FastPWM as part of Oneshot125 (dynamic oneshot)

bool correction

IdlePulse

src/main/config/config.c

@@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 108;
+static const uint8_t EEPROM_CONF_VERSION = 109;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -442,6 +442,7 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
 #endif
     masterConfig.servo_pwm_rate = 50;
+    masterConfig.use_fast_pwm = 0;
 
 #ifdef GPS
     // gps/nav stuff
@@ -747,14 +748,6 @@ void validateAndFixConfig(void)
         featureClear(FEATURE_RX_PPM);
     }
 
-    if (featureConfigured(FEATURE_ONESHOT125)) {
-        featureClear(FEATURE_FASTPWM);
-    }
-
-    if (featureConfigured(FEATURE_FASTPWM)) {
-        featureClear(FEATURE_ONESHOT125);
-    }
-
     if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
 #if defined(STM32F10X)
         // rssi adc needs the same ports

src/main/config/config.h

@@ -42,8 +42,7 @@ typedef enum {
     FEATURE_DISPLAY = 1 << 17,
     FEATURE_ONESHOT125 = 1 << 18,
     FEATURE_BLACKBOX = 1 << 19,
-    FEATURE_CHANNEL_FORWARDING = 1 << 20,
+    FEATURE_CHANNEL_FORWARDING = 1 << 20
-    FEATURE_FASTPWM = 1 << 21
 } features_e;
 
 void handleOneshotFeatureChangeOnRestart(void);

src/main/config/config_master.h

@@ -37,6 +37,7 @@ typedef struct master_t {
 
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
+    uint8_t use_fast_pwm;                   // Use fast PWM implementation when oneshot enabled
 
     // global sensor-related stuff
 

src/main/drivers/pwm_mapping.c

@@ -31,7 +31,7 @@
 
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse);
+void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
@@ -638,9 +638,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             channelIndex++;
         } else if (type == MAP_TO_MOTOR_OUTPUT) {
             if (init->useOneshot) {
-                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
+                if (init->useFastPWM) {
-            } else if (init->useFastPWM) {
+                    fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
-                fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
+                } else {
+                    pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
+                }
             } else if (isMotorBrushed(init->motorPwmRate)) {
                 pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
             } else {

src/main/drivers/pwm_output.c

@@ -190,10 +190,10 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
-void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse)
+void fastPWMMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
     uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
-    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, hz / 4000, idlePulse);
+    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, hz / motorPwmRate, idlePulse);
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 

src/main/io/serial_cli.c

@@ -175,7 +175,7 @@ static const char * const featureNames[] = {
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
-    "BLACKBOX", "CHANNEL_FORWARDING","FASTPWM", NULL
+    "BLACKBOX", "CHANNEL_FORWARDING", NULL
 };
 
 // sync this with rxFailsafeChannelMode_e
@@ -346,6 +346,7 @@ const clivalue_t valueTable[] = {
 
     { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, 50, 32000 },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, 50, 498 },
+    { "enable_fast_pwm",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.use_fast_pwm, 0, 1 },
 
     { "retarded_arm",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.retarded_arm, 0, 1 },
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE,  &masterConfig.disarm_kill_switch, 0, 1 },

src/main/main.c

@@ -256,12 +256,12 @@ void init(void)
 #endif
 
     pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
-    pwm_params.useFastPWM = feature(FEATURE_FASTPWM);
+    pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
     pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    if (pwm_params.motorPwmRate > 500)
+    if (pwm_params.motorPwmRate > 500 && !masterConfig.use_fast_pwm)
         pwm_params.idlePulse = 0; // brushed motors
 
     pwmRxInit(masterConfig.inputFilteringMode);