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SPRacingF3 - Allow Sonar and Parallel PWM (drops 2 input channels).

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Naze32 - Fix initialisation of outputs 5/6 when Parallel PWM and
Sonar are used together with a mixer that needs more than 4 motors.
This commit is contained in:
Dominic Clifton 2015-05-06 21:28:25 +01:00
parent c0aec95e14
commit b04be157b1
4 changed files with 29 additions and 6 deletions
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6
src/main/config/config.c
View file

@ -790,12 +790,6 @@ void validateAndFixConfig(void)
} }
#endif #endif
#if defined(SPRACINGF3) && defined(SONAR)
if (feature(FEATURE_RX_PARALLEL_PWM) && feature(FEATURE_SONAR) ) {
featureClear(FEATURE_SONAR);
}
#endif
/* /*
* The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground. * The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground.
* The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled. * The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled.

23
src/main/drivers/pwm_mapping.c
View file

@ -381,6 +381,29 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue; continue;
#endif #endif
#ifdef SONAR
// skip Sonar pins
// FIXME - Hack - See sonar.c sonarInit() and sonarHardware_t
if (init->useSonar && timerHardwarePtr->gpio == GPIOB) {
#if defined(SPRACINGF3) || defined(OLIMEXINO)
if (timerHardwarePtr->pin == GPIO_Pin_0 || timerHardwarePtr->pin == GPIO_Pin_1) {
continue;
}
#endif
#if defined(NAZE)
if (init->useParallelPWM) {
if (timerHardwarePtr->pin == GPIO_Pin_8 || timerHardwarePtr->pin == GPIO_Pin_9) {
continue;
}
} else {
if (timerHardwarePtr->pin == GPIO_Pin_0 || timerHardwarePtr->pin == GPIO_Pin_1) {
continue;
}
}
#endif
}
#endif
#ifdef SOFTSERIAL_1_TIMER #ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER) if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue; continue;

3
src/main/drivers/pwm_mapping.h
View file

@ -52,6 +52,9 @@ typedef struct drv_pwm_config_t {
bool useOneshot; bool useOneshot;
bool useSoftSerial; bool useSoftSerial;
bool useLEDStrip; bool useLEDStrip;
#ifdef SONAR
bool useSonar;
#endif
#ifdef USE_SERVOS #ifdef USE_SERVOS
bool useServos; bool useServos;
bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors

3
src/main/main.c
View file

@ -213,6 +213,9 @@ void init(void)
pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
pwm_params.usePPM = feature(FEATURE_RX_PPM); pwm_params.usePPM = feature(FEATURE_RX_PPM);
pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
#ifdef SONAR
pwm_params.useSonar = feature(FEATURE_SONAR);
#endif
#ifdef USE_SERVOS #ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos(); pwm_params.useServos = isMixerUsingServos();