Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

decouple failsafe from the rest of the system.

Browse source 
Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
This commit is contained in:
Dominic Clifton 2014-04-21 00:46:16 +01:00
parent aef28c1c08
commit e969d184e6
29 changed files with 224 additions and 119 deletions
Download patch file Download diff file Expand all files Collapse all files

24
src/drivers/pwm_common.c
View file

@ -8,10 +8,10 @@
#include "gpio_common.h"
#include "timer_common.h"
#include "failsafe.h" // FIXME dependency into the main code from a driver
#include "pwm_common.h"
#include "failsafe.h" // FIXME for external global variables
/*
Configuration maps:
@ -151,6 +151,8 @@ static const uint8_t * const hardwareMaps[] = {
#define PWM_TIMER_MHZ 1
#define PWM_BRUSHED_TIMER_MHZ 8
failsafe_t *failsafe;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
@ -271,16 +273,13 @@ static void ppmCallback(uint8_t port, uint16_t capture)
captures[chan] = diff;
if (chan < 4 && diff > failsafeThreshold)
GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
if (GoodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter
if (GoodPulses == 0x0F) { // If first four channels have good pulses, clear FailSafe counter
GoodPulses = 0;
if (failsafeCnt > 20)
failsafeCnt -= 20;
else
failsafeCnt = 0;
failsafe->vTable->validDataReceived();
}
}
chan++;
failsafeCnt = 0;
failsafe->vTable->reset();
}
}
@ -299,7 +298,7 @@ static void pwmCallback(uint8_t port, uint16_t capture)
pwmPorts[port].state = 0;
pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
// reset failsafe
failsafeCnt = 0;
failsafe->vTable->reset();
}
}
@ -313,11 +312,13 @@ static void pwmWriteStandard(uint8_t index, uint16_t value)
*motors[index]->ccr = value;
}
bool pwmInit(drv_pwm_config_t *init)
void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe)
{
int i = 0;
const uint8_t *setup;
failsafe = initialFailsafe;
// to avoid importing cfg/mcfg
failsafeThreshold = init->failsafeThreshold;
@ -394,7 +395,6 @@ bool pwmInit(drv_pwm_config_t *init)
pwmWritePtr = pwmWriteStandard;
if (init->motorPwmRate > 500)
pwmWritePtr = pwmWriteBrushed;
return false;
}
void pwmWriteMotor(uint8_t index, uint16_t value)