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Code Issues Wiki Activity

Delayed motor PWM enable when using Oneshot

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This commit is contained in:
ProDrone 2015-05-22 00:30:29 +02:00
parent d1d73d933e
commit bbb86b30fa
4 changed files with 13 additions and 4 deletions
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4
src/main/config/config.c
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@ -943,8 +943,8 @@ void handleOneshotFeatureChangeOnRestart(void)
// Shutdown PWM on all motors prior to soft restart // Shutdown PWM on all motors prior to soft restart
StopPwmAllMotors(); StopPwmAllMotors();
delay(50); delay(50);
// When OneShot125 feature changed state apply additional delay // Apply additional delay when OneShot125 feature changed from on to off state
if ((masterConfig.enabledFeatures ^ activeFeaturesLatch) & FEATURE_ONESHOT125) { if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS); delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
} }
} }

2
src/main/drivers/pwm_mapping.c
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@ -528,7 +528,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
channelIndex++; channelIndex++;
} else if (type == MAP_TO_MOTOR_OUTPUT) { } else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->useOneshot) { if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse); pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, 0);
} else if (init->motorPwmRate > 500) { } else if (init->motorPwmRate > 500) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse); pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else { } else {

5
src/main/main.c
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@ -90,6 +90,7 @@
#include "debug.h" #include "debug.h"
extern uint32_t previousTime; extern uint32_t previousTime;
extern uint8_t motorControlEnable;
#ifdef SOFTSERIAL_LOOPBACK #ifdef SOFTSERIAL_LOOPBACK
serialPort_t *loopbackPort; serialPort_t *loopbackPort;
@ -241,6 +242,9 @@ void init(void)
mixerUsePWMOutputConfiguration(pwmOutputConfiguration); mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
if (!feature(FEATURE_ONESHOT125))
motorControlEnable = true;
systemState |= SYSTEM_STATE_MOTORS_READY; systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER #ifdef BEEPER
@ -456,6 +460,7 @@ void init(void)
// Latch active features AGAIN since some may be modified by init(). // Latch active features AGAIN since some may be modified by init().
latchActiveFeatures(); latchActiveFeatures();
motorControlEnable = true;
systemState |= SYSTEM_STATE_READY; systemState |= SYSTEM_STATE_READY;
} }

4
src/main/mw.c
View file

@ -97,6 +97,8 @@ uint16_t cycleTime = 0; // this is the number in micro second to achieve
int16_t magHold; int16_t magHold;
int16_t headFreeModeHold; int16_t headFreeModeHold;
uint8_t motorControlEnable = false;
int16_t telemTemperature1; // gyro sensor temperature int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
@ -801,7 +803,9 @@ void loop(void)
writeServos(); writeServos();
#endif #endif
if (motorControlEnable) {
writeMotors(); writeMotors();
}
#ifdef BLACKBOX #ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) { if (!cliMode && feature(FEATURE_BLACKBOX)) {