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Code Issues Wiki Activity

Change use_fast_pwm to forced_motor_pwm // New default fixed PWM rates

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This commit is contained in:
borisbstyle 2016-02-28 01:16:59 +01:00
parent a5278740bd
commit 977fec408a
11 changed files with 24 additions and 20 deletions
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2
src/main/config/config.c
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@ -485,7 +485,7 @@ static void resetConf(void)
masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE; masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
#endif #endif
masterConfig.servo_pwm_rate = 50; masterConfig.servo_pwm_rate = 50;
masterConfig.use_fast_pwm = 0; masterConfig.force_motor_pwm_rate = 0;
masterConfig.use_oneshot42 = 0; masterConfig.use_oneshot42 = 0;
#ifdef CC3D #ifdef CC3D
masterConfig.use_buzzer_p6 = 0; masterConfig.use_buzzer_p6 = 0;

6
src/main/config/config_master.h
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@ -36,9 +36,9 @@ typedef struct master_t {
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz) uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz) uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t use_fast_pwm; // Use fast PWM implementation when oneshot enabled uint8_t force_motor_pwm_rate; // Use fixed motor update even when oneshot enabled
uint8_t use_oneshot42; // Oneshot42 uint8_t use_oneshot42; // Oneshot42
uint8_t use_multiShot; // multishot uint8_t use_multiShot; // multishot
#ifdef USE_SERVOS #ifdef USE_SERVOS
servoMixer_t customServoMixer[MAX_SERVO_RULES]; servoMixer_t customServoMixer[MAX_SERVO_RULES];

6
src/main/drivers/pwm_mapping.c
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@ -31,7 +31,7 @@
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse); void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse); void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot); void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot);
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42); void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex); void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse); void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
@ -805,8 +805,8 @@ if (init->useBuzzerP6) {
} }
#endif #endif
if (init->useOneshot) { if (init->useOneshot) {
if (init->useFastPWM) { if (init->useFixedPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot); pwmFixedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot);
} else if (init->useMultiShot) { } else if (init->useMultiShot) {
pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount); pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else { } else {

2
src/main/drivers/pwm_mapping.h
View file

@ -60,7 +60,7 @@ typedef struct drv_pwm_config_s {
#endif #endif
bool useVbat; bool useVbat;
bool useOneshot; bool useOneshot;
bool useFastPWM; bool useFixedPWM;
bool useOneshot42; bool useOneshot42;
bool useMultiShot; bool useMultiShot;
bool useSoftSerial; bool useSoftSerial;

2
src/main/drivers/pwm_output.c
View file

@ -205,7 +205,7 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
motors[motorIndex]->pwmWritePtr = pwmWriteStandard; motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
} }
void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot) void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot)
{ {
uint32_t hz; uint32_t hz;
if (useMultiShot) { if (useMultiShot) {

6
src/main/flight/mixer.c
View file

@ -633,7 +633,7 @@ void writeServos(void)
} }
#endif #endif
void writeMotors(void) void writeMotors(uint8_t useMotorPwmRate)
{ {
uint8_t i; uint8_t i;
@ -641,7 +641,7 @@ void writeMotors(void)
pwmWriteMotor(i, motor[i]); pwmWriteMotor(i, motor[i]);
if (feature(FEATURE_ONESHOT125)) { if (feature(FEATURE_ONESHOT125) && useMotorPwmRate) {
pwmCompleteOneshotMotorUpdate(motorCount); pwmCompleteOneshotMotorUpdate(motorCount);
} }
} }
@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
// Sends commands to all motors // Sends commands to all motors
for (i = 0; i < motorCount; i++) for (i = 0; i < motorCount; i++)
motor[i] = mc; motor[i] = mc;
writeMotors(); writeMotors(0);
} }
void stopMotors(void) void stopMotors(void)

2
src/main/flight/mixer.h
View file

@ -218,6 +218,6 @@ int servoDirection(int servoIndex, int fromChannel);
#endif #endif
void mixerResetDisarmedMotors(void); void mixerResetDisarmedMotors(void);
void mixTable(void); void mixTable(void);
void writeMotors(void); void writeMotors(uint8_t useMotorPwmRate);
void stopMotors(void); void stopMotors(void);
void StopPwmAllMotors(void); void StopPwmAllMotors(void);

2
src/main/io/serial_cli.c
View file

@ -550,7 +550,7 @@ const clivalue_t valueTable[] = {
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, { "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, { "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "use_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_fast_pwm, .config.lookup = { TABLE_OFF_ON } }, { "force_motor_pwm_rate", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.force_motor_pwm_rate, .config.lookup = { TABLE_OFF_ON } },
{ "use_oneshot42", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } }, { "use_oneshot42", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
{ "use_multishot", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } }, { "use_multishot", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
#ifdef CC3D #ifdef CC3D

10
src/main/io/serial_msp.c
View file

@ -165,10 +165,14 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider); masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
if (looptime < 1000) { if (looptime < 1000) {
masterConfig.use_fast_pwm = 1; masterConfig.force_motor_pwm_rate = 1;
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)); if (masterConfig.use_multiShot || masterConfig.use_oneshot42) {
masterConfig.motor_pwm_rate = 4200;
} else {
masterConfig.motor_pwm_rate = 2700;
}
} else { } else {
masterConfig.use_fast_pwm = 0; masterConfig.force_motor_pwm_rate = 0;
} }
} }
} }

4
src/main/main.c
View file

@ -310,7 +310,7 @@ void init(void)
#endif #endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125); pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false; pwm_params.useFixedPWM = masterConfig.force_motor_pwm_rate ? true : false;
if (masterConfig.use_oneshot42) { if (masterConfig.use_oneshot42) {
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false; pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false; masterConfig.use_multiShot = false;
@ -321,7 +321,7 @@ void init(void)
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand; pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D)) if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d; pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !masterConfig.use_fast_pwm) if (pwm_params.motorPwmRate > 500 && !masterConfig.force_motor_pwm_rate)
pwm_params.idlePulse = 0; // brushed motors pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D #ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false; pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;

2
src/main/mw.c
View file

@ -746,7 +746,7 @@ void taskMainPidLoopCheck(void) {
debug[3] = motorCycleTime - targetPidLooptime; debug[3] = motorCycleTime - targetPidLooptime;
} }
writeMotors(); writeMotors(masterConfig.force_motor_pwm_rate);
} }
while (true) { while (true) {