,7 +132,7 @@ 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)
@ -136,6 +141,23 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
motors[index]->pwmWritePtr(index, value);
}
void pwmFinishedWritingMotors(uint8_t numberMotors)
{
uint8_t index;
if(feature(FEATURE_ONESHOT125)){
for(index = 0; index < numberMotors; index++){
// Set the counter to overflow if it's the first motor to output, or if we change timers
if((index == 0) || (motors[index]->cnt != lastCounterPtr)){
lastCounterPtr = motors[index]->cnt;
*motors[index]->cnt = 0xfffe;
}
}
}
}
void pwmWriteServo(uint8_t index, uint16_t value)
{
if (servos[index] && index < MAX_SERVOS)
@ -154,7 +176,13 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_TIMER_MHZ * 1000000;
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;
}