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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
View file

@ -28,6 +28,7 @@
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5) #define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f) #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
static pwmWriteFuncPtr pwmWritePtr;
static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS]; static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL; static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
@ -35,7 +36,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS]; static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif #endif
bool pwmMotorsEnabled = true; bool pwmMotorsEnabled = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output) 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) void pwmWriteMotor(uint8_t index, uint16_t value)
{ {
if (motors[index].pwmWritePtr) { pwmWritePtr(index, value);
motors[index].pwmWritePtr(index, value);
}
} }
void pwmShutdownPulsesForAllMotors(uint8_t motorCount) 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) void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{ {
uint32_t timerMhzCounter = 0; uint32_t timerMhzCounter = 0;
pwmWriteFuncPtr pwmWritePtr;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm; bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
bool isDigital = false; 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_DSHOT600:
case PWM_TYPE_DSHOT300: case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150: case PWM_TYPE_DSHOT150:
pwmWritePtr = pwmWriteDigital;
pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate; pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
isDigital = true; isDigital = true;
break; break;
@ -225,7 +224,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isDigital) { if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol); pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol);
motors[motorIndex].pwmWritePtr = pwmWriteDigital;
motors[motorIndex].enabled = true; motors[motorIndex].enabled = true;
continue; 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)); IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP); IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
motors[motorIndex].pwmWritePtr = pwmWritePtr;
if (useUnsyncedPwm) { if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000; const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmRate, idlePulse); 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; motors[motorIndex].enabled = true;
} }
pwmMotorsEnabled = true;
} }
pwmOutputPort_t *pwmGetMotors(void) pwmOutputPort_t *pwmGetMotors(void)

1
src/main/drivers/pwm_output.h
View file

@ -88,7 +88,6 @@ typedef struct {
volatile timCCR_t *ccr; volatile timCCR_t *ccr;
TIM_TypeDef *tim; TIM_TypeDef *tim;
uint16_t period; uint16_t period;
pwmWriteFuncPtr pwmWritePtr;
bool enabled; bool enabled;
IO_t io; IO_t io;
} pwmOutputPort_t; } pwmOutputPort_t;

12
src/main/drivers/pwm_output_hal.c
View file

@ -28,6 +28,7 @@
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5) #define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f) #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
static pwmWriteFuncPtr pwmWritePtr;
static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS]; static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL; static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
@ -35,7 +36,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS]; static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif #endif
bool pwmMotorsEnabled = true; bool pwmMotorsEnabled = false;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output) static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{ {
@ -113,9 +114,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, uint16_t value) void pwmWriteMotor(uint8_t index, uint16_t value)
{ {
if (motors[index].pwmWritePtr) { pwmWritePtr(index, value);
motors[index].pwmWritePtr(index, value);
}
} }
void pwmShutdownPulsesForAllMotors(uint8_t motorCount) void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@ -171,7 +170,6 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount) void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{ {
uint32_t timerMhzCounter; uint32_t timerMhzCounter;
pwmWriteFuncPtr pwmWritePtr;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm; bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
bool isDigital = false; bool isDigital = false;
@ -205,6 +203,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
case PWM_TYPE_DSHOT600: case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300: case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150: case PWM_TYPE_DSHOT150:
pwmWritePtr = pwmWriteDigital;
pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate; pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
isDigital = true; isDigital = true;
break; break;
@ -232,7 +231,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isDigital) { if (isDigital) {
pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol); pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol);
motors[motorIndex].pwmWritePtr = pwmWriteDigital;
motors[motorIndex].enabled = true; motors[motorIndex].enabled = true;
continue; continue;
} }
@ -243,7 +241,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
//IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP); //IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction); IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
motors[motorIndex].pwmWritePtr = pwmWritePtr;
if (useUnsyncedPwm) { if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000; const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse); pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse);
@ -252,6 +249,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
} }
motors[motorIndex].enabled = true; motors[motorIndex].enabled = true;
} }
pwmMotorsEnabled = true;
} }
pwmOutputPort_t *pwmGetMotors(void) pwmOutputPort_t *pwmGetMotors(void)