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Code Issues Wiki Activity

FIX: Merge issue with PWM motors

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This commit is contained in:
blckmn 2025-04-01 22:34:04 +11:00
parent 8f4ec7c331
commit add56ec155
1 changed files with 8 additions and 8 deletions
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16
src/platform/PICO/pwm_pico.c
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@ -72,13 +72,13 @@ bool pwmEnableMotors(void)
bool pwmIsMotorEnabled(unsigned index) bool pwmIsMotorEnabled(unsigned index)
{ {
return motors[index].enabled; return pwmMotors[index].enabled;
} }
static void pwmWriteStandard(uint8_t index, float value) static void pwmWriteStandard(uint8_t index, float value)
{ {
/* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */ /* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
pwm_set_chan_level(picoPwmMotors[index].slice, picoPwmMotors[index].channel, lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset)); pwm_set_chan_level(picoPwmMotors[index].slice, picoPwmMotors[index].channel, lrintf((value * pwmMotors[index].pulseScale) + pwmMotors[index].pulseOffset));
} }
static void pwmCompleteMotorUpdate(void) static void pwmCompleteMotorUpdate(void)
@ -127,7 +127,7 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
pwmMotorCount = device->count; pwmMotorCount = device->count;
memset(motors, 0, sizeof(motors)); memset(pwmMotors, 0, sizeof(pwmMotors));
if (!device || !motorConfig) { if (!device || !motorConfig) {
return false; return false;
@ -170,13 +170,13 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex]; const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
const ioTag_t tag = motorConfig->ioTags[reorderedMotorIndex]; const ioTag_t tag = motorConfig->ioTags[reorderedMotorIndex];
motors[motorIndex].io = IOGetByTag(tag); pwmMotors[motorIndex].io = IOGetByTag(tag);
uint8_t pin = IO_PINBYTAG(tag); uint8_t pin = IO_PINBYTAG(tag);
const uint16_t slice = pwm_gpio_to_slice_num(pin); const uint16_t slice = pwm_gpio_to_slice_num(pin);
const uint16_t channel = pwm_gpio_to_channel(pin); const uint16_t channel = pwm_gpio_to_channel(pin);
IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex)); IOInit(pwmMotors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
picoPwmMotors[motorIndex].slice = slice; picoPwmMotors[motorIndex].slice = slice;
picoPwmMotors[motorIndex].channel = channel; picoPwmMotors[motorIndex].channel = channel;
@ -215,9 +215,9 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
TODO: this can be moved back to periodMin and periodLen TODO: this can be moved back to periodMin and periodLen
once mixer outputs a 0..1 float value. once mixer outputs a 0..1 float value.
*/ */
motors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f; pwmMotors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000); pwmMotors[motorIndex].pulseOffset = (sMin * hz) - (pwmMotors[motorIndex].pulseScale * 1000);
motors[motorIndex].enabled = true; pwmMotors[motorIndex].enabled = true;
} }
return true; return true;