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Code Issues Wiki Activity

Fix min check // Restore brushed motor support

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This commit is contained in:
borisbstyle 2016-03-01 21:33:59 +01:00
parent 099f4b6fa0
commit 98a1de2b70
5 changed files with 34 additions and 4 deletions
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2
src/main/io/serial_cli.c
View file

@ -559,7 +559,7 @@ const clivalue_t valueTable[] = {
#ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 300, 5000 } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 300, 32000 } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },

2
src/main/main.c
View file

@ -668,7 +668,7 @@ int main(void) {
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);

9
src/main/mw.c
View file

@ -270,8 +270,13 @@ void annexCode(void)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN) * PWM_RANGE_MIN / (PWM_RANGE_MAX - PWM_RANGE_MIN); // [MINCHECK;2000] -> [0;1000]
if (isUsingSticksForArming()) {
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);
} else {
tmp = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - PWM_RANGE_MIN) * PWM_RANGE_MIN / (PWM_RANGE_MAX - PWM_RANGE_MIN); // [MINCHECK;2000] -> [0;1000]
}
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]

5
src/main/scheduler.h
View file

@ -80,6 +80,11 @@ typedef enum {
TASK_TRANSPONDER,
#endif
#ifdef USE_BST
TASK_BST_READ_WRITE,
TASK_BST_MASTER_PROCESS,
#endif
/* Count of real tasks */
TASK_COUNT,

20
src/main/scheduler_tasks.c
View file

@ -40,6 +40,10 @@ void taskTelemetry(void);
void taskLedStrip(void);
void taskTransponder(void);
void taskSystem(void);
#ifdef USE_BST
void taskBstReadWrite(void);
void taskBstMasterProcess(void);
#endif
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
@ -182,4 +186,20 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
#ifdef USE_BST
[TASK_BST_READ_WRITE] = {
.taskName = "BST_MASTER_WRITE",
.taskFunc = taskBstReadWrite,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
[TASK_BST_MASTER_PROCESS] = {
.taskName = "BST_MASTER_PROCESS",
.taskFunc = taskBstMasterProcess,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
};