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Refactor pwmDshotSetDirectionOutput.

Browse source 
Refactoring steps were as follows:
* Duplicate pwmDshotSetDirectionOutput to pwmDshotSetDirectionInput and
remove `output` variable in preparation for removing the `output` variable from each method.
* Delete all trace of `output` flag from `pwmDshotSetDirectionInput`
* Delete all trace of `output` flag from `pwmDshotSetDirectionOutput`
* Cleanup now that pwmDshotSetDirectionInput is only called when USE_DSHOT_TELEMETRY is
enabled.
* Remove redundant code paths.
* Move #ifdef outside the method.
* Removed parameters that are never needed.
* Delete unneeded forward declarations.
This commit is contained in:
Dominic Clifton 2019-08-27 21:35:50 +02:00
parent 4f923e4827
commit a8262722d5
4 changed files with 93 additions and 83 deletions
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94
src/main/drivers/pwm_output_dshot.c
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@ -66,7 +66,7 @@ void dshotEnableChannels(uint8_t motorCount)
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
FAST_CODE void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
motorDmaOutput_t * const motor
#ifndef USE_DSHOT_TELEMETRY
,TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
#endif
@ -91,60 +91,70 @@ FAST_CODE void pwmDshotSetDirectionOutput(
xDMA_DeInit(dmaRef);
#ifdef USE_DSHOT_TELEMETRY
if (!output) {
motor->isInput = true;
if (!inputStampUs) {
inputStampUs = micros();
}
TIM_ARRPreloadConfig(timer, ENABLE);
timer->ARR = 0xffffffff;
TIM_ICInit(timer, &motor->icInitStruct);
#if defined(STM32F3)
motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralSRC;
motor->dmaInitStruct.DMA_M2M = DMA_M2M_Disable;
#elif defined(STM32F4)
motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
motor->isInput = false;
#endif
} else
#else
UNUSED(output);
#endif
{
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = false;
#endif
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
timerOCInit(timer, timerHardware->channel, pOcInit);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
timerOCInit(timer, timerHardware->channel, pOcInit);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
if (useBurstDshot) {
#if defined(STM32F3)
pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
#else
pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
#endif
} else
} else
#endif
{
{
#if defined(STM32F3)
pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
pDmaInit->DMA_M2M = DMA_M2M_Disable;
pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
pDmaInit->DMA_M2M = DMA_M2M_Disable;
#elif defined(STM32F4)
pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
#endif
}
}
xDMA_Init(dmaRef, pDmaInit);
if (output) {
xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
}
xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
}
#ifdef USE_DSHOT_TELEMETRY
FAST_CODE void pwmDshotSetDirectionInput(
motorDmaOutput_t * const motor
)
{
DMA_InitTypeDef* pDmaInit = &motor->dmaInitStruct;
const timerHardware_t * const timerHardware = motor->timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
dmaResource_t *dmaRef = motor->dmaRef;
xDMA_DeInit(dmaRef);
motor->isInput = true;
if (!inputStampUs) {
inputStampUs = micros();
}
TIM_ARRPreloadConfig(timer, ENABLE);
timer->ARR = 0xffffffff;
TIM_ICInit(timer, &motor->icInitStruct);
#if defined(STM32F3)
motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralSRC;
motor->dmaInitStruct.DMA_M2M = DMA_M2M_Disable;
#elif defined(STM32F4)
motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
#endif
xDMA_Init(dmaRef, pDmaInit);
}
#endif
void pwmCompleteDshotMotorUpdate(void)
{
/* If there is a dshot command loaded up, time it correctly with motor update*/
@ -194,7 +204,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false);
pwmDshotSetDirectionInput(motor);
xDMA_SetCurrDataCounter(motor->dmaRef, GCR_TELEMETRY_INPUT_LEN);
xDMA_Cmd(motor->dmaRef, ENABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, ENABLE);
@ -392,9 +402,9 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
(16 * MOTOR_BITLENGTH) / getDshotHz(pwmProtocolType);
motor->timer->outputPeriod = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
pwmDshotSetDirectionOutput(motor, true);
pwmDshotSetDirectionOutput(motor);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);
pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
#endif
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {