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rewritten and cleaned up PWM driver

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this has been hover-tested.
all current functionality *should* work even though the driver has been rewritten.
please test carefully, especially servo configurations!

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@197 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-17 06:48:30 +00:00
parent 9b7e26b274
commit ee76242525
6 changed files with 2925 additions and 2844 deletions
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20
src/mixer.c
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@ -57,13 +57,13 @@ void writeServos(void)
if (cfg.mixerConfiguration == MULTITYPE_TRI || cfg.mixerConfiguration == MULTITYPE_BI) {
/* One servo on Motor #4 */
pwmWrite(0, servo[4]);
pwmWriteServo(0, servo[4]);
if (cfg.mixerConfiguration == MULTITYPE_BI)
pwmWrite(1, servo[5]);
pwmWriteServo(1, servo[5]);
} else {
/* Two servos for camstab or FLYING_WING */
pwmWrite(0, servo[0]);
pwmWrite(1, servo[1]);
pwmWriteServo(0, servo[0]);
pwmWriteServo(1, servo[1]);
}
}
@ -72,14 +72,9 @@ extern uint8_t cliMode;
void writeMotors(void)
{
uint8_t i;
uint8_t offset = 0;
// when servos are enabled, motor outputs 1..2 are for servos only
if (useServo)
offset = 2;
for (i = 0; i < numberMotor; i++)
pwmWrite(i + offset, motor[i]);
pwmWriteMotor(i, motor[i]);
}
void writeAllMotors(int16_t mc)
@ -245,8 +240,11 @@ void mixTable(void)
}
if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
int offset = 0;
if (feature(FEATURE_SERVO_TILT))
offset = 2;
for (i = 0; i < 4; i++)
pwmWrite(6 + i, rcData[AUX1 + i]);
pwmWriteServo(i + offset, rcData[AUX1 + i]);
}
maxMotor = motor[0];