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Remove usage of feature() from pwm driver code so that driver code does

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not have a dependency on config.c.
This commit is contained in:
Dominic Clifton 2014-12-06 11:39:31 +00:00
parent d7e26980a8
commit e802e2d032
7 changed files with 42 additions and 41 deletions
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38
src/main/drivers/pwm_output.c
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@ -27,8 +27,6 @@
#include "flight/failsafe.h" // FIXME dependency into the main code from a driver
#include "config/config.h" // FIXME dependency into the main code from a driver
#include "pwm_mapping.h"
#include "pwm_output.h"
@ -37,7 +35,7 @@ typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function poi
typedef struct {
volatile timCCR_t *ccr;
volatile TIM_TypeDef *tim;
TIM_TypeDef *tim;
uint16_t period;
pwmWriteFuncPtr pwmWritePtr;
} pwmOutputPort_t;
@ -140,29 +138,23 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
motors[index]->pwmWritePtr(index, value);
}
void pwmFinishedWritingMotors(uint8_t numberMotors)
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{
uint8_t index;
volatile TIM_TypeDef *lastTimerPtr = NULL;
TIM_TypeDef *lastTimerPtr = NULL;
for(index = 0; index < motorCount; index++){
if(feature(FEATURE_ONESHOT125)){
// Force the timer to overflow if it's the first motor to output, or if we change timers
if(motors[index]->tim != lastTimerPtr){
lastTimerPtr = motors[index]->tim;
for(index = 0; index < numberMotors; index++){
// Force the timer to overflow if it's the first motor to output, or if we change timers
if(motors[index]->tim != lastTimerPtr){
lastTimerPtr = motors[index]->tim;
timerForceOverflow(motors[index]->tim);
}
timerForceOverflow(motors[index]->tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.
for(index = 0; index < numberMotors; index++){
*motors[index]->ccr = 0;
}
*motors[index]->ccr = 0;
}
}
@ -183,13 +175,13 @@ void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
if(feature(FEATURE_ONESHOT125)){
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
} else {
motors[motorIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, hz / motorPwmRate, idlePulse);
}
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse)
{
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}