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Code Issues Wiki Activity

Disambiguate MAX_MOTORS and MAX_SUPPORTED_MOTORS

Browse source 
Achieved by renaming MAX_MOTORS to MAX_PWM_MOTORS

Disambiguate MAX_MOTORS and MAX_SUPPORTED_SERVOS
Achieved by renaming MAX_SERVOS to MAX_PWM_SERVOS

It now shows there is a dependency on the pwm driver if MAX_PWM_* is
used.

Coupled pwm_common and timer_common by using USABLE_TIMER_CHANNEL_COUNT
since the current pwm driver and timer driver is only usable by the
STM32F103.
This commit is contained in:
Dominic Clifton 2014-04-23 21:04:39 +01:00
parent a5f0999c26
commit aa84439b21
8 changed files with 25 additions and 24 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/build_config.c
View file

@ -17,11 +17,11 @@
#include "serial_common.h"
#if MAX_MOTORS != MAX_SUPPORTED_MOTORS
#if MAX_PWM_MOTORS != MAX_SUPPORTED_MOTORS
#error Motor configuration mismatch
#endif
#if MAX_SERVOS != MAX_SUPPORTED_SERVOS
#if MAX_PWM_SERVOS != MAX_SUPPORTED_SERVOS
#error Servo configuration mismatch
#endif

12
src/drivers/pwm_common.c
View file

@ -65,10 +65,10 @@ enum {
typedef void (* pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
static pwmPortData_t pwmPorts[MAX_PORTS];
static uint16_t captures[MAX_INPUTS];
static pwmPortData_t *motors[MAX_MOTORS];
static pwmPortData_t *servos[MAX_SERVOS];
static pwmPortData_t pwmPorts[USABLE_TIMER_CHANNEL_COUNT];
static uint16_t captures[MAX_PPM_AND_PWM_INPUTS];
static pwmPortData_t *motors[MAX_PWM_MOTORS];
static pwmPortData_t *servos[MAX_PWM_SERVOS];
static pwmWriteFuncPtr pwmWritePtr = NULL;
static uint8_t numMotors = 0;
static uint8_t numServos = 0;
@ -269,7 +269,7 @@ static void ppmCallback(uint8_t port, uint16_t capture)
if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
chan = 0;
} else {
if (diff > 750 && diff < 2250 && chan < MAX_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
if (diff > 750 && diff < 2250 && chan < MAX_PPM_AND_PWM_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
captures[chan] = diff;
if (chan < 4 && diff > failsafeThreshold)
GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
@ -330,7 +330,7 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe)
setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++) {
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0;

11
src/drivers/pwm_common.h
View file

@ -1,8 +1,8 @@
#pragma once
#define MAX_MOTORS 12
#define MAX_SERVOS 8
#define MAX_INPUTS 8
#define MAX_PWM_MOTORS 12
#define MAX_PWM_SERVOS 8
#define MAX_PPM_AND_PWM_INPUTS 8
#define PULSE_1MS (1000) // 1ms pulse width
@ -23,7 +23,7 @@ typedef struct drv_pwm_config_t {
uint16_t failsafeThreshold;
} drv_pwm_config_t;
// This indexes into the read-only hardware definition structure in drv_pwm.c, as well as into pwmPorts[] structure with dynamic data.
// This indexes into the read-only hardware definition structure, timerHardware_t, as well as into pwmPorts structure with dynamic data.
enum {
PWM1 = 0,
PWM2,
@ -38,8 +38,7 @@ enum {
PWM11,
PWM12,
PWM13,
PWM14,
MAX_PORTS
PWM14
};
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);

2
src/drivers/timer_common.c
View file

@ -49,7 +49,7 @@
TIM4 4 channels
*/
const timerHardware_t timerHardware[] = {
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2
{ TIM2, GPIOA, Pin_2, TIM_Channel_3, TIM2_IRQn, 0, }, // PWM3

2
src/drivers/timer_common.h
View file

@ -1,5 +1,7 @@
#pragma once
#define USABLE_TIMER_CHANNEL_COUNT 14
typedef void timerCCCallbackPtr(uint8_t port, uint16_t capture);
typedef struct {

6
src/flight_mixer.c
View file

@ -10,7 +10,7 @@
static uint8_t numberMotor = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
static int useServo;
@ -165,7 +165,7 @@ int16_t determineServoMiddleOrForwardFromChannel(int nr)
return rcData[channelToForwardFrom];
}
if (nr < MAX_SERVOS) {
if (nr < MAX_SUPPORTED_SERVOS) {
return currentProfile.servoConf[nr].middle;
}
@ -480,7 +480,7 @@ void mixTable(void)
}
// constrain servos
for (i = 0; i < MAX_SERVOS; i++)
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
servo[i] = constrain(servo[i], currentProfile.servoConf[i].min, currentProfile.servoConf[i].max); // limit the values
// forward AUX1-4 to servo outputs (not constrained)

2
src/mw.h
View file

@ -52,7 +52,7 @@ extern int32_t vario;
extern int16_t throttleAngleCorrection;
extern int16_t headFreeModeHold;
extern int16_t motor[MAX_SUPPORTED_MOTORS];
extern int16_t servo[MAX_SERVOS];
extern int16_t servo[MAX_SUPPORTED_SERVOS];
extern uint16_t rssi; // range: [0;1023]
extern int16_t telemTemperature1; // gyro sensor temperature
extern uint8_t toggleBeep;

10
src/serial_msp.c
View file

@ -425,7 +425,7 @@ static void evaluateCommand(void)
break;
case MSP_SERVO_CONF:
headSerialReply(56);
for (i = 0; i < MAX_SERVOS; i++) {
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile.servoConf[i].min);
serialize16(currentProfile.servoConf[i].max);
serialize16(currentProfile.servoConf[i].middle);
@ -434,12 +434,12 @@ static void evaluateCommand(void)
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile.servoConf[i].min = read16();
currentProfile.servoConf[i].max = read16();
// provide temporary support for old clients that try and send a channel index instead of a servo middle
uint16_t potentialServoMiddleOrChannelToForward = read16();
if (potentialServoMiddleOrChannelToForward < MAX_SERVOS) {
if (potentialServoMiddleOrChannelToForward < MAX_SUPPORTED_SERVOS) {
currentProfile.servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
}
if (potentialServoMiddleOrChannelToForward >= PWM_RANGE_MIN && potentialServoMiddleOrChannelToForward <= PWM_RANGE_MAX) {
@ -450,13 +450,13 @@ static void evaluateCommand(void)
break;
case MSP_CHANNEL_FORWARDING:
headSerialReply(8);
for (i = 0; i < MAX_SERVOS; i++) {
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize8(currentProfile.servoConf[i].forwardFromChannel);
}
break;
case MSP_SET_CHANNEL_FORWARDING:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile.servoConf[i].forwardFromChannel = read8();
}
break;