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Move motor and servo params out of master_t

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This commit is contained in:
Martin Budden 2016-10-01 22:43:32 +01:00
parent ef08d32491
commit d913ed6a07
11 changed files with 33 additions and 39 deletions
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6
src/main/blackbox/blackbox.c
View file

@ -1267,9 +1267,9 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval); BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold); BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d", masterConfig.rxConfig.serialrx_provider); BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d", masterConfig.rxConfig.serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.use_unsyncedPwm); BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.motorConfig.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motor_pwm_protocol); BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motorConfig.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motor_pwm_rate); BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motorConfig.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode); BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures); BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);

18
src/main/config/config.c
View file

@ -245,18 +245,25 @@ void resetMotorConfig(motorConfig_t *motorConfig)
{ {
#ifdef BRUSHED_MOTORS #ifdef BRUSHED_MOTORS
motorConfig->minthrottle = 1000; motorConfig->minthrottle = 1000;
motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->useUnsyncedPwm = true;
#else #else
motorConfig->minthrottle = 1070; motorConfig->minthrottle = 1070;
motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
#endif #endif
motorConfig->maxthrottle = 2000; motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000; motorConfig->mincommand = 1000;
motorConfig->maxEscThrottleJumpMs = 0; motorConfig->maxEscThrottleJumpMs = 0;
} }
#ifdef USE_SERVOS #ifdef USE_SERVOS
void resetServoConfig(servoConfig_t *servoConfig) void resetServoConfig(servoConfig_t *servoConfig)
{ {
servoConfig->servoCenterPulse = 1500; servoConfig->servoCenterPulse = 1500;
servoConfig->servoPwmRate = 50;
} }
#endif #endif
@ -504,17 +511,6 @@ void createDefaultConfig(master_t *config)
#endif #endif
resetFlight3DConfig(&config->flight3DConfig); resetFlight3DConfig(&config->flight3DConfig);
#ifdef BRUSHED_MOTORS
config->motor_pwm_rate = BRUSHED_MOTORS_PWM_RATE;
config->motor_pwm_protocol = PWM_TYPE_BRUSHED;
config->use_unsyncedPwm = true;
#else
config->motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
config->motor_pwm_protocol = PWM_TYPE_ONESHOT125;
#endif
config->servo_pwm_rate = 50;
#ifdef CC3D #ifdef CC3D
config->use_buzzer_p6 = 0; config->use_buzzer_p6 = 0;
#endif #endif

5
src/main/config/config_master.h
View file

@ -77,11 +77,6 @@ typedef struct master_s {
servoConfig_t servoConfig; servoConfig_t servoConfig;
flight3DConfig_t flight3DConfig; flight3DConfig_t flight3DConfig;
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t motor_pwm_protocol; // Pwm Protocol
uint8_t use_unsyncedPwm;
#ifdef USE_SERVOS #ifdef USE_SERVOS
servoMixer_t customServoMixer[MAX_SERVO_RULES]; servoMixer_t customServoMixer[MAX_SERVO_RULES];
// Servo-related stuff // Servo-related stuff

4
src/main/io/motors.h
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@ -18,10 +18,12 @@
#pragma once #pragma once
typedef struct motorConfig_s { typedef struct motorConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms) // PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms)
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed. uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000 uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t maxEscThrottleJumpMs; uint16_t maxEscThrottleJumpMs;
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorPwmProtocol; // Pwm Protocol
uint8_t useUnsyncedPwm;
} motorConfig_t; } motorConfig_t;

8
src/main/io/serial_cli.c
View file

@ -705,10 +705,9 @@ const clivalue_t valueTable[] = {
#ifdef CC3D #ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } }, { "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif #endif
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } }, { "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } }, { "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } }, { "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.motorPwmRate, .config.minmax = { 200, 32000 } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } }, { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } }, { "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
@ -821,6 +820,7 @@ const clivalue_t valueTable[] = {
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
{ "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} }, { "servo_lowpass_freq", VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10, 400} },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } }, { "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoPwmRate, .config.minmax = { 50, 498 } },
#endif #endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } }, { "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },

1
src/main/io/servos.h
View file

@ -20,4 +20,5 @@
typedef struct servoConfig_s { typedef struct servoConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms) // PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms)
uint16_t servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500. uint16_t servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500.
uint16_t servoPwmRate; // The update rate of servo outputs (50-498Hz)
} servoConfig_t; } servoConfig_t;

12
src/main/main.c
View file

@ -291,20 +291,20 @@ void init(void)
pwm_params.useServos = isMixerUsingServos(); pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING); pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse; pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate; pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate;
#endif #endif
bool use_unsyncedPwm = masterConfig.use_unsyncedPwm || masterConfig.motor_pwm_protocol == PWM_TYPE_CONVENTIONAL || masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED; bool use_unsyncedPwm = masterConfig.motorConfig.useUnsyncedPwm || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_CONVENTIONAL || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED;
// Configurator feature abused for enabling Fast PWM // Configurator feature abused for enabling Fast PWM
pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED); pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol != PWM_TYPE_CONVENTIONAL && masterConfig.motorConfig.motorPwmProtocol != PWM_TYPE_BRUSHED);
pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol; pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol;
pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0; pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motorConfig.motorPwmRate : 0;
pwm_params.idlePulse = masterConfig.motorConfig.mincommand; pwm_params.idlePulse = masterConfig.motorConfig.mincommand;
if (feature(FEATURE_3D)) if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d; pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) { if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D); featureClear(FEATURE_3D);
pwm_params.idlePulse = 0; // brushed motors pwm_params.idlePulse = 0; // brushed motors
} }

12
src/main/msp/msp_server_fc.c
View file

@ -1241,9 +1241,9 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.gyro_sync_denom); serialize8(masterConfig.gyro_sync_denom);
serialize8(masterConfig.pid_process_denom); serialize8(masterConfig.pid_process_denom);
} }
serialize8(masterConfig.use_unsyncedPwm); serialize8(masterConfig.motorConfig.useUnsyncedPwm);
serialize8(masterConfig.motor_pwm_protocol); serialize8(masterConfig.motorConfig.motorPwmProtocol);
serialize16(masterConfig.motor_pwm_rate); serialize16(masterConfig.motorConfig.motorPwmRate);
break; break;
case MSP_FILTER_CONFIG : case MSP_FILTER_CONFIG :
headSerialReply(13); headSerialReply(13);
@ -1848,9 +1848,9 @@ static bool processInCommand(void)
case MSP_SET_ADVANCED_CONFIG : case MSP_SET_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8(); masterConfig.gyro_sync_denom = read8();
masterConfig.pid_process_denom = read8(); masterConfig.pid_process_denom = read8();
masterConfig.use_unsyncedPwm = read8(); masterConfig.motorConfig.useUnsyncedPwm = read8();
masterConfig.motor_pwm_protocol = read8(); masterConfig.motorConfig.motorPwmProtocol = read8();
masterConfig.motor_pwm_rate = read16(); masterConfig.motorConfig.motorPwmRate = read16();
break; break;
case MSP_SET_FILTER_CONFIG : case MSP_SET_FILTER_CONFIG :
masterConfig.gyro_soft_lpf_hz = read8(); masterConfig.gyro_soft_lpf_hz = read8();

2
src/main/target/ALIENFLIGHTF1/config.c
View file

@ -38,7 +38,7 @@ void targetConfiguration(master_t *config)
{ {
config->rxConfig.spektrum_sat_bind = 5; config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1; config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->motor_pwm_rate = 32000; config->motorConfig.motorPwmRate = 32000;
config->failsafeConfig.failsafe_delay = 2; config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0; config->failsafeConfig.failsafe_off_delay = 0;
config->profile[0].pidProfile.P8[ROLL] = 90; config->profile[0].pidProfile.P8[ROLL] = 90;

2
src/main/target/ALIENFLIGHTF3/config.c
View file

@ -47,7 +47,7 @@ void targetConfiguration(master_t *config)
config->mag_hardware = MAG_NONE; // disabled by default config->mag_hardware = MAG_NONE; // disabled by default
config->rxConfig.spektrum_sat_bind = 5; config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1; config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->motor_pwm_rate = 32000; config->motorConfig.motorPwmRate = 32000;
config->failsafeConfig.failsafe_delay = 2; config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0; config->failsafeConfig.failsafe_off_delay = 0;
config->gyro_sync_denom = 2; config->gyro_sync_denom = 2;

2
src/main/target/ALIENFLIGHTF4/config.c
View file

@ -47,7 +47,7 @@ void targetConfiguration(master_t *config)
config->mag_hardware = MAG_NONE; // disabled by default config->mag_hardware = MAG_NONE; // disabled by default
config->rxConfig.spektrum_sat_bind = 5; config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1; config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->motor_pwm_rate = 32000; config->motorConfig.motorPwmRate = 32000;
config->failsafeConfig.failsafe_delay = 2; config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0; config->failsafeConfig.failsafe_off_delay = 0;
config->gyro_sync_denom = 1; config->gyro_sync_denom = 1;