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Allow number of servos exceed pwm outputs, if servo protocol is sbus_pwm

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Marcelo Bezerra 2024-08-01 22:05:13 +02:00
parent 265cd57c20
commit ac03ee3c16
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GPG key ID: 718A5AC065848530
3 changed files with 12 additions and 3 deletions
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11
src/main/drivers/pwm_mapping.c
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@ -42,6 +42,7 @@
#include "sensors/rangefinder.h" #include "sensors/rangefinder.h"
#include "io/serial.h" #include "io/serial.h"
#include "io/servo_sbus.h"
enum { enum {
MAP_TO_NONE, MAP_TO_NONE,
@ -442,15 +443,21 @@ static void pwmInitServos(timMotorServoHardware_t * timOutputs)
return; return;
} }
// If mixer requests more servos than we have timer outputs - throw an error // If mixer requests more servos than we have timer outputs - throw an error
if (servoCount > timOutputs->maxTimServoCount) { uint16_t maxServos = timOutputs->maxTimServoCount;
if(servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM) {
maxServos = MAX(SERVO_SBUS_MAX_SERVOS, timOutputs->maxTimServoCount);
}
if (servoCount > maxServos) {
pwmInitError = PWM_INIT_ERROR_NOT_ENOUGH_SERVO_OUTPUTS; pwmInitError = PWM_INIT_ERROR_NOT_ENOUGH_SERVO_OUTPUTS;
LOG_ERROR(PWM, "Too many servos. Mixer requested %d, timer outputs %d", servoCount, timOutputs->maxTimServoCount); LOG_ERROR(PWM, "Too many servos. Mixer requested %d, timer outputs %d", servoCount, timOutputs->maxTimServoCount);
return; return;
} }
// Configure individual servo outputs // Configure individual servo outputs
for (int idx = 0; idx < servoCount; idx++) { for (int idx = 0; idx < MIN(servoCount, timOutputs->maxTimServoCount); idx++) {
const timerHardware_t *timHw = timOutputs->timServos[idx]; const timerHardware_t *timHw = timOutputs->timServos[idx];
if (!pwmServoConfig(timHw, idx, servoConfig()->servoPwmRate, servoConfig()->servoCenterPulse, feature(FEATURE_PWM_OUTPUT_ENABLE))) { if (!pwmServoConfig(timHw, idx, servoConfig()->servoPwmRate, servoConfig()->servoCenterPulse, feature(FEATURE_PWM_OUTPUT_ENABLE))) {

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

@ -638,7 +638,7 @@ ioTag_t pwmGetMotorPinTag(int motorIndex)
static void pwmServoWriteStandard(uint8_t index, uint16_t value) static void pwmServoWriteStandard(uint8_t index, uint16_t value)
{ {
if (servos[index]) { if (index < MAX_SERVOS && servos[index]) {
*servos[index]->ccr = value; *servos[index]->ccr = value;
} }
} }

2
src/main/io/servo_sbus.h
View file

@ -24,6 +24,8 @@
#pragma once #pragma once
#define SERVO_SBUS_MAX_SERVOS 18
bool sbusServoInitialize(void); bool sbusServoInitialize(void);
void sbusServoUpdate(uint8_t index, uint16_t value); void sbusServoUpdate(uint8_t index, uint16_t value);
void sbusServoSendUpdate(void); void sbusServoSendUpdate(void);