mirror of
https://github.com/betaflight/betaflight.git
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CJMCU - Update PPM/PWM mappings.
Bench tested for PPM & 4 Motor outputs only.
This commit is contained in:
Dominic Clifton
parent
871f3024af
commit
acc285be4a
1 changed files with 127 additions and 122 deletions
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@ -63,161 +63,166 @@
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*/
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enum {
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TYPE_IP = 1,
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TYPE_IW,
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TYPE_M,
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TYPE_S,
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MAP_TO_PPM_INPUT = 1,
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MAP_TO_PWM_INPUT,
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MAP_TO_MOTOR_OUTPUT,
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MAP_TO_SERVO_OUTPUT,
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};
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#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY)
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM9 | (TYPE_M << 8), // Swap to servo if needed
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PWM10 | (TYPE_M << 8), // Swap to servo if needed
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8), // Swap to servo if needed
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PWM6 | (TYPE_M << 8), // Swap to servo if needed
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PWM7 | (TYPE_M << 8), // Swap to servo if needed
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PWM8 | (TYPE_M << 8), // Swap to servo if needed
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (TYPE_M << 8), // motor #1 or #3
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8), // motor #4 or #6
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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PWM5 | (TYPE_S << 8), // servo #5
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PWM6 | (TYPE_S << 8),
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PWM7 | (TYPE_S << 8),
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PWM8 | (TYPE_S << 8), // servo #8
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
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0xFFFF
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};
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static const uint16_t airPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CC3D
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM7 | (TYPE_M << 8), // Swap to servo if needed
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PWM8 | (TYPE_M << 8), // Swap to servo if needed
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PWM9 | (TYPE_M << 8),
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PWM10 | (TYPE_M << 8),
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8),
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PWM2 | (TYPE_M << 8), // Swap to servo if needed
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PWM3 | (TYPE_M << 8), // Swap to servo if needed
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PWM4 | (TYPE_M << 8), // Swap to servo if needed
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PWM5 | (TYPE_M << 8), // Swap to servo if needed
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PWM6 | (TYPE_M << 8), // Swap to servo if needed
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8), // input #6
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PWM7 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (TYPE_M << 8), // motor #1 or #3
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PWM10 | (TYPE_M << 8),
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8), // motor #4 or #6
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM7 | (TYPE_M << 8),
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PWM8 | (TYPE_M << 8),
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PWM9 | (TYPE_S << 8),
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PWM10 | (TYPE_S << 8),
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PWM11 | (TYPE_S << 8),
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PWM12 | (TYPE_S << 8),
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PWM2 | (TYPE_S << 8),
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PWM3 | (TYPE_S << 8),
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PWM4 | (TYPE_S << 8),
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PWM5 | (TYPE_S << 8),
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PWM6 | (TYPE_S << 8),
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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0xFFFF
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};
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static const uint16_t airPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8), // input #6
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PWM7 | (TYPE_M << 8), // motor #1
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PWM8 | (TYPE_M << 8), // motor #2
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PWM9 | (TYPE_S << 8), // servo #1
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PWM10 | (TYPE_S << 8), // servo #2
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PWM11 | (TYPE_S << 8), // servo #3
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PWM12 | (TYPE_S << 8), // servo #4
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CJMCU
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_M << 8),
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PWM3 | (TYPE_M << 8),
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PWM4 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8),
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_M << 8),
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PWM3 | (TYPE_M << 8),
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PWM4 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8),
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM9 | (MAP_TO_PWM_INPUT << 8),
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PWM10 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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@ -322,27 +327,27 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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#endif
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// hacks to allow current functionality
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if (type == TYPE_IW && !init->useParallelPWM)
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if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
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type = 0;
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if (type == TYPE_IP && !init->usePPM)
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if (type == MAP_TO_PPM_INPUT && !init->usePPM)
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type = 0;
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if (init->useServos && !init->airplane) {
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#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
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// remap PWM9+10 as servos
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if (timerIndex == PWM9 || timerIndex == PWM10)
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type = TYPE_S;
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type = MAP_TO_SERVO_OUTPUT;
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#endif
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#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
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// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
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if (init->useSoftSerial) {
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if (timerIndex == PWM5 || timerIndex == PWM6)
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type = TYPE_S;
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type = MAP_TO_SERVO_OUTPUT;
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} else {
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if (timerIndex == PWM9 || timerIndex == PWM10)
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type = TYPE_S;
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type = MAP_TO_SERVO_OUTPUT;
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}
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#endif
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}
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@ -350,22 +355,22 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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if (init->extraServos && !init->airplane) {
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// remap PWM5..8 as servos when used in extended servo mode
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if (timerIndex >= PWM5 && timerIndex <= PWM8)
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type = TYPE_S;
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type = MAP_TO_SERVO_OUTPUT;
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}
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if (type == TYPE_IP) {
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if (type == MAP_TO_PPM_INPUT) {
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ppmInConfig(timerHardwarePtr);
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} else if (type == TYPE_IW) {
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} else if (type == MAP_TO_PWM_INPUT) {
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pwmInConfig(timerHardwarePtr, channelIndex);
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channelIndex++;
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} else if (type == TYPE_M) {
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} else if (type == MAP_TO_MOTOR_OUTPUT) {
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if (init->motorPwmRate > 500) {
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pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
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} else {
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pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
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}
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pwmOutputConfiguration.motorCount++;
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} else if (type == TYPE_S) {
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} else if (type == MAP_TO_SERVO_OUTPUT) {
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pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
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pwmOutputConfiguration.servoCount++;
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}
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