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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@ -1,170 +1,170 @@
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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 <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 "flight/failsafe.h" // FIXME dependency into the main code from a driver
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#include "pwm_mapping.h"
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#include "pwm_output.h"
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typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
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typedef struct {
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#ifdef STM32F303xC
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volatile uint32_t *ccr;
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#endif
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#ifdef STM32F10X
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volatile uint16_t *ccr;
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#endif
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uint16_t period;
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pwmWriteFuncPtr pwmWritePtr;
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} pwmOutputPort_t;
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static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
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static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
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static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
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#define PWM_BRUSHED_TIMER_MHZ 8
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static uint8_t allocatedOutputPortCount = 0;
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static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
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TIM_OCInitStructure.TIM_Pulse = value;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
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TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
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switch (channel) {
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case TIM_Channel_1:
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TIM_OC1Init(tim, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(tim, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(tim, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(tim, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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}
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}
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static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
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{
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pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
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configTimeBase(timerHardware->tim, period, mhz);
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pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
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pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
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if (timerHardware->outputEnable)
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TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
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TIM_Cmd(timerHardware->tim, ENABLE);
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switch (timerHardware->channel) {
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case TIM_Channel_1:
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p->ccr = &timerHardware->tim->CCR1;
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break;
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case TIM_Channel_2:
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p->ccr = &timerHardware->tim->CCR2;
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break;
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case TIM_Channel_3:
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p->ccr = &timerHardware->tim->CCR3;
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break;
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case TIM_Channel_4:
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p->ccr = &timerHardware->tim->CCR4;
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break;
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}
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p->period = period;
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return p;
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}
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static void pwmWriteBrushed(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = (value - 1000) * motors[index]->period / 1000;
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}
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static void pwmWriteStandard(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = value;
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}
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void pwmWriteMotor(uint8_t index, uint16_t value)
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{
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if (motors[index] && index < MAX_MOTORS)
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motors[index]->pwmWritePtr(index, value);
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}
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void pwmWriteServo(uint8_t index, uint16_t value)
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{
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if (servos[index] && index < MAX_SERVOS)
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*servos[index]->ccr = value;
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}
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void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
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{
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uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
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motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
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}
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void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
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{
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uint32_t hz = PWM_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
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motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
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}
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void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
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{
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servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
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}
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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 <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 "flight/failsafe.h" // FIXME dependency into the main code from a driver
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#include "pwm_mapping.h"
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#include "pwm_output.h"
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typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
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typedef struct {
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#ifdef STM32F303xC
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volatile uint32_t *ccr;
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#endif
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#ifdef STM32F10X
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volatile uint16_t *ccr;
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#endif
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uint16_t period;
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pwmWriteFuncPtr pwmWritePtr;
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} pwmOutputPort_t;
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static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
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static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
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static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
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#define PWM_BRUSHED_TIMER_MHZ 8
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static uint8_t allocatedOutputPortCount = 0;
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static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
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TIM_OCInitStructure.TIM_Pulse = value;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
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TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
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switch (channel) {
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case TIM_Channel_1:
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TIM_OC1Init(tim, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(tim, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(tim, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(tim, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
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break;
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}
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}
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static void pwmGPIOConfig(GPIO_TypeDef *gpio, uint32_t pin, GPIO_Mode mode)
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{
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gpio_config_t cfg;
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cfg.pin = pin;
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cfg.mode = mode;
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cfg.speed = Speed_2MHz;
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gpioInit(gpio, &cfg);
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}
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static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value)
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{
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pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
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configTimeBase(timerHardware->tim, period, mhz);
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pwmGPIOConfig(timerHardware->gpio, timerHardware->pin, Mode_AF_PP);
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pwmOCConfig(timerHardware->tim, timerHardware->channel, value);
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if (timerHardware->outputEnable)
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TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
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TIM_Cmd(timerHardware->tim, ENABLE);
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switch (timerHardware->channel) {
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case TIM_Channel_1:
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p->ccr = &timerHardware->tim->CCR1;
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break;
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case TIM_Channel_2:
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p->ccr = &timerHardware->tim->CCR2;
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break;
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case TIM_Channel_3:
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p->ccr = &timerHardware->tim->CCR3;
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break;
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case TIM_Channel_4:
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p->ccr = &timerHardware->tim->CCR4;
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break;
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}
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p->period = period;
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return p;
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}
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static void pwmWriteBrushed(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = (value - 1000) * motors[index]->period / 1000;
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}
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static void pwmWriteStandard(uint8_t index, uint16_t value)
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{
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*motors[index]->ccr = value;
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}
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void pwmWriteMotor(uint8_t index, uint16_t value)
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{
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if (motors[index] && index < MAX_MOTORS)
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motors[index]->pwmWritePtr(index, value);
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}
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void pwmWriteServo(uint8_t index, uint16_t value)
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{
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if (servos[index] && index < MAX_SERVOS)
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*servos[index]->ccr = value;
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}
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void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
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{
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uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_BRUSHED_TIMER_MHZ, hz / motorPwmRate, idlePulse);
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motors[motorIndex]->pwmWritePtr = pwmWriteBrushed;
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}
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void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
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{
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uint32_t hz = PWM_TIMER_MHZ * 1000000;
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motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
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motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
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}
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void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
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{
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servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
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}
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