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Code Issues Wiki Activity

Moved pwmWritePtr out of pwm_output motors[] array

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This commit is contained in:
Martin Budden 2016-12-14 22:59:39 +00:00
parent ae1944b78c
commit 99760469d8
3 changed files with 10 additions and 15 deletions
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12
src/main/drivers/pwm_output.c
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@ -28,6 +28,7 @@
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
static pwmWriteFuncPtr pwmWritePtr;
static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
@ -35,7 +36,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif
bool pwmMotorsEnabled = true;
bool pwmMotorsEnabled = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
@ -101,9 +102,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (motors[index].pwmWritePtr) {
motors[index].pwmWritePtr(index, value);
}
pwmWritePtr(index, value);
}
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@ -162,7 +161,6 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{
uint32_t timerMhzCounter = 0;
pwmWriteFuncPtr pwmWritePtr;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
bool isDigital = false;
@ -196,6 +194,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
pwmWritePtr = pwmWriteDigital;
pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
isDigital = true;
break;
@ -225,7 +224,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#ifdef USE_DSHOT
if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol);
motors[motorIndex].pwmWritePtr = pwmWriteDigital;
motors[motorIndex].enabled = true;
continue;
}
@ -234,7 +232,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
motors[motorIndex].pwmWritePtr = pwmWritePtr;
if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse);
@ -243,6 +240,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
}
motors[motorIndex].enabled = true;
}
pwmMotorsEnabled = true;
}
pwmOutputPort_t *pwmGetMotors(void)