bool pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint8_t *setup;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++) {
uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0;
if (setup[i] == 0xFF) // terminator
break;
// skip UART ports for GPS
if (init->useUART && (port == PWM3 || port == PWM4))
continue;
// skip ADC for powerMeter if configured
if (init->adcChannel && (init->adcChannel == port))
continue;
// hacks to allow current functionality
if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
mask = 0;
if (init->useServos && !init->airplane) {
// remap PWM9+10 as servos (but not in airplane mode LOL)
if (port == PWM9 || port == PWM10)
mask = TYPE_S;
}
if (init->extraServos && !init->airplane) {
// remap PWM5..8 as servos when used in extended servo mode
if (port >= PWM5 && port <= PWM8)
mask = TYPE_S;
}
if (mask & TYPE_IP) {
pwmInConfig(port, ppmCallback, 0);
numInputs = 8;
} else if (mask & TYPE_IW) {
pwmInConfig(port, pwmCallback, numInputs);
numInputs++;
} else if (mask & TYPE_M) {
motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, PULSE_1MS);
} else if (mask & TYPE_S) {
servos[numServos++] = pwmOutConfig(port, 1000000 / init->servoPwmRate, PULSE_1MS);
}
}
return false;
}
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
#ifndef SKIP_RX_PWM_PPM
int channelIndex = 0;
#endif
memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
const uint16_t *setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
continue;
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#if defined(STM32F303xC) && defined(USE_USART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && IO_GPIOBYTAG(timerHardwarePtr->tag) == UART3_GPIO && (IO_PINBYTAG(timerHardwarePtr->tag) == UART3_TX_PIN || IO_PINBYTAG(timerHardwarePtr->tag) == UART3_RX_PIN))
continue;
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
continue;
#endif
#ifdef LED_STRIP_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
if (IO_GPIOBYTAG(timerHardwarePtr->tag) == WS2811_GPIO && IO_GPIO_PinSource(IOGetByTag(timerHardwarePtr->tag)) == WS2811_PIN_SOURCE)
continue;
#endif
}
#endif
#ifdef VBAT_ADC_GPIO
if (init->useVbat && IO_GPIOBYTAG(timerHardwarePtr->tag) == VBAT_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == VBAT_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && IO_GPIOBYTAG(timerHardwarePtr->tag) == RSSI_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == RSSI_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && IO_GPIOBYTAG(timerHardwarePtr->tag) == CURRENT_METER_ADC_GPIO && IO_PINBYTAG(timerHardwarePtr->tag) == CURRENT_METER_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef SONAR
if (init->sonarGPIOConfig && IO_GPIOBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->gpio &&
(
IO_PINBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->triggerPin ||
IO_PINBYTAG(timerHardwarePtr->tag) == init->sonarGPIOConfig->echoPin
)
) {
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
// remap PWM1+2 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
// remap 10 as servo
if (timerIndex == PWM10 && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// 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 = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(LED_STRIP_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#ifdef CC3D
// This part of code is unnecessary and can be removed - timer clash is resolved by forcing configuration with the same
// timer tick rate - PWM_TIMER_MHZ
/*
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
*/
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
#ifdef CC3D_PPM1
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#ifdef SPARKY
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
pwmInConfig(timerHardwarePtr, channelIndex);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#if defined(CC3D) && !defined(CC3D_PPM1)
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.motorCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.motorCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
#endif
} else {
continue;
}
pwmIOConfiguration.ioCount++;
}
return &pwmIOConfiguration;
}
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint16_t *setup;
int channelIndex = 0;
static pwmOutputConfiguration_t pwmOutputConfiguration;
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
continue;
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
continue;
#endif
#ifdef LED_STRIP_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
if (timerHardwarePtr->gpio == WS2811_GPIO && timerHardwarePtr->gpioPinSource == WS2811_PIN_SOURCE)
continue;
#endif
}
#endif
#ifdef VBAT_ADC_GPIO
if (init->useVbat && timerHardwarePtr->gpio == VBAT_ADC_GPIO && timerHardwarePtr->pin == VBAT_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && timerHardwarePtr->gpio == RSSI_ADC_GPIO && timerHardwarePtr->pin == RSSI_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && timerHardwarePtr->gpio == CURRENT_METER_ADC_GPIO && timerHardwarePtr->pin == CURRENT_METER_ADC_GPIO_PIN) {
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(NAZE32PRO) || (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// 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 = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
}
if (init->extraServos && !init->airplane) {
#if defined(NAZE) && defined(LED_STRIP_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#ifdef CC3D
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifdef CC3D
if (init->useOneshot) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#ifdef SPARKY
if (init->useOneshot) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
} else if (type == MAP_TO_PWM_INPUT) {
pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++;
} else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
} else if (init->motorPwmRate > 500) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
}
pwmOutputConfiguration.motorCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmOutputConfiguration.servoCount++;
#endif
}
}
return &pwmOutputConfiguration;
}
void pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint16_t *setup;
int channelIndex = 0;
int servoIndex = 0;
int motorIndex = 0;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
if (setup[i] == 0xFFFF) // terminator
break;
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
continue;
#endif
#ifdef STM32F10X_MD
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#ifdef STM32F10X_MD
// skip softSerial ports
if (init->useSoftSerial && (timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
continue;
#endif
#ifdef CHEBUZZF3
// skip softSerial ports
// PWM4 can no-longer be used since it uses the same timer as PWM5 and PWM6
if (init->useSoftSerial && (timerIndex == PWM4 || timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
continue;
#endif
#if defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3)
// skip softSerial ports
if (init->useSoftSerial && (timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11 || timerIndex == PWM12))
continue;
#endif
#if defined(STM32F10X_MD)
#define LED_STRIP_PWM PWM4
#endif
#if defined(STM32F303xC) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
#define LED_STRIP_PWM PWM2
#endif
#if defined(CHEBUZZF3)
#define LED_STRIP_PWM PWM2
#endif
#if defined(NAZE32PRO)
#define LED_STRIP_PWM PWM13
#endif
#ifdef LED_STRIP_PWM
// skip LED Strip output
if (init->useLEDStrip && timerIndex == LED_STRIP_PWM)
continue;
#endif
#ifdef STM32F10X_MD
// skip ADC for RSSI
if (init->useRSSIADC && timerIndex == PWM2)
continue;
#endif
// hacks to allow current functionality
if (type == TYPE_IW && !init->useParallelPWM)
type = 0;
if (type == TYPE_IP && !init->usePPM)
type = 0;
if (init->useServos && !init->airplane) {
#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
// remap PWM9+10 as servos
if (timerIndex == PWM9 || timerIndex == PWM10)
type = TYPE_S;
#endif
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !defined(CHEBUZZF3)
// 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;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = TYPE_S;
}
#endif
}
if (init->extraServos && !init->airplane) {
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = TYPE_S;
}
if (type == TYPE_IP) {
ppmInConfig(timerIndex);
} else if (type == TYPE_IW) {
pwmInConfig(timerIndex, channelIndex);
channelIndex++;
} else if (type == TYPE_M) {
if (init->motorPwmRate > 500) {
pwmBrushedMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
} else {
pwmBrushlessMotorConfig(&timerHardware[timerIndex], motorIndex, init->motorPwmRate, init->idlePulse);
}
motorIndex++;
} else if (type == TYPE_S) {
pwmServoConfig(&timerHardware[timerIndex], servoIndex, init->servoPwmRate, init->servoCenterPulse);
servoIndex++;
}
}
}
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
const uint16_t *setup;
#ifndef SKIP_RX_PWM_PPM
int channelIndex = 0;
#endif
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
#ifdef CC3D
setup = init->useBuzzerP6 ? hardwareMapsBP6[i] : hardwareMaps[i];
#else
setup = hardwareMaps[i];
#endif
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2)
continue;
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#if defined(STM32F303xC) && defined(USE_UART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && (timerHardwarePtr->tag == IO_TAG(UART3_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART3_RX_PIN)))
continue;
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
continue;
#endif
#ifdef WS2811_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == WS2811_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_PIN)
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN))
continue;
#endif
}
#endif
#ifdef VBAT_ADC_PIN
if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
continue;
}
#endif
#ifdef CURRENT_METER_ADC_GPIO
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
continue;
}
#endif
#ifdef SONAR
if (init->useSonar &&
(
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
)) {
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(DOGE)
// remap outputs 1+2 (PWM2+3) as servos
if ((timerIndex == PWM2 || timerIndex == PWM3) && timerHardwarePtr->tim == TIM4)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
// remap PWM1+2 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3MINI) || defined(OMNIBUS)
// remap PWM6+7 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// 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 = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SINGULARITY)
// remap PWM6+7 as servos
if (timerIndex == PWM6 || timerIndex == PWM7)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(WS2811_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
#if defined(SPRACINGF3) || defined(NAZE)
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
#endif // USE_SERVOS
#ifdef CC3D
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2, init->pwmProtocolType);
}
#endif
ppmInConfig(timerHardwarePtr);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++;
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D
if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useFastPwm) {
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_MOTOR_MODE_BRUSHED;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM;
}
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.motorCount;
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].timerHardware = timerHardwarePtr;
pwmOutputConfiguration.motorCount++;
pwmOutputConfiguration.outputCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].index = pwmOutputConfiguration.servoCount;
pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmOutputConfiguration.servoCount++;
pwmOutputConfiguration.outputCount++;
#endif
}
}
return &pwmOutputConfiguration;
}
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint16_t *setup;
int channelIndex = 0;
memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ] PWM mappings are used for RX_MSP.
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
// skip UART ports
#ifdef USE_UART2
if (init->useUART2 && timerHardwarePtr->gpio == UART2_GPIO && (timerHardwarePtr->pin == UART2_TX_PIN || timerHardwarePtr->pin == UART2_RX_PIN))
continue;
#endif
#ifdef USE_UART3
if (init->useUART3 && timerHardwarePtr->gpio == UART3_GPIO && (timerHardwarePtr->pin == UART3_TX_PIN || timerHardwarePtr->pin == UART3_RX_PIN))
continue;
#endif
#ifdef USE_UART4
if (init->useUART4 && timerHardwarePtr->gpio == UART4_GPIO && (timerHardwarePtr->pin == UART4_TX_PIN || timerHardwarePtr->pin == UART4_RX_PIN))
continue;
#endif
#ifdef USE_UART5
if (init->useUART5 &&
(
(timerHardwarePtr->gpio == UART5_GPIO_TX && timerHardwarePtr->pin == UART5_TX_PIN)
|| (timerHardwarePtr->gpio == UART5_GPIO_RX && timerHardwarePtr->pin == UART5_RX_PIN)
)
)
continue;
#endif
#if defined(STM32F10X) && defined(USE_I2C)
// skip I2C ports if device 1 is selected
if (I2C_DEVICE == I2CDEV_1 && timerHardwarePtr->gpio == GPIOB && (timerHardwarePtr->pin == Pin_6 || timerHardwarePtr->pin == Pin_7))
continue;
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER)
continue;
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER)
continue;
#endif
#ifdef LED_STRIP_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
#if defined(STM32F303xC) && defined(WS2811_GPIO) && defined(WS2811_PIN_SOURCE)
if (timerHardwarePtr->gpio == WS2811_GPIO && timerHardwarePtr->gpioPinSource == WS2811_PIN_SOURCE)
continue;
#endif
}
#endif
#ifdef VBAT_ADC_GPIO
if (init->useVbat && timerHardwarePtr->gpio == VBAT_ADC_GPIO && timerHardwarePtr->pin == VBAT_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef RSSI_ADC_GPIO
if (init->useRSSIADC && timerHardwarePtr->gpio == RSSI_ADC_GPIO && timerHardwarePtr->pin == RSSI_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef AMPERAGE_METER_ADC_GPIO
if (init->useCurrentMeterADC && timerHardwarePtr->gpio == AMPERAGE_METER_ADC_GPIO && timerHardwarePtr->pin == AMPERAGE_METER_ADC_GPIO_PIN) {
continue;
}
#endif
#ifdef SONAR
if (init->sonarGPIOConfig &&
(
(timerHardwarePtr->gpio == init->sonarGPIOConfig->triggerGPIO
&& timerHardwarePtr->pin == init->sonarGPIOConfig->triggerPin) ||
(timerHardwarePtr->gpio == init->sonarGPIOConfig->echoGPIO
&& timerHardwarePtr->pin == init->sonarGPIOConfig->echoPin)
)
) {
continue;
}
#endif
// hacks to allow current functionality
#if defined(SPRACINGF3MINI)
// remap PWM1, 6-9 as PWM input when parallel PWM is used (for AUX1 and RC1-4, respectively)
if (init->useParallelPWM && (timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM1)) {
type = MAP_TO_PWM_INPUT;
}
#endif
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
if (timerIndex == PWM10 && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3MINI)
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3NEO)
if (((timerIndex == PWM7 || timerIndex == PWM8) && timerHardwarePtr->tim == TIM8)
|| ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(RCEXPLORERF3)
if (timerIndex == PWM2) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(NAZE32PRO) || (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// 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 = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(LED_STRIP_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
#if defined(SPRACINGF3) || defined(NAZE)
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3MINI)
if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
|| ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3NEO)
if (((timerIndex == PWM7 || timerIndex == PWM8) && timerHardwarePtr->tim == TIM8)
|| ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
}
#endif // USE_SERVOS
#ifdef CC3D
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
#endif
if (type == MAP_TO_PPM_INPUT) {
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
} else if (type == MAP_TO_PWM_INPUT) {
pwmInConfig(timerHardwarePtr, channelIndex);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)){
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2)
continue;
}
#endif
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_ONESHOT|PWM_PF_OUTPUT_PROTOCOL_PWM;
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.motorCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.motorCount++;
} else if (type == MAP_TO_SERVO_OUTPUT) {
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
#endif
} else {
continue;
}
pwmIOConfiguration.ioCount++;
}
return &pwmIOConfiguration;
}
bool pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint8_t *setup;
// to avoid importing cfg/mcfg
failsafeThreshold = init->failsafeThreshold;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++) {
uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0;
if (setup[i] == 0xFF) // terminator
break;
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (port == PWM2)
continue;
#endif
// skip UART ports for GPS
if (init->useUART && (port == PWM3 || port == PWM4))
continue;
// skip softSerial ports
if (init->useSoftSerial && (port == PWM5 || port == PWM6 || port == PWM7 || port == PWM8))
continue;
// skip ADC for powerMeter if configured
if (init->adcChannel && (init->adcChannel == port))
continue;
// hacks to allow current functionality
if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
mask = 0;
if (init->useServos && !init->airplane) {
// remap PWM9+10 as servos (but not in airplane mode LOL)
if (port == PWM9 || port == PWM10)
mask = TYPE_S;
}
if (init->extraServos && !init->airplane) {
// remap PWM5..8 as servos when used in extended servo mode
if (port >= PWM5 && port <= PWM8)
mask = TYPE_S;
}
if (mask & TYPE_IP) {
pwmInConfig(port, ppmCallback, 0);
numInputs = 8;
} else if (mask & TYPE_IW) {
pwmInConfig(port, pwmCallback, numInputs);
numInputs++;
} else if (mask & TYPE_M) {
motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, init->idlePulse > 0 ? init->idlePulse : PULSE_1MS);
} else if (mask & TYPE_S) {
servos[numServos++] = pwmOutConfig(port, 1000000 / init->servoPwmRate, PULSE_1MS);
}
}
return false;
}
bool pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint8_t *setup;
uint16_t period;
// to avoid importing cfg/mcfg
failsafeThreshold = init->failsafeThreshold;
// pwm filtering on input
pwmFilter = init->pwmFilter;
syncPWM = init->syncPWM;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM)
i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++) {
uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0;
if (setup[i] == 0xFF) // terminator
break;
// skip UART ports for GPS
if (init->useUART && (port == PWM3 || port == PWM4))
continue;
// skip softSerial ports
if (init->useSoftSerial && (port == PWM5 || port == PWM6 || port == PWM7 || port == PWM8))
continue;
// skip ADC for powerMeter if configured
if (init->adcChannel && (init->adcChannel == port))
continue;
// hacks to allow current functionality
if ((mask & (TYPE_IP | TYPE_IW)) && !init->enableInput)
mask = 0;
if (init->useServos && !init->airplane) {
// remap PWM9+10 as servos (but not in airplane mode LOL)
if (port == PWM9 || port == PWM10)
mask = TYPE_S;
}
if (init->extraServos && !init->airplane) {
// remap PWM5..8 as servos when used in extended servo mode.
// condition for airplane because airPPM already has these as servos
if (port >= PWM5 && port <= PWM8)
mask = TYPE_S;
}
if (mask & TYPE_IP) {
pwmInConfig(port, ppmCallback, 0);
numInputs = 8;
} else if (mask & TYPE_IW) {
pwmInConfig(port, pwmCallback, numInputs);
numInputs++;
} else if (mask & TYPE_M) {
uint32_t hz, mhz;
if (init->motorPwmRate > 500 || init->fastPWM)
mhz = PWM_TIMER_8_MHZ;
else
mhz = PWM_TIMER_MHZ;
hz = mhz * 1000000;
if (init->syncPWM)
period = 8000 * mhz; // 8ms period in syncPWM mode, cycletime should be smaller than this
else if (init->fastPWM)
period = hz / 4000;
else
period = hz / init->motorPwmRate;
motors[numMotors++] = pwmOutConfig(port, mhz, period, init->idlePulse);
} else if (mask & TYPE_S) {
servos[numServos++] = pwmOutConfig(port, PWM_TIMER_MHZ, 1000000 / init->servoPwmRate, init->servoCenterPulse);
}
}
// determine motor writer function
pwmWritePtr = pwmWriteStandard;
if (init->motorPwmRate > 500)
pwmWritePtr = pwmWriteBrushed;
else if (init->syncPWM)
pwmWritePtr = pwmWriteSyncPwm;
// set return values in init struct
init->numServos = numServos;
return false;
}
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
#if defined(USE_RX_PWM) || defined(USE_RX_PPM)
int channelIndex = 0;
#endif
memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
const uint16_t *setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerHardwarePtr->tag == IO_TAG(PA2) || timerHardwarePtr->tag == IO_TAG(PA3))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#if defined(STM32F303xC) && defined(USE_UART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && (timerHardwarePtr->tag == IO_TAG(UART3_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART3_RX_PIN))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#if defined(UART6_TX_PIN) || defined(UART6_RX_PIN)
if (init->useUART6 && (timerHardwarePtr->tag == IO_TAG(UART6_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART6_RX_PIN))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef WS2811_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == WS2811_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#if defined(STM32F303xC) && defined(WS2811_PIN)
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
}
#endif
#ifdef VBAT_ADC_PIN
if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef RSSI_ADC_PIN
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef CURRENT_METER_ADC_PIN
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SONAR
if (init->useSonar &&
(
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(DOGE)
// remap outputs 1+2 (PWM2+3) as servos
if ((timerIndex == PWM2 || timerIndex == PWM3) && timerHardwarePtr->tim == TIM4)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
// remap PWM1+2 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(FALCORE)
// remap PWM5+6 as servos
if ((timerIndex == PWM5 || timerIndex == PWM6) && timerHardwarePtr->tim == TIM3)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3MINI)
// remap PWM6+7 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(OMNIBUS)
// remap PWM2 (OUT1) as servo
if (timerIndex == PWM2 && timerHardwarePtr->tim == TIM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(OMNIBUSF4)
// remap PWM12 (OUT6) as servo
if (timerIndex == PWM12)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(RCEXPLORERF3)
if (timerIndex == PWM2)
{
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// 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 = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SINGULARITY)
// remap PWM6+7 as servos
if (timerIndex == PWM6 || timerIndex == PWM7)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(AIRBOTF4)
// remap PWM11+PWM12 as servos on multirotor mixers that use servos (i.e. Tri)
if (timerIndex == PWM11 || timerIndex == PWM12)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(WS2811_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
#if defined(SPRACINGF3) || defined(NAZE)
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3MINI)
if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
|| ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
}
#endif // USE_SERVOS
#ifdef CC3D
// This part of code is unnecessary and can be removed - timer clash is resolved by forcing configuration with the same
// timer tick rate - PWM_TIMER_MHZ
/*
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
*/
#endif
if (type == MAP_TO_PPM_INPUT) {
#if defined(USE_RX_PPM)
#ifdef CC3D_PPM1
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 0);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#if defined(USE_RX_PWM)
pwmInConfig(timerHardwarePtr, channelIndex);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
/* Check if we already configured maximum supported number of motors and skip the rest */
if (pwmIOConfiguration.motorCount >= MAX_MOTORS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
continue;
}
#if defined(CC3D) && !defined(CC3D_PPM1)
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
}
#endif
pwmMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType, init->enablePWMOutput);
if (init->useFastPwm) {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_FASTPWM | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.motorCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.motorCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
} else if (type == MAP_TO_SERVO_OUTPUT) {
if (pwmIOConfiguration.servoCount >= MAX_SERVOS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
continue;
}
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
#endif
} else {
continue;
}
pwmIOConfiguration.ioCount++;
}
return &pwmIOConfiguration;
}
bool pwmInit(drv_pwm_config_t *init)
{
uint8_t i = 0;
const uint8_t *setup;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane) i = 2; // switch to air hardware config
if (init->usePPM) i++; // next index is for PPM
setup = hardwareMaps[i];
for (i = 0; i < MAX_PORTS; i++)
{
uint8_t port = setup[i] & 0x0F;
uint8_t mask = setup[i] & 0xF0; // Mask = TYPE_IP, TYPE_IW, TYPE_M, TYPE_S
if (setup[i] == 0xFF) break; // terminator
if (init->useUART && (port == PWM3 || port == PWM4)) // skip UART ports for GPS
continue; // Jump to beginning of for loop again
if (init->adcChannel && (init->adcChannel == port)) // skip ADC for powerMeter if configured
continue;
if (init->useRC5 && port == PWM5) // skip RC5 ports for MONO_LED
continue;
if (init->useRC6 && port == PWM6) // skip RC6 ports for MONO_LED
continue;
if (init->usePWM56 && (port == PWM13 || port == PWM14))// skip PWM5 ports for SONAR they are pwm13/14 in other nomenclature
continue;
if (init->useRC78 && (port == PWM7 || port == PWM8)) // skip RC78 ports for SONAR
continue;
if ((mask & (TYPE_IP | TYPE_IW)) && !init->enablePWMInput)// hacks to allow current functionality
mask = 0;
if (!init->airplane)
{
if (init->useServos && (port == PWM9 || port == PWM10)) mask = TYPE_S; // remap PWM9+10 as servos (but not in airplane mode LOL)
if (init->extraServos && port >= PWM5 && port <= PWM8) mask = TYPE_S; // remap PWM5..8 as servos when used in extended servo mode
}
switch(mask)
{
case TYPE_IP: // PPM input
pwmInConfig(port, ppmCallback, 0);
numInputs = 8; // ONLY 8 here with that auxchannelstuff?
break;
case TYPE_IW: // Single PWM input
pwmInConfig(port, pwmCallback, numInputs);
numInputs++;
break;
case TYPE_M: // Motor
motors[numMotors++] = pwmOutConfig(port, 1000000 / init->motorPwmRate, PULSE_1MS);
break;
case TYPE_S: // Servo
servos[numServos++] = pwmOutConfig(port, 1000000 / init->servoPwmRate, PULSE_1MS);
break;
}
}
return false;
}