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Code Issues Wiki Activity

FastPWM as part of Oneshot125 (dynamic oneshot)

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bool correction

IdlePulse
This commit is contained in:
borisbstyle 2015-10-01 16:38:37 +02:00
parent 77534ed6f6
commit fa9cd0440b
7 changed files with 16 additions and 20 deletions
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11
src/main/config/config.c
View file

@ -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

3
src/main/config/config.h
View file

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

1
src/main/config/config_master.h
View file

@ -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

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

@ -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) {
if (init->useFastPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else if (init->useFastPWM) {
fastPWMMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
}
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else {

4
src/main/drivers/pwm_output.c
View file

@ -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;
}

3
src/main/io/serial_cli.c
View file

@ -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 },

4
src/main/main.c
View file

@ -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);