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Code Issues Wiki Activity

Adjustments based on feedback from @ledvinap

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This commit is contained in:
blckmn 2025-01-15 11:52:23 +11:00
parent 9849434666
commit bfc9680509
24 changed files with 78 additions and 61 deletions
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6
src/main/config/config.c
View file

@ -284,7 +284,7 @@ static void validateAndFixConfig(void)
}
}
if ((motorConfig()->dev.motorProtocol == MOTOR_PROTOCOL_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
if ((motorConfig()->dev.motorProtocol == MOTOR_PROTOCOL_PWM50HZ ) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
}
@ -598,7 +598,7 @@ void validateAndFixGyroConfig(void)
}
#endif // USE_DSHOT && USE_PID_DENOM_CHECK
switch (motorConfig()->dev.motorProtocol) {
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
break;
case MOTOR_PROTOCOL_ONESHOT125:
@ -624,7 +624,7 @@ void validateAndFixGyroConfig(void)
bool configuredMotorProtocolDshot = false;
checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
// Prevent overriding the max rate of motors
if (!configuredMotorProtocolDshot && motorConfig()->dev.motorProtocol != MOTOR_PROTOCOL_STANDARD) {
if (!configuredMotorProtocolDshot && motorConfig()->dev.motorProtocol != MOTOR_PROTOCOL_PWM50HZ ) {
const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
}

2
src/main/drivers/dshot_command.c
View file

@ -139,7 +139,7 @@ static dshotCommandControl_t* addCommand(void)
static bool allMotorsAreIdle(void)
{
for (unsigned i = 0; i < motorDeviceCount(); i++) {
if (motorIsMotorIdle(i)) {
if (!motorIsMotorIdle(i)) {
return false;
}
}

21
src/main/drivers/motor.c
View file

@ -58,7 +58,7 @@ void motorShutdown(void)
motorDevice->initialized = false;
switch (motorConfig()->dev.motorProtocol) {
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
case MOTOR_PROTOCOL_ONESHOT125:
case MOTOR_PROTOCOL_ONESHOT42:
case MOTOR_PROTOCOL_MULTISHOT:
@ -125,9 +125,9 @@ void motorWriteAll(float *values)
#endif
}
void motorRequestTelemetry(uint8_t index)
void motorRequestTelemetry(unsigned index)
{
if (index > motorDevice->count - 1) {
if (index >= motorDevice->count) {
return;
}
@ -170,7 +170,7 @@ bool checkMotorProtocolEnabled(const motorDevConfig_t *motorDevConfig, bool *isP
bool isDshot = false;
switch (motorDevConfig->motorProtocol) {
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
case MOTOR_PROTOCOL_ONESHOT125:
case MOTOR_PROTOCOL_ONESHOT42:
case MOTOR_PROTOCOL_MULTISHOT:
@ -248,13 +248,7 @@ static void motorDisableNull(void)
{
}
static bool motorIsEnabledNull(uint8_t index)
{
UNUSED(index);
return false;
}
static bool motorIsIdleNull(uint8_t index)
static bool motorIsEnabledNull(unsigned index)
{
UNUSED(index);
return false;
@ -309,7 +303,8 @@ static const motorVTable_t motorNullVTable = {
.convertExternalToMotor = motorConvertFromExternalNull,
.convertMotorToExternal = motorConvertToExternalNull,
.shutdown = motorShutdownNull,
.isMotorIdle = motorIsIdleNull,
.requestTelemetry = NULL,
.isMotorIdle = NULL,
};
static motorDevice_t motorNullDevice = {
@ -407,7 +402,7 @@ bool motorIsMotorEnabled(uint8_t index)
return motorDevice->vTable.isMotorEnabled(index);
}
bool motorIsMotorIdle(uint8_t index)
bool motorIsMotorIdle(unsigned index)
{
return motorDevice->vTable.isMotorIdle ? motorDevice->vTable.isMotorIdle(index) : false;
}

4
src/main/drivers/motor.h
View file

@ -35,7 +35,7 @@ void motorUpdateCompleteNull(void);
void motorPostInit();
void motorWriteAll(float *values);
void motorRequestTelemetry(uint8_t index);
void motorRequestTelemetry(unsigned index);
void motorInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3DHigh, float *deadbandMotor3DLow);
@ -56,7 +56,7 @@ void motorEnable(void);
float motorEstimateMaxRpm(void);
bool motorIsEnabled(void);
bool motorIsMotorEnabled(uint8_t index);
bool motorIsMotorIdle(uint8_t index);
bool motorIsMotorIdle(unsigned index);
timeMs_t motorGetMotorEnableTimeMs(void);
void motorShutdown(void); // Replaces stopPwmAllMotors

8
src/main/drivers/motor_types.h
View file

@ -28,7 +28,7 @@
#define MOTOR_OUTPUT_LIMIT_PERCENT_MAX 100
typedef enum {
MOTOR_PROTOCOL_STANDARD = 0,
MOTOR_PROTOCOL_PWM50HZ = 0,
MOTOR_PROTOCOL_ONESHOT125,
MOTOR_PROTOCOL_ONESHOT42,
MOTOR_PROTOCOL_MULTISHOT,
@ -49,7 +49,7 @@ typedef struct motorVTable_s {
uint16_t (*convertMotorToExternal)(float motorValue);
bool (*enable)(void);
void (*disable)(void);
bool (*isMotorEnabled)(uint8_t index);
bool (*isMotorEnabled)(unsigned index);
bool (*telemetryWait)(void);
bool (*decodeTelemetry)(void);
void (*updateInit)(void);
@ -57,10 +57,10 @@ typedef struct motorVTable_s {
void (*writeInt)(uint8_t index, uint16_t value);
void (*updateComplete)(void);
void (*shutdown)(void);
bool (*isMotorIdle)(uint8_t index);
bool (*isMotorIdle)(unsigned index);
// Digital commands
void (*requestTelemetry)(uint8_t index);
void (*requestTelemetry)(unsigned index);
} motorVTable_t;
typedef struct motorDevice_s {

4
src/main/pg/motor.c
View file

@ -51,14 +51,14 @@ PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
#ifdef USE_BRUSHED_MOTORS
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorProtocol = MOTOR_PROTOCOL_BRUSHED;
motorConfig->dev.useUnsyncedUpdate = true;
#else
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
#ifndef USE_DSHOT
if (motorConfig->dev.motorProtocol == MOTOR_PROTOCOL_STANDARD) {
if (motorConfig->dev.motorProtocol == MOTOR_PROTOCOL_PWM50HZ ) {
motorConfig->dev.useUnsyncedUpdate = true;
}
motorConfig->dev.motorProtocol = MOTOR_PROTOCOL_DISABLED;

2
src/main/pg/motor.h
View file

@ -33,12 +33,14 @@
#define BRUSHLESS_MOTORS_PWM_RATE 480
#endif
//TODO: Timers are platform specific. This should be moved to platform specific code.
typedef enum {
DSHOT_BITBANGED_TIMER_AUTO = 0,
DSHOT_BITBANGED_TIMER_TIM1,
DSHOT_BITBANGED_TIMER_TIM8,
} dshotBitbangedTimer_e;
//TODO: DMAR is platform specific. This should be moved to platform specific code.
typedef enum {
DSHOT_DMAR_OFF,
DSHOT_DMAR_ON,

2
src/platform/APM32/dshot_bitbang.c
View file

@ -665,7 +665,7 @@ static void bbShutdown(void)
return;
}
static bool bbIsMotorEnabled(uint8_t index)
static bool bbIsMotorEnabled(unsigned index)
{
return bbMotors[index].enabled;
}

6
src/platform/APM32/pwm_output_apm32.c
View file

@ -116,7 +116,7 @@ bool pwmEnableMotors(void)
return (motorPwmVTable.write != &pwmWriteUnused);
}
bool pwmIsMotorEnabled(uint8_t index)
bool pwmIsMotorEnabled(unsigned index)
{
return motors[index].enabled;
}
@ -151,6 +151,8 @@ static motorVTable_t motorPwmVTable = {
.shutdown = pwmShutdownPulsesForAllMotors,
.convertExternalToMotor = pwmConvertFromExternal,
.convertMotorToExternal = pwmConvertToExternal,
.requestTelemetry = NULL,
.isMotorIdle = NULL,
};
motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@ -180,7 +182,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
useUnsyncedUpdate = true;
idlePulse = 0;
break;
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
sMin = 1e-3f;
sLen = 1e-3f;
useUnsyncedUpdate = true;

4
src/platform/APM32/pwm_output_dshot_apm32.c
View file

@ -47,9 +47,9 @@
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount)
void dshotEnableChannels(unsigned motorCount)
{
for (int i = 0; i < motorCount; i++) {
for (unsigned i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
DDL_TMR_CC_EnableChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel << 4);
} else {

2
src/platform/AT32/dshot_bitbang.c
View file

@ -657,7 +657,7 @@ static void bbShutdown(void)
return;
}
static bool bbIsMotorEnabled(uint8_t index)
static bool bbIsMotorEnabled(unsigned index)
{
return bbMotors[index].enabled;
}

6
src/platform/AT32/pwm_output_at32bsp.c
View file

@ -112,7 +112,7 @@ bool pwmEnableMotors(void)
return (motorPwmVTable.write != &pwmWriteUnused);
}
bool pwmIsMotorEnabled(uint8_t index)
bool pwmIsMotorEnabled(unsigned index)
{
return motors[index].enabled;
}
@ -147,6 +147,8 @@ static motorVTable_t motorPwmVTable = {
.shutdown = pwmShutdownPulsesForAllMotors,
.convertExternalToMotor = pwmConvertFromExternal,
.convertMotorToExternal = pwmConvertToExternal,
.requestTelemetry = NULL,
.isMotorIdle = NULL,
};
motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@ -176,7 +178,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
useUnsyncedUpdate = true;
idlePulse = 0;
break;
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
sMin = 1e-3f;
sLen = 1e-3f;
useUnsyncedUpdate = true;

4
src/platform/AT32/pwm_output_dshot.c
View file

@ -114,9 +114,9 @@ tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNC
* Called once for every dshot update if telemetry is being used (not just enabled by #def)
* Called from pwm_output_dshot_shared.c pwmTelemetryDecode
*/
void dshotEnableChannels(uint8_t motorCount)
void dshotEnableChannels(unsigned motorCount)
{
for (int i = 0; i < motorCount; i++) {
for (unsigned i = 0; i < motorCount; i++) {
tmr_primary_mode_select(dmaMotors[i].timerHardware->tim, TMR_PRIMARY_SEL_COMPARE);
tmr_channel_select_type atCh = toCHSelectType(dmaMotors[i].timerHardware->channel, dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL);

4
src/platform/SIMULATOR/sitl.c
View file

@ -575,7 +575,7 @@ static void pwmShutdownPulsesForAllMotors(void)
motorPwmDevice.enabled = false;
}
bool pwmIsMotorEnabled(uint8_t index)
bool pwmIsMotorEnabled(unsigned index)
{
return motors[index].enabled;
}
@ -624,6 +624,8 @@ static motorDevice_t motorPwmDevice = {
.writeInt = pwmWriteMotorInt,
.updateComplete = pwmCompleteMotorUpdate,
.shutdown = pwmShutdownPulsesForAllMotors,
.requestTelemetry = NULL,
.isMotorIdle = NULL,
}
};

2
src/platform/STM32/dshot_bitbang.c
View file

@ -697,7 +697,7 @@ static void bbShutdown(void)
return;
}
static bool bbIsMotorEnabled(uint8_t index)
static bool bbIsMotorEnabled(unsigned index)
{
return bbMotors[index].enabled;
}

6
src/platform/STM32/pwm_output.c
View file

@ -144,7 +144,7 @@ bool pwmEnableMotors(void)
return (motorPwmVTable.write != &pwmWriteUnused);
}
bool pwmIsMotorEnabled(uint8_t index)
bool pwmIsMotorEnabled(unsigned index)
{
return motors[index].enabled;
}
@ -179,6 +179,8 @@ static motorVTable_t motorPwmVTable = {
.shutdown = pwmShutdownPulsesForAllMotors,
.convertExternalToMotor = pwmConvertFromExternal,
.convertMotorToExternal = pwmConvertToExternal,
.requestTelemetry = NULL,
.isMotorIdle = NULL,
};
motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@ -208,7 +210,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
useUnsyncedUpdate = true;
idlePulse = 0;
break;
case MOTOR_PROTOCOL_STANDARD:
case MOTOR_PROTOCOL_PWM50HZ :
sMin = 1e-3f;
sLen = 1e-3f;
useUnsyncedUpdate = true;

4
src/platform/STM32/pwm_output_dshot.c
View file

@ -48,9 +48,9 @@
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount)
void dshotEnableChannels(unsigned motorCount)
{
for (int i = 0; i < motorCount; i++) {
for (unsigned i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
TIM_CCxNCmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerHardware->channel, TIM_CCxN_Enable);
} else {

4
src/platform/STM32/pwm_output_dshot_hal.c
View file

@ -47,9 +47,9 @@
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount)
void dshotEnableChannels(unsigned motorCount)
{
for (int i = 0; i < motorCount; i++) {
for (unsigned i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
LL_EX_TIM_CC_EnableNChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel);
} else {

4
src/platform/common/stm32/dshot_bitbang_impl.h
View file

@ -277,5 +277,5 @@ void bbDMA_Cmd(bbPort_t *bbPort, FunctionalState NewState);
#endif
int bbDMA_Count(bbPort_t *bbPort);
void bbDshotRequestTelemetry(uint8_t motorIndex);
bool bbDshotIsMotorIdle(uint8_t motorIndex);
void bbDshotRequestTelemetry(unsigned motorIndex);
bool bbDshotIsMotorIdle(unsigned motorIndex);

13
src/platform/common/stm32/dshot_bitbang_shared.c
View file

@ -21,8 +21,11 @@
#include "dshot_bitbang_impl.h"
void bbDshotRequestTelemetry(uint8_t motorIndex)
void bbDshotRequestTelemetry(unsigned motorIndex)
{
if (motorIndex >= ARRAYLEN(bbMotors)) {
return;
}
bbMotor_t *const bbmotor = &bbMotors[motorIndex];
if (!bbmotor->configured) {
@ -31,8 +34,12 @@ void bbDshotRequestTelemetry(uint8_t motorIndex)
bbmotor->protocolControl.requestTelemetry = true;
}
bool bbDshotIsMotorIdle(uint8_t motorIndex)
bool bbDshotIsMotorIdle(unsigned motorIndex)
{
if (motorIndex >= ARRAYLEN(bbMotors)) {
return false;
}
bbMotor_t *const bbmotor = &bbMotors[motorIndex];
return bbmotor->protocolControl.value;
return bbmotor->protocolControl.value != 0;
}

2
src/platform/common/stm32/dshot_dpwm.c
View file

@ -121,7 +121,7 @@ static bool dshotPwmEnableMotors(void)
return true;
}
static bool dshotPwmIsMotorEnabled(uint8_t index)
static bool dshotPwmIsMotorEnabled(unsigned index)
{
return motors[index].enabled;
}

2
src/platform/common/stm32/dshot_dpwm.h
View file

@ -153,7 +153,7 @@ typedef struct motorDmaOutput_s {
DSHOT_DMA_BUFFER_UNIT *dmaBuffer;
} motorDmaOutput_t;
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
motorDmaOutput_t *getMotorDmaOutput(unsigned index);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorProtocolTypes_e pwmProtocolType, uint8_t output);

15
src/platform/common/stm32/pwm_output_dshot_shared.c
View file

@ -63,21 +63,26 @@ FAST_DATA_ZERO_INIT uint32_t inputStampUs;
FAST_DATA_ZERO_INIT dshotTelemetryCycleCounters_t dshotDMAHandlerCycleCounters;
#endif
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
motorDmaOutput_t *getMotorDmaOutput(unsigned index)
{
if (index >= ARRAYLEN(dmaMotors)) {
return NULL;
}
return &dmaMotors[index];
}
bool pwmDshotIsMotorIdle(uint8_t index)
bool pwmDshotIsMotorIdle(unsigned index)
{
const motorDmaOutput_t *motor = getMotorDmaOutput(index);
return motor->protocolControl.value;
return motor && motor->protocolControl.value != 0;
}
void pwmDshotRequestTelemetry(uint8_t index)
void pwmDshotRequestTelemetry(unsigned index)
{
motorDmaOutput_t * const motor = getMotorDmaOutput(index);
if (motor) {
motor->protocolControl.requestTelemetry = true;
}
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
@ -153,7 +158,7 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount);
void dshotEnableChannels(unsigned motorCount);
static uint32_t decodeTelemetryPacket(const uint32_t buffer[], uint32_t count)
{

8
src/platform/common/stm32/pwm_output_dshot_shared.h
View file

@ -29,8 +29,8 @@ extern FAST_DATA_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
extern FAST_DATA_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
uint8_t getTimerIndex(TIM_TypeDef *timer);
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
void dshotEnableChannels(uint8_t motorCount);
motorDmaOutput_t *getMotorDmaOutput(unsigned index);
void dshotEnableChannels(unsigned motorCount);
#ifdef USE_DSHOT_TELEMETRY
void pwmDshotSetDirectionOutput(
@ -44,8 +44,8 @@ void pwmDshotSetDirectionOutput(
#endif
);
void pwmDshotRequestTelemetry(uint8_t index);
bool pwmDshotIsMotorIdle(uint8_t index);
void pwmDshotRequestTelemetry(unsigned index);
bool pwmDshotIsMotorIdle(unsigned index);
bool pwmTelemetryDecode(void);
#endif