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Disable output of DSHOT when motors disabled

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This commit is contained in:
blckmn 2016-11-09 20:29:32 +11:00
parent 4355d675b2
commit ec92be725b
5 changed files with 29 additions and 1 deletions
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2
src/main/drivers/pwm_output.c
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@ -35,7 +35,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
#endif
static bool pwmMotorsEnabled = true;
bool pwmMotorsEnabled = true;
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{

2
src/main/drivers/pwm_output.h
View file

@ -75,6 +75,8 @@ typedef struct {
#endif
} motorDmaOutput_t;
extern bool pwmMotorsEnabled;
struct timerHardware_s;
typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount); // function pointer used after motors are written

9
src/main/drivers/pwm_output_stm32f3xx.c
View file

@ -57,6 +57,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -83,6 +88,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
TIM_SetCounter(dmaMotorTimers[i].timer, 0);

8
src/main/drivers/pwm_output_stm32f4xx.c
View file

@ -58,6 +58,10 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -84,6 +88,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
TIM_SetCounter(dmaMotorTimers[i].timer, 0);

9
src/main/drivers/pwm_output_stm32f7xx.c
View file

@ -57,6 +57,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
void pwmWriteDigital(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
@ -87,6 +92,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
if (!pwmMotorsEnabled) {
return;
}
for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
//TIM_SetCounter(dmaMotorTimers[i].timer, 0);
//TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);