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https://github.com/betaflight/betaflight.git
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Cleanup project structure. Update unit test Makefile to place object
files in obj/test
This commit is contained in:
Dominic Clifton
parent
fb9e3a2358
commit
d19a5e7046
330 changed files with 657 additions and 638 deletions
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio_common.h"
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#include "timer_common.h"
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#include "pwm_output.h"
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#include "pwm_rssi.h"
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#include "pwm_rx.h"
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#include "pwm_mapping.h"
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/*
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Configuration maps
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Note: this documentation is only valid for STM32F10x, for STM32F30x please read the code itself.
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1) multirotor PPM input
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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2) multirotor PPM input with more servos
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PWM1 used for PPM
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for servos
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2) multirotor PWM input
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PWM1..8 used for input
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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3) airplane / flying wing w/PWM
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PWM1..8 used for input
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM11.14 used for servos
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4) airplane / flying wing with PPM
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PWM1 used for PPM
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PWM5..8 used for servos
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PWM9 used for motor throttle +PWM10 for 2nd motor
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PWM11.14 used for servos
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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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};
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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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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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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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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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0xFFFF
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};
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static const uint16_t * const hardwareMaps[] = {
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multiPWM,
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multiPPM,
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airPWM,
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airPPM,
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};
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void pwmInit(drv_pwm_config_t *init)
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{
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int i = 0;
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const uint16_t *setup;
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int channelIndex = 0;
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int servoIndex = 0;
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int motorIndex = 0;
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// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
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if (init->airplane)
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i = 2; // switch to air hardware config
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if (init->usePPM)
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i++; // next index is for PPM
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setup = hardwareMaps[i];
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for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
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uint8_t timerIndex = setup[i] & 0x00FF;
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uint8_t type = (setup[i] & 0xFF00) >> 8;
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if (setup[i] == 0xFFFF) // terminator
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break;
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#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
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// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
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if (timerIndex == PWM2)
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continue;
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#endif
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#ifdef STM32F10X_MD
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// skip UART2 ports
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if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
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continue;
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#endif
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#ifdef STM32F10X_MD
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// skip softSerial ports
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if (init->useSoftSerial && (timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
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continue;
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#endif
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#ifdef CHEBUZZF3
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// skip softSerial ports
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// PWM4 can no-longer be used since it uses the same timer as PWM5 and PWM6
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if (init->useSoftSerial && (timerIndex == PWM4 || timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
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continue;
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#endif
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#if defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3)
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// skip softSerial ports
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if (init->useSoftSerial && (timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11 || timerIndex == PWM12))
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continue;
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#endif
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#ifdef STM32F10X_MD
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// skip ADC for RSSI
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if (init->useRSSIADC && timerIndex == PWM2)
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continue;
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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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type = 0;
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if (type == TYPE_IP && !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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#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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} else {
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if (timerIndex == PWM9 || timerIndex == PWM10)
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type = TYPE_S;
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}
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#endif
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}
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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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}
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if (type == TYPE_IP) {
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ppmInConfig(timerIndex);
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} else if (type == TYPE_IW) {
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pwmInConfig(timerIndex, channelIndex);
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channelIndex++;
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} else if (type == TYPE_M) {
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if (init->motorPwmRate > 500) {
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pwmBrushedMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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} else {
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pwmBrushlessMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
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}
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motorIndex++;
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} else if (type == TYPE_S) {
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pwmServoConfig(&timerHardware[timerIndex], servoIndex, init->servoPwmRate, init->servoCenterPulse);
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servoIndex++;
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}
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}
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}
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