mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
Merge branch 'master' into msp-on-multiple-ports
This commit is contained in:
Dominic Clifton
commit
f7b6ed901e
6 changed files with 305 additions and 125 deletions
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@ -63,161 +63,166 @@
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*/
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enum {
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TYPE_IP = 1,
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TYPE_IW,
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TYPE_M,
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TYPE_S,
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MAP_TO_PPM_INPUT = 1,
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MAP_TO_PWM_INPUT,
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MAP_TO_MOTOR_OUTPUT,
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MAP_TO_SERVO_OUTPUT,
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};
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#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY)
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM9 | (TYPE_M << 8), // Swap to servo if needed
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PWM10 | (TYPE_M << 8), // Swap to servo if needed
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8), // Swap to servo if needed
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PWM6 | (TYPE_M << 8), // Swap to servo if needed
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PWM7 | (TYPE_M << 8), // Swap to servo if needed
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PWM8 | (TYPE_M << 8), // Swap to servo if needed
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (TYPE_M << 8), // motor #1 or #3
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PWM12 | (TYPE_M << 8),
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PWM13 | (TYPE_M << 8),
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PWM14 | (TYPE_M << 8), // motor #4 or #6
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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PWM5 | (TYPE_S << 8), // servo #5
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PWM6 | (TYPE_S << 8),
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PWM7 | (TYPE_S << 8),
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PWM8 | (TYPE_S << 8), // servo #8
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // servo #5
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
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0xFFFF
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};
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static const uint16_t airPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8),
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PWM7 | (TYPE_IW << 8),
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PWM8 | (TYPE_IW << 8), // input #8
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PWM9 | (TYPE_M << 8), // motor #1
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PWM10 | (TYPE_M << 8), // motor #2
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PWM11 | (TYPE_S << 8), // servo #1
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PWM12 | (TYPE_S << 8),
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PWM13 | (TYPE_S << 8),
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PWM14 | (TYPE_S << 8), // servo #4
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CC3D
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM7 | (TYPE_M << 8), // Swap to servo if needed
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PWM8 | (TYPE_M << 8), // Swap to servo if needed
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PWM9 | (TYPE_M << 8),
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PWM10 | (TYPE_M << 8),
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8),
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PWM2 | (TYPE_M << 8), // Swap to servo if needed
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PWM3 | (TYPE_M << 8), // Swap to servo if needed
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PWM4 | (TYPE_M << 8), // Swap to servo if needed
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PWM5 | (TYPE_M << 8), // Swap to servo if needed
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PWM6 | (TYPE_M << 8), // Swap to servo if needed
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8), // input #6
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PWM7 | (TYPE_M << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (TYPE_M << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (TYPE_M << 8), // motor #1 or #3
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PWM10 | (TYPE_M << 8),
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PWM11 | (TYPE_M << 8),
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PWM12 | (TYPE_M << 8), // motor #4 or #6
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
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0xFFFF
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};
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static const uint16_t airPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM7 | (TYPE_M << 8),
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PWM8 | (TYPE_M << 8),
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PWM9 | (TYPE_S << 8),
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PWM10 | (TYPE_S << 8),
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PWM11 | (TYPE_S << 8),
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PWM12 | (TYPE_S << 8),
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PWM2 | (TYPE_S << 8),
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PWM3 | (TYPE_S << 8),
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PWM4 | (TYPE_S << 8),
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PWM5 | (TYPE_S << 8),
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PWM6 | (TYPE_S << 8),
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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0xFFFF
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};
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static const uint16_t airPWM[] = {
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PWM1 | (TYPE_IW << 8), // input #1
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PWM2 | (TYPE_IW << 8),
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PWM3 | (TYPE_IW << 8),
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PWM4 | (TYPE_IW << 8),
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PWM5 | (TYPE_IW << 8),
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PWM6 | (TYPE_IW << 8), // input #6
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PWM7 | (TYPE_M << 8), // motor #1
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PWM8 | (TYPE_M << 8), // motor #2
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PWM9 | (TYPE_S << 8), // servo #1
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PWM10 | (TYPE_S << 8), // servo #2
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PWM11 | (TYPE_S << 8), // servo #3
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PWM12 | (TYPE_S << 8), // servo #4
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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0xFFFF
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};
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#endif
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#ifdef CJMCU
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static const uint16_t multiPPM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_M << 8),
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PWM3 | (TYPE_M << 8),
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PWM4 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8),
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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|
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static const uint16_t multiPWM[] = {
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PWM1 | (TYPE_IP << 8), // PPM input
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PWM2 | (TYPE_M << 8),
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PWM3 | (TYPE_M << 8),
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PWM4 | (TYPE_M << 8),
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PWM5 | (TYPE_M << 8),
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM9 | (MAP_TO_PWM_INPUT << 8),
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PWM10 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFF
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};
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|
@ -322,27 +327,27 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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|||
#endif
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||||
|
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// hacks to allow current functionality
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if (type == TYPE_IW && !init->useParallelPWM)
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if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
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type = 0;
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|
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if (type == TYPE_IP && !init->usePPM)
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if (type == MAP_TO_PPM_INPUT && !init->usePPM)
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type = 0;
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|
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if (init->useServos && !init->airplane) {
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#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
|
||||
// remap PWM9+10 as servos
|
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if (timerIndex == PWM9 || timerIndex == PWM10)
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type = TYPE_S;
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type = MAP_TO_SERVO_OUTPUT;
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#endif
|
||||
|
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#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
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// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
|
||||
if (init->useSoftSerial) {
|
||||
if (timerIndex == PWM5 || timerIndex == PWM6)
|
||||
type = TYPE_S;
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
} else {
|
||||
if (timerIndex == PWM9 || timerIndex == PWM10)
|
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type = TYPE_S;
|
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type = MAP_TO_SERVO_OUTPUT;
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||||
}
|
||||
#endif
|
||||
}
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||||
|
|
@ -350,22 +355,22 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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|||
if (init->extraServos && !init->airplane) {
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||||
// remap PWM5..8 as servos when used in extended servo mode
|
||||
if (timerIndex >= PWM5 && timerIndex <= PWM8)
|
||||
type = TYPE_S;
|
||||
type = MAP_TO_SERVO_OUTPUT;
|
||||
}
|
||||
|
||||
if (type == TYPE_IP) {
|
||||
if (type == MAP_TO_PPM_INPUT) {
|
||||
ppmInConfig(timerHardwarePtr);
|
||||
} else if (type == TYPE_IW) {
|
||||
} else if (type == MAP_TO_PWM_INPUT) {
|
||||
pwmInConfig(timerHardwarePtr, channelIndex);
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channelIndex++;
|
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} else if (type == TYPE_M) {
|
||||
} else if (type == MAP_TO_MOTOR_OUTPUT) {
|
||||
if (init->motorPwmRate > 500) {
|
||||
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
|
||||
} else {
|
||||
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
|
||||
}
|
||||
pwmOutputConfiguration.motorCount++;
|
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} else if (type == TYPE_S) {
|
||||
} else if (type == MAP_TO_SERVO_OUTPUT) {
|
||||
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
|
||||
pwmOutputConfiguration.servoCount++;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -59,6 +59,8 @@ typedef struct {
|
|||
captureCompare_t fall;
|
||||
captureCompare_t capture;
|
||||
|
||||
uint8_t missedEvents;
|
||||
|
||||
const timerHardware_t *timerHardware;
|
||||
} pwmInputPort_t;
|
||||
|
||||
|
|
@ -212,6 +214,22 @@ static void ppmEdgeCallback(uint8_t port, captureCompare_t capture)
|
|||
}
|
||||
}
|
||||
|
||||
#define MAX_MISSED_PWM_EVENTS 10
|
||||
|
||||
extern uint16_t debug[4];
|
||||
static void pwmOverflowCallback(uint8_t port, captureCompare_t capture)
|
||||
{
|
||||
UNUSED(capture);
|
||||
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
|
||||
|
||||
if (++pwmInputPort->missedEvents > MAX_MISSED_PWM_EVENTS) {
|
||||
if (pwmInputPort->state == 0) {
|
||||
captures[pwmInputPort->channel] = PPM_RCVR_TIMEOUT;
|
||||
}
|
||||
pwmInputPort->missedEvents = 0;
|
||||
}
|
||||
}
|
||||
|
||||
static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
|
||||
{
|
||||
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
|
||||
|
|
@ -231,6 +249,7 @@ static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
|
|||
// switch state
|
||||
pwmInputPort->state = 0;
|
||||
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
|
||||
pwmInputPort->missedEvents = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -267,6 +286,8 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
|
|||
{
|
||||
pwmInputPort_t *p = &pwmInputPorts[channel];
|
||||
|
||||
p->state = 0;
|
||||
p->missedEvents = 0;
|
||||
p->channel = channel;
|
||||
p->mode = INPUT_MODE_PWM;
|
||||
p->timerHardware = timerHardwarePtr;
|
||||
|
|
@ -275,7 +296,7 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
|
|||
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
|
||||
|
||||
timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
|
||||
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, NULL);
|
||||
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, pwmOverflowCallback);
|
||||
}
|
||||
|
||||
#define UNUSED_PPM_TIMER_REFERENCE 0
|
||||
|
|
|
|||
|
|
@ -242,7 +242,7 @@ void processRxChannels(void)
|
|||
|
||||
bool shouldCheckPulse = true;
|
||||
|
||||
if (feature(FEATURE_FAILSAFE | FEATURE_RX_PPM)) {
|
||||
if (feature(FEATURE_FAILSAFE) && feature(FEATURE_RX_PPM)) {
|
||||
shouldCheckPulse = isPPMDataBeingReceived();
|
||||
resetPPMDataReceivedState();
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue