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Merge pull request #426 from rosflight/PTT/PWM
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Update to support per PWM output rate, vector servo update, and DSHOT…
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@bsutherland333
bsutherland333 authored Jul 3, 2024
2 parents 8abba6f + 99031a5 commit cebf593
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Showing 6 changed files with 159 additions and 132 deletions.
2 changes: 1 addition & 1 deletion boards/varmint_h7
Submodule varmint_h7 updated 29 files
+17 −0 .github/workflows/build_pixracer_pro.yml
+17 −0 .github/workflows/build_varmint_10X.yml
+1 −0 .gitignore
+28 −0 LICENSE
+9 −1 README.md
+21 −112 common/Varmint.cpp
+1 −2 common/drivers/Driver.h
+76 −52 common/drivers/Pwm.cpp
+168 −96 common/drivers/Pwm.h
+0 −1 common/drivers/Time64.h
+7 −11 common/drivers/misc.cpp
+1 −1 common/drivers/misc.h
+2 −2 pixracer_pro/.settings/language.settings.xml
+1 −1 pixracer_pro/Core/Inc/stm32h7xx_it.h
+8 −8 pixracer_pro/Core/Src/main.c
+109 −106 pixracer_pro/Core/Src/stm32h7xx_hal_msp.c
+14 −14 pixracer_pro/Core/Src/stm32h7xx_it.c
+91 −91 pixracer_pro/pixracer_pro.ioc
+26 −27 pixracer_pro/specific/BoardConfig.h
+2 −0 pixracer_pro/specific/Varmint.h
+2 −0 test/board.h
+2 −2 varmint_10X/.settings/language.settings.xml
+1 −1 varmint_10X/Core/Inc/stm32h7xx_hal_conf.h
+4 −4 varmint_10X/Core/Src/main.c
+57 −46 varmint_10X/Core/Src/stm32h7xx_hal_msp.c
+4 −4 varmint_10X/Core/Src/stm32h7xx_it.c
+29 −30 varmint_10X/specific/BoardConfig.h
+2 −0 varmint_10X/specific/Varmint.h
+133 −130 varmint_10X/varmint_10X.ioc
2 changes: 2 additions & 0 deletions include/board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -116,8 +116,10 @@ class Board

// PWM
virtual void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) = 0;
virtual void pwm_init_multi(const float * rate, uint32_t channels) = 0;
virtual void pwm_disable() = 0;
virtual void pwm_write(uint8_t channel, float value) = 0;
virtual void pwm_write_multi(float * value, uint32_t channels) = 0;

// non-volatile memory
virtual void memory_init() = 0;
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246 changes: 126 additions & 120 deletions include/mixer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ class Mixer : public ParamListenerInterface
{
public:
static constexpr uint8_t NUM_TOTAL_OUTPUTS = 14;
static constexpr uint8_t NUM_MIXER_OUTPUTS = 8;
static constexpr uint8_t NUM_MIXER_OUTPUTS = 10;

enum
{
Expand All @@ -62,7 +62,8 @@ class Mixer : public ParamListenerInterface
FIXEDWING = 10,
PASSTHROUGH = 11,
VTAIL = 12,
CUSTOM = 13,
QUADPLANE = 13,
CUSTOM = 14,
NUM_MIXERS,
INVALID_MIXER = 255
};
Expand All @@ -78,11 +79,11 @@ class Mixer : public ParamListenerInterface
typedef struct
{
output_type_t output_type[NUM_MIXER_OUTPUTS];
float default_pwm_rate[NUM_MIXER_OUTPUTS];
float F[NUM_MIXER_OUTPUTS];
float x[NUM_MIXER_OUTPUTS];
float y[NUM_MIXER_OUTPUTS];
float z[NUM_MIXER_OUTPUTS];
uint32_t default_pwm_rate;
} mixer_t;

typedef struct
Expand All @@ -107,143 +108,148 @@ class Mixer : public ParamListenerInterface
void write_motor(uint8_t index, float value);
void write_servo(uint8_t index, float value);

const mixer_t esc_calibration_mixing = {{M, M, M, M, M, M, NONE, NONE},
// clang-format off

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
490};
const mixer_t esc_calibration_mixing = {
{ M, M, M, M, M, M, NONE, NONE, NONE, NONE}, // output type
{ 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // X Mix

const mixer_t quadcopter_plus_mixing = {
{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t quadcopter_x_mixing = {{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};
{ M, M, M, M, NONE, NONE, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t quadcopter_x_mixing = {
{ M, M, M, M, NONE, NONE, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{ 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{ 1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{ 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t hex_plus_mixing = {
{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix
490};
{ M, M, M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 50, 50, 50, 50}, // Rate (Hz)
{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t hex_x_mixing = {
{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{-0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f}, // X Mix
{0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix
490};
{ M, M, M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 50, 50, 50, 50}, // Rate (Hz)
{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{ -0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{ 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t octocopter_plus_mixing = {
{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f}, // X Mix
{1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
490};
{ M, M, M, M, M, M, M, M, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 490, 490, 50, 50}, // Rate (Hz)
{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f, 0.0f, 0.0f}, // X Mix
{1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t octocopter_x_mixing = {
{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414}, // X Mix
{1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
490};
{ M, M, M, M, M, M, M, M, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 490, 490, 50, 50}, // Rate (Hz)
{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414, 0.0f, 0.0f}, // X Mix
{ 1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0, 0.0f, 0.0f}, // Y Mix
{ 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t Y6_mixing = {
{M, M, M, M, M, M, NONE, NONE}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // X Mix
{0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t X8_mixing = {{M, M, M, M, M, M, M, M}, // output_type

{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
{-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // X Mix
{1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f}, // Y Mix
{1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
490};
{ M, M, M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 50, 50, 50, 50}, // Rate (Hz)
{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{ -1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{ 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t X8_mixing = {
{ M, M, M, M, M, M, M, M, NONE, NONE}, // output_type
{ 490, 490, 490, 490, 490, 490, 490, 490, 50, 50}, // Rate (Hz)
{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // X Mix
{ 1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // Y Mix
{ 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t tricopter_mixing = {
{M, M, M, S, NONE, NONE, NONE, NONE}, // output_type

{1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
490};

const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE}, // output type

{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t passthrough_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},

{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};
{ M, M, M, NONE, S, NONE, NONE, NONE, NONE, NONE}, // output_type
{ 490, 490, 490, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{ 1.000f, 0.000f, 1.000f, 0.000f, 1.000f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{-1.000f, 0.000f, 0.000f, 0.000f, 1.000f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{ 0.667f, 0.000f, 0.667f, 0.000f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{ 0.000f, 1.000f, 0.000f, 0.000f, 0.000f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f} }; // Z Mix

const mixer_t fixedwing_mixing = {
{ S, S, S, NONE, M, NONE, NONE, NONE, NONE, NONE}, // output type
{ 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t fixedwing_vtail_mixing = {
{S, S, M, S, NONE, NONE, NONE, NONE}, // Ailerons, LRuddervator, Motor, RRuddervator

{0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, -0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};

const mixer_t custom_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type

{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
50};
{ S, S, S, NONE, M, NONE, NONE, NONE, NONE, NONE}, // Ailerons, LRuddervator, RRuddervator, Motor
{ 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz)
{0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t quadplane_mixing = {
{ S, S, S, M, M, M, M, M, NONE, NONE}, // Ailerons, Rudder, Elevator, Tractor Motor, Quadrotors
{ 50, 50, 50, 50, 490, 490, 490, 490, 50, 50}, // Rate (Hz)
{0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f}, // F Mix
{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t passthrough_mixing = {
{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},
{ 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz or kHz)
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t custom_mixing = {
{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type
{ 50, 50, 50, 50, 50, 50, 50, 50, 50, 50}, // Rate (Hz or kHz)
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix

const mixer_t * mixer_to_use_;

// clang-format off
const mixer_t* array_of_mixers_[NUM_MIXERS] = {&esc_calibration_mixing,
&quadcopter_plus_mixing,
&quadcopter_x_mixing,
&hex_plus_mixing,
&hex_x_mixing,
&octocopter_plus_mixing,
&octocopter_x_mixing,
&Y6_mixing,
&X8_mixing,
&tricopter_mixing,
&fixedwing_mixing,
&passthrough_mixing,
&fixedwing_vtail_mixing,
&custom_mixing};
const mixer_t* array_of_mixers_[NUM_MIXERS] = {
&esc_calibration_mixing,
&quadcopter_plus_mixing,
&quadcopter_x_mixing,
&hex_plus_mixing,
&hex_x_mixing,
&octocopter_plus_mixing,
&octocopter_x_mixing,
&Y6_mixing,
&X8_mixing,
&tricopter_mixing,
&fixedwing_mixing,
&passthrough_mixing,
&fixedwing_vtail_mixing,
&quadplane_mixing,
&custom_mixing
};

// clang-format on

public:
Expand Down
37 changes: 26 additions & 11 deletions src/mixer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -88,15 +88,11 @@ void Mixer::init_mixing()

void Mixer::init_PWM()
{
uint32_t refresh_rate = RF_.params_.get_param_int(PARAM_MOTOR_PWM_SEND_RATE);
if (refresh_rate == 0 && mixer_to_use_ != nullptr) {
refresh_rate = mixer_to_use_->default_pwm_rate;
if (mixer_to_use_ != nullptr) {
RF_.board_.pwm_init_multi(mixer_to_use_->default_pwm_rate, NUM_MIXER_OUTPUTS);
} else {
RF_.board_.pwm_init_multi(passthrough_mixing.default_pwm_rate, NUM_MIXER_OUTPUTS);
}
int16_t off_pwm = 1000;

if (mixer_to_use_ == nullptr || refresh_rate == 0) RF_.board_.pwm_init(50, 0);
else
RF_.board_.pwm_init(refresh_rate, off_pwm);
}

void Mixer::write_motor(uint8_t index, float value)
Expand Down Expand Up @@ -172,7 +168,7 @@ void Mixer::mix_output()
// Perform Motor Output Scaling
for (uint8_t i = 0; i < NUM_MIXER_OUTPUTS; i++) {
// scale all motor outputs by scale factor (this is usually 1.0, unless we saturated)
outputs_[i] *= scale_factor;
if (mixer_to_use_->output_type[i] == M) { outputs_[i] *= scale_factor; }
}

// Insert AUX Commands, and assemble combined_output_types array (Does not override mixer values)
Expand All @@ -196,12 +192,31 @@ void Mixer::mix_output()

// Write to outputs
for (uint8_t i = 0; i < NUM_TOTAL_OUTPUTS; i++) {
float value = outputs_[i];
if (combined_output_type_[i] == S) {
write_servo(i, outputs_[i]);
if (value > 1.0) {
value = 1.0;
} else if (value < -1.0) {
value = -1.0;
}
raw_outputs_[i] = value * 0.5 + 0.5;
} else if (combined_output_type_[i] == M) {
write_motor(i, outputs_[i]);
if (RF_.state_manager_.state().armed) {
if (value > 1.0) {
value = 1.0;
} else if (value < RF_.params_.get_param_float(PARAM_MOTOR_IDLE_THROTTLE)
&& RF_.params_.get_param_int(PARAM_SPIN_MOTORS_WHEN_ARMED)) {
value = RF_.params_.get_param_float(PARAM_MOTOR_IDLE_THROTTLE);
} else if (value < 0.0) {
value = 0.0;
}
} else {
value = 0.0;
}
raw_outputs_[i] = value;
}
}
RF_.board_.pwm_write_multi(raw_outputs_, NUM_TOTAL_OUTPUTS);
}

} // namespace rosflight_firmware
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