mirror of
https://github.com/betaflight/betaflight.git
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Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,380 +1,380 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio.h"
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#include "timer.h"
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#include "pwm_output.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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MAP_TO_PPM_INPUT = 1,
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MAP_TO_PWM_INPUT,
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MAP_TO_MOTOR_OUTPUT,
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MAP_TO_SERVO_OUTPUT,
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};
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#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC)
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static const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 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 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 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 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM8 | (MAP_TO_SERVO_OUTPUT << 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 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CC3D
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static const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 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 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 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 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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0xFFFF
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};
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static const uint16_t airPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CJMCU
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static const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM9 | (MAP_TO_PWM_INPUT << 8),
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PWM10 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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static const uint16_t airPPM[] = {
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0xFF
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};
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static const uint16_t airPWM[] = {
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0xFF
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};
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#endif
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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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pwmOutputConfiguration_t *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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static pwmOutputConfiguration_t pwmOutputConfiguration;
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memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
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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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const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
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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
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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
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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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#if defined(STM32F10X) && !defined(CC3D)
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#define LED_STRIP_TIMER TIM3
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#endif
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#if defined(CC3D)
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#define LED_STRIP_TIMER TIM3
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#endif
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#if defined(STM32F303)
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#define LED_STRIP_TIMER TIM16
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#endif
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#ifdef LED_STRIP_TIMER
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// skip LED Strip output
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if (init->useLEDStrip && timerHardwarePtr->tim == LED_STRIP_TIMER)
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continue;
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#endif
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#ifdef STM32F10X
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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 == MAP_TO_PWM_INPUT && !init->useParallelPWM)
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type = 0;
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if (type == MAP_TO_PPM_INPUT && !init->usePPM)
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type = 0;
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if (init->useServos && !init->airplane) {
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#if defined(STM32F10X) || 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 = MAP_TO_SERVO_OUTPUT;
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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 = MAP_TO_SERVO_OUTPUT;
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} else {
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if (timerIndex == PWM9 || timerIndex == PWM10)
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type = MAP_TO_SERVO_OUTPUT;
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}
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||||
#endif
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||||
}
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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 = MAP_TO_SERVO_OUTPUT;
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}
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|
||||
if (type == MAP_TO_PPM_INPUT) {
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ppmInConfig(timerHardwarePtr);
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} else if (type == MAP_TO_PWM_INPUT) {
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pwmInConfig(timerHardwarePtr, channelIndex);
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channelIndex++;
|
||||
} else if (type == MAP_TO_MOTOR_OUTPUT) {
|
||||
if (init->motorPwmRate > 500) {
|
||||
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
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||||
} else {
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||||
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
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}
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pwmOutputConfiguration.motorCount++;
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} else if (type == MAP_TO_SERVO_OUTPUT) {
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pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
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pwmOutputConfiguration.servoCount++;
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}
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||||
}
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||||
|
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return &pwmOutputConfiguration;
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||||
}
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||||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "gpio.h"
|
||||
#include "timer.h"
|
||||
|
||||
#include "pwm_output.h"
|
||||
#include "pwm_rx.h"
|
||||
#include "pwm_mapping.h"
|
||||
/*
|
||||
Configuration maps
|
||||
|
||||
Note: this documentation is only valid for STM32F10x, for STM32F30x please read the code itself.
|
||||
|
||||
1) multirotor PPM input
|
||||
PWM1 used for PPM
|
||||
PWM5..8 used for motors
|
||||
PWM9..10 used for servo or else motors
|
||||
PWM11..14 used for motors
|
||||
|
||||
2) multirotor PPM input with more servos
|
||||
PWM1 used for PPM
|
||||
PWM5..8 used for motors
|
||||
PWM9..10 used for servo or else motors
|
||||
PWM11..14 used for servos
|
||||
|
||||
2) multirotor PWM input
|
||||
PWM1..8 used for input
|
||||
PWM9..10 used for servo or else motors
|
||||
PWM11..14 used for motors
|
||||
|
||||
3) airplane / flying wing w/PWM
|
||||
PWM1..8 used for input
|
||||
PWM9 used for motor throttle +PWM10 for 2nd motor
|
||||
PWM11.14 used for servos
|
||||
|
||||
4) airplane / flying wing with PPM
|
||||
PWM1 used for PPM
|
||||
PWM5..8 used for servos
|
||||
PWM9 used for motor throttle +PWM10 for 2nd motor
|
||||
PWM11.14 used for servos
|
||||
*/
|
||||
|
||||
enum {
|
||||
MAP_TO_PPM_INPUT = 1,
|
||||
MAP_TO_PWM_INPUT,
|
||||
MAP_TO_MOTOR_OUTPUT,
|
||||
MAP_TO_SERVO_OUTPUT,
|
||||
};
|
||||
|
||||
#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC)
|
||||
static const uint16_t multiPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
static const uint16_t multiPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
|
||||
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
|
||||
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
static const uint16_t airPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
|
||||
PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
|
||||
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
static const uint16_t airPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
|
||||
0xFFFF
|
||||
};
|
||||
#endif
|
||||
|
||||
#ifdef CC3D
|
||||
static const uint16_t multiPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||
0xFFFF
|
||||
};
|
||||
static const uint16_t multiPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
|
||||
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
|
||||
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
static const uint16_t airPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
static const uint16_t airPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
|
||||
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
|
||||
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
|
||||
0xFFFF
|
||||
};
|
||||
#endif
|
||||
|
||||
#ifdef CJMCU
|
||||
static const uint16_t multiPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFF
|
||||
};
|
||||
|
||||
static const uint16_t multiPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM9 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM10 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFF
|
||||
};
|
||||
|
||||
static const uint16_t airPPM[] = {
|
||||
0xFF
|
||||
};
|
||||
|
||||
static const uint16_t airPWM[] = {
|
||||
0xFF
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
static const uint16_t * const hardwareMaps[] = {
|
||||
multiPWM,
|
||||
multiPPM,
|
||||
airPWM,
|
||||
airPPM,
|
||||
};
|
||||
|
||||
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
|
||||
{
|
||||
int i = 0;
|
||||
const uint16_t *setup;
|
||||
|
||||
int channelIndex = 0;
|
||||
|
||||
static pwmOutputConfiguration_t pwmOutputConfiguration;
|
||||
|
||||
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
|
||||
|
||||
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
|
||||
if (init->airplane)
|
||||
i = 2; // switch to air hardware config
|
||||
if (init->usePPM)
|
||||
i++; // next index is for PPM
|
||||
|
||||
setup = hardwareMaps[i];
|
||||
|
||||
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
|
||||
uint8_t timerIndex = setup[i] & 0x00FF;
|
||||
uint8_t type = (setup[i] & 0xFF00) >> 8;
|
||||
|
||||
if (setup[i] == 0xFFFF) // terminator
|
||||
break;
|
||||
|
||||
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
|
||||
|
||||
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
|
||||
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
|
||||
if (timerIndex == PWM2)
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#ifdef STM32F10X
|
||||
// skip UART2 ports
|
||||
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#ifdef STM32F10X
|
||||
// skip softSerial ports
|
||||
if (init->useSoftSerial && (timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#ifdef CHEBUZZF3
|
||||
// skip softSerial ports
|
||||
// PWM4 can no-longer be used since it uses the same timer as PWM5 and PWM6
|
||||
if (init->useSoftSerial && (timerIndex == PWM4 || timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#if defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3)
|
||||
// skip softSerial ports
|
||||
if (init->useSoftSerial && (timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11 || timerIndex == PWM12))
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#if defined(STM32F10X) && !defined(CC3D)
|
||||
#define LED_STRIP_TIMER TIM3
|
||||
#endif
|
||||
|
||||
#if defined(CC3D)
|
||||
#define LED_STRIP_TIMER TIM3
|
||||
#endif
|
||||
|
||||
#if defined(STM32F303)
|
||||
#define LED_STRIP_TIMER TIM16
|
||||
#endif
|
||||
|
||||
#ifdef LED_STRIP_TIMER
|
||||
// skip LED Strip output
|
||||
if (init->useLEDStrip && timerHardwarePtr->tim == LED_STRIP_TIMER)
|
||||
continue;
|
||||
#endif
|
||||
|
||||
#ifdef STM32F10X
|
||||
// skip ADC for RSSI
|
||||
if (init->useRSSIADC && timerIndex == PWM2)
|
||||
continue;
|
||||
#endif
|
||||
|
||||
// hacks to allow current functionality
|
||||
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
|
||||
type = 0;
|
||||
|
||||
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
|
||||
type = 0;
|
||||
|
||||
if (init->useServos && !init->airplane) {
|
||||
#if defined(STM32F10X) || defined(CHEBUZZF3)
|
||||
// remap PWM9+10 as servos
|
||||
if (timerIndex == PWM9 || timerIndex == PWM10)
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
#endif
|
||||
|
||||
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
|
||||
// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
|
||||
if (init->useSoftSerial) {
|
||||
if (timerIndex == PWM5 || timerIndex == PWM6)
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
} else {
|
||||
if (timerIndex == PWM9 || timerIndex == PWM10)
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
if (init->extraServos && !init->airplane) {
|
||||
// remap PWM5..8 as servos when used in extended servo mode
|
||||
if (timerIndex >= PWM5 && timerIndex <= PWM8)
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
}
|
||||
|
||||
if (type == MAP_TO_PPM_INPUT) {
|
||||
ppmInConfig(timerHardwarePtr);
|
||||
} else if (type == MAP_TO_PWM_INPUT) {
|
||||
pwmInConfig(timerHardwarePtr, channelIndex);
|
||||
channelIndex++;
|
||||
} else if (type == MAP_TO_MOTOR_OUTPUT) {
|
||||
if (init->motorPwmRate > 500) {
|
||||
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
|
||||
} else {
|
||||
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
|
||||
}
|
||||
pwmOutputConfiguration.motorCount++;
|
||||
} else if (type == MAP_TO_SERVO_OUTPUT) {
|
||||
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
|
||||
pwmOutputConfiguration.servoCount++;
|
||||
}
|
||||
}
|
||||
|
||||
return &pwmOutputConfiguration;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue