Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

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

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

33
src/main/flight/mixer.c
View file

@ -42,7 +42,7 @@
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
static uint8_t numberMotor = 0;
static uint8_t motorCount = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
@ -271,21 +271,21 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
if (customMixers[i].throttle == 0.0f)
break;
currentMixer[i] = customMixers[i];
numberMotor++;
motorCount++;
}
} else {
numberMotor = mixers[currentMixerConfiguration].numberMotor;
motorCount = mixers[currentMixerConfiguration].motorCount;
// copy motor-based mixers
if (mixers[currentMixerConfiguration].motor) {
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
currentMixer[i] = mixers[currentMixerConfiguration].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (numberMotor > 1) {
for (i = 0; i < numberMotor; i++) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
@ -323,7 +323,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].numberMotor; i++)
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
@ -393,10 +393,13 @@ void writeMotors(void)
{
uint8_t i;
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
pwmFinishedWritingMotors(numberMotor);
if (feature(FEATURE_ONESHOT125)) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
void writeAllMotors(int16_t mc)
@ -404,7 +407,7 @@ void writeAllMotors(int16_t mc)
uint8_t i;
// Sends commands to all motors
for (i = 0; i < numberMotor; i++)
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors();
}
@ -460,14 +463,14 @@ void mixTable(void)
int16_t maxMotor;
uint32_t i;
if (numberMotor > 3) {
if (motorCount > 3) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
}
// motors for non-servo mixes
if (numberMotor > 1)
for (i = 0; i < numberMotor; i++)
if (motorCount > 1)
for (i = 0; i < motorCount; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
// airplane / servo mixes
@ -568,10 +571,10 @@ void mixTable(void)
}
maxMotor = motor[0];
for (i = 1; i < numberMotor; i++)
for (i = 1; i < motorCount; i++)
if (motor[i] > maxMotor)
maxMotor = motor[i];
for (i = 0; i < numberMotor; i++) {
for (i = 0; i < motorCount; i++) {
if (maxMotor > escAndServoConfig->maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
if (feature(FEATURE_3D)) {