Rework Fast PWM protocol configuration and timing

src/main/config/config.c

@@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 134;
+static const uint8_t EEPROM_CONF_VERSION = 135;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -190,8 +190,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_lpf_hz = 80;    // filtering ON by default
     pidProfile->dynamic_pterm = 1;
 
-    pidProfile->H_sensitivity = 75;  // TODO - Cleanup during next EEPROM changes
-
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
     pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
@@ -485,7 +483,8 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     masterConfig.servo_pwm_rate = 50;
-    masterConfig.use_oneshot42 = 0;
+    masterConfig.fast_pwm_protocol = 0;
+    masterConfig.use_unsyncedPwm = 0;
 #ifdef CC3D
     masterConfig.use_buzzer_p6 = 0;
 #endif
@@ -500,11 +499,7 @@ static void resetConf(void)
 
     resetSerialConfig(&masterConfig.serialConfig);
 
-#if defined(STM32F10X) && !defined(CC3D)
+    masterConfig.emf_avoidance = 0; // TODO - needs removal
-    masterConfig.emf_avoidance = 1;
-#else
-    masterConfig.emf_avoidance = 0;
-#endif
 
     resetPidProfile(&currentProfile->pidProfile);
 	

src/main/config/config_master.h

@@ -34,8 +34,8 @@ typedef struct master_t {
 
     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)
-    uint8_t use_oneshot42;                  // Oneshot42
+    uint8_t fast_pwm_protocol;              // Fast Pwm Protocol
-    uint8_t use_multiShot;                  // multishot
+    uint8_t use_unsyncedPwm;                // unsync fast pwm protocol from PID loop
 
 #ifdef USE_SERVOS
     servoMixer_t customServoMixer[MAX_SERVO_RULES];

src/main/drivers/pwm_mapping.c

@@ -31,8 +31,7 @@
 
 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 pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse);
-void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
 /*
@@ -912,7 +911,7 @@ if (init->useBuzzerP6) {
 
         if (type == MAP_TO_PPM_INPUT) {
 #if defined(SPARKY) || defined(ALIENFLIGHTF3)
-            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
+            if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)) {
                 ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
             }
 #endif
@@ -923,18 +922,14 @@ if (init->useBuzzerP6) {
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
 
 #ifdef CC3D
-            if (init->useOneshot || isMotorBrushed(init->motorPwmRate)){
+            if (init->useFastPwm || isMotorBrushed(init->motorPwmRate)){
             	// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
             	if (timerHardwarePtr->tim == TIM2)
             		continue;
             }
 #endif
-            if (init->useOneshot) {
+            if (init->useFastPwm) {
-                if (init->useMultiShot) {
+                pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->fastPwmProtocolType, init->motorPwmRate, init->useUnsyncedPwm, init->idlePulse);
-                    pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
-                } else {
-                    pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);
-                }
                 pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM ;
             } else if (isMotorBrushed(init->motorPwmRate)) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

src/main/drivers/pwm_mapping.h

@@ -36,9 +36,11 @@
 #define MAX_INPUTS  8
 
 #define PWM_TIMER_MHZ 1
-#define ONESHOT_TIMER_MHZ 24
+
 #define PWM_BRUSHED_TIMER_MHZ 8
 #define MULTISHOT_TIMER_MHZ 12
+#define ONESHOT42_TIMER_MHZ 24
+#define ONESHOT125_TIMER_MHZ 8
 
 typedef struct sonarGPIOConfig_s {
     GPIO_TypeDef *gpio;
@@ -59,9 +61,8 @@ typedef struct drv_pwm_config_s {
     bool useUART3;
 #endif
     bool useVbat;
-    bool useOneshot;
+    bool useFastPwm;
-    bool useOneshot42;
+    bool useUnsyncedPwm;
-    bool useMultiShot;
     bool useSoftSerial;
     bool useLEDStrip;
 #ifdef SONAR
@@ -70,6 +71,7 @@ typedef struct drv_pwm_config_s {
 #ifdef USE_SERVOS
     bool useServos;
     bool useChannelForwarding;    // configure additional channels as servos
+    uint8_t fastPwmProtocolType;
     uint16_t servoPwmRate;
     uint16_t servoCenterPulse;
 #endif

src/main/drivers/pwm_output.c

@@ -135,27 +135,6 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
 {
     *motors[index]->ccr = value;
 }
-#if defined(STM32F10X) && !defined(CC3D)
-static void pwmWriteOneshot125(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 21 / 6;  // 24Mhz -> 8Mhz
-}
-
-static void pwmWriteOneshot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 7 / 6;
-}
-#else
-static void pwmWriteOneshot125(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value * 3;  // 24Mhz -> 8Mhz
-}
-
-static void pwmWriteOneshot42(uint8_t index, uint16_t value)
-{
-    *motors[index]->ccr = value;
-}
-#endif
 
 static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 {
@@ -227,20 +206,30 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
+void pwmFastPwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t fastPwmProtocolType, uint16_t motorPwmRate, uint8_t useUnsyncedPwm, uint16_t idlePulse)
 {
-    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, 0xFFFF, 0);
+    uint32_t timerMhzCounter;
-    if (useOneshot42) {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
-    } else {
-        motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
-    }
-}
 
-void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
+    switch (fastPwmProtocolType) {
-{
+        default:
-    motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, 0xFFFF, 0);
+        case (PWM_TYPE_ONESHOT125):
-    motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
+            timerMhzCounter = ONESHOT125_TIMER_MHZ;
+            break;
+        case (PWM_TYPE_ONESHOT42):
+            timerMhzCounter = ONESHOT42_TIMER_MHZ;
+            break;
+        case (PWM_TYPE_MULTISHOT):
+            timerMhzCounter = MULTISHOT_TIMER_MHZ;
+    }
+
+    if (useUnsyncedPwm) {
+        uint32_t hz = timerMhzCounter * 1000000;
+        motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse);
+    } else {
+        motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, 0xFFFF, 0);
+    }
+
+    motors[motorIndex]->pwmWritePtr = (fastPwmProtocolType == PWM_TYPE_MULTISHOT) ? pwmWriteMultiShot : pwmWriteStandard;
 }
 
 #ifdef USE_SERVOS

src/main/drivers/pwm_output.h

@@ -17,6 +17,12 @@
 
 #pragma once
 
+typedef enum {
+  PWM_TYPE_ONESHOT125 = 0,
+  PWM_TYPE_ONESHOT42 = 1,
+  PWM_TYPE_MULTISHOT = 2
+} FastPwmProtocolTypes_e;
+
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);

src/main/flight/mixer.c

@@ -633,7 +633,7 @@ void writeServos(void)
 }
 #endif
 
-void writeMotors(void)
+void writeMotors(uint8_t unsyncedPwm)
 {
     uint8_t i;
 
@@ -641,7 +641,7 @@ void writeMotors(void)
         pwmWriteMotor(i, motor[i]);
 
 
-    if (feature(FEATURE_ONESHOT125)) {
+    if (feature(FEATURE_ONESHOT125) && !unsyncedPwm) {
         pwmCompleteOneshotMotorUpdate(motorCount);
     }
 }
@@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
     // Sends commands to all motors
     for (i = 0; i < motorCount; i++)
         motor[i] = mc;
-    writeMotors();
+    writeMotors(1);
 }
 
 void stopMotors(void)

src/main/flight/mixer.h

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

src/main/io/serial_cli.c

@@ -442,6 +442,10 @@ static const char * const lookupTableSuperExpoYaw[] = {
     "OFF", "ON", "ALWAYS"
 };
 
+static const char * const lookupTableFastPwm[] = {
+    "ONESHOT125", "ONESHOT42", "MULTISHOT"
+};
+
 typedef struct lookupTableEntry_s {
     const char * const *values;
     const uint8_t valueCount;
@@ -468,6 +472,7 @@ typedef enum {
     TABLE_MAG_HARDWARE,
 	TABLE_DEBUG,
     TABLE_SUPEREXPO_YAW,
+    TABLE_FAST_PWM,
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -490,7 +495,8 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableBaroHardware, sizeof(lookupTableBaroHardware) / sizeof(char *) },
     { lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
     { lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
-    { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) }
+    { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
+    { lookupTableFastPwm, sizeof(lookupTableFastPwm) / sizeof(char *) },
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -566,12 +572,12 @@ const clivalue_t valueTable[] = {
     { "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 } },
 
-    { "use_oneshot42",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
+    { "unsynced_fast_pwm",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
-    { "use_multishot",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
+    { "fast_pwm_protocol",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.fast_pwm_protocol, .config.lookup = { TABLE_FAST_PWM } },
 #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,  32000 } },
+    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 200,  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 } },

src/main/io/serial_msp.c

@@ -172,7 +172,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
         }
 #endif
 
-        if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125)) masterConfig.pid_process_denom = 3;
+        // Oneshot125 protection
+        if ((masterConfig.fast_pwm_protocol == 0) && ((masterConfig.gyro_sync_denom * gyroSampleRate) == 125) && masterConfig.pid_process_denom < 3) masterConfig.pid_process_denom = 3;
     }
 }
 

src/main/main.c

@@ -176,7 +176,7 @@ void init(void)
 #ifdef STM32F10X
     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
     // Configure the Flash Latency cycles and enable prefetch buffer
-    SetSysClock(masterConfig.emf_avoidance);
+    SetSysClock(0); // TODO - Remove from config in the future
 #endif
     //i2cSetOverclock(masterConfig.i2c_overclock);
 
@@ -311,18 +311,14 @@ void init(void)
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 #endif
 
-    pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
+    pwm_params.useFastPwm = feature(FEATURE_ONESHOT125);  // Configurator feature abused for enabling Fast PWM
-    if (masterConfig.use_oneshot42) {
+    pwm_params.fastPwmProtocolType = masterConfig.fast_pwm_protocol;
-        pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
-        masterConfig.use_multiShot = false;
-    } else {
-        pwm_params.useMultiShot = masterConfig.use_multiShot ? true : false;
-    }
     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
+    pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    if (pwm_params.motorPwmRate > 500)
+    if (pwm_params.motorPwmRate > 500 && !pwm_params.useFastPwm)
         pwm_params.idlePulse = 0; // brushed motors
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;

src/main/mw.c

@@ -755,7 +755,7 @@ void subTaskMotorUpdate(void)
 #endif
 
     if (motorControlEnable) {
-        writeMotors();
+        writeMotors(masterConfig.use_unsyncedPwm);
     }
     if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
 }