update with timer overide

docs/MixerProfile.md

@@ -11,91 +11,26 @@ Please note that this is an emerging / experimental capability that will require
 ## Setup for VTOL
 
 - For mixer profile switching it is necessary to keep motor and servo PWM mapping consistent between Fixed-Wing (FW) and Multi-rotor (MR) profiles
-- Traditionally, FW and MR have had different enumerations to define the PWM mappings. For VTOL operation it is necessary to change the source code  `timerHardware` table to allow a consistent enumeration and thus mapping between MR and FW modes.
-- For this reason, a **VTOL specific FC target is required**. This means that the pilot must build a custom target. In future there may be official VTOL FC targets.
+- Traditionally, FW and MR have had different enumerations to define the PWM mappings. For VTOL operation it is necessary to set the `timer_output_mode` overrides to allow a consistent enumeration and thus mapping between MR and FW modes.
+- A VTOL specific FC target was required in the early stage of the development, but thanks to `timer_output_mode` overrides, It is not needed anymore.
 - In operation, it is necessary to set the `mixer_profile` and the `pid_profile` separately and to set a [RC mode](#rc-mode-settings) to switch between them.
 
-## FC target
-
-In order to keep motor and servo PWM mapping consistent and enable hot switching, the steps below are required.
-
-The following sections use a MATEKF405TE\_SD board (folder name `MATEKF405TE`) configured for VTOL as a example.
-
-The target name for VTOL build is `MATEKF405TE_SD_VTOL`, the standard target folder name is `MATEKF405TE`.
-
-### CMakeLists.text modifications
-
-#### Adding the VTOL target
-
-Add the VTOL target definition to `CMakeLists.txt`, i.e. the third line below.
-
-```c
-target_stm32f405xg(MATEKF405TE)
-target_stm32f405xg(MATEKF405TE_SD)
-target_stm32f405xg(MATEKF405TE_SD_VTOL) //new target added
-```
-### target.c modifications
-
-Two new enumerations are available to define the motors and servos used for VTOL.
-
-It is **important** to map all the PWM outputs to `TIM_USE_VTOL_MOTOR` or `TIM_USE_VTOL_SERVO` to ensure consistency between the MR mapping and FW mapping.
-
-For example, add the new section, encapsulated below by the `#ifdef MATEKF405TE_SD_VTOL` ... `else` section :
-
-```c
-timerHardware_t timerHardware[] = {
-#ifdef MATEKF405TE_SD_VTOL
-    // VTOL target specific mapping start from there
-    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_VTOL_MOTOR,   0, 0), // S1 for motor
-    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_VTOL_MOTOR,   0, 0), // S2 for motor
-    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_VTOL_MOTOR,   0, 0), // S3 for motor
-    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_VTOL_MOTOR,   0, 1), // S4 for motor
-
-    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_VTOL_SERVO,   0, 0), // S5 for servo
-    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_VTOL_SERVO,   0, 0), // S6 for servo
-    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_VTOL_SERVO,   0, 0), // S7 for servo
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_VTOL_SERVO,   0, 0), // S8 for servo
-
-    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_VTOL_SERVO,   0, 0), // S9  for servo
-    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_VTOL_SERVO,   0, 0), // S10 for servo
-    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_VTOL_MOTOR,   0, 0), // S11 for motor
-	// VTOL target specific mapping ends here
-#else 
-    // Non VOTL target start from here
-	// .........omitted for brevity
-#endif
-    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_LED,    0, 0), // 2812LED  D(1,2,5)
-    DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_BEEPER, 0, 0), // BEEPER PWM
-
-    DEF_TIM(TIM9,  CH2,  PA3,  TIM_USE_PPM,    0, 0), //RX2
-    DEF_TIM(TIM5,  CH3,  PA2,  TIM_USE_ANY,    0, 0), //TX2  softserial1_Tx
-};
-```
-
-Note that using the VTOL enumerations does not affect the normal INAV requirement on the use of discrete timers for motors and servos.
-
-### target.h modification
-
-In `target.h`, define `ENABLE_MIXER_PROFILE_MCFW_HOTSWAP` to enable `mixer_profile` hot switching once you have set the `timer.c` PWM mapping:
-
-```c
-#ifdef MATEKF405TE_SD_VTOL
-#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP //Enable hot swap
-#define MATEKF405TE_SD //Define the original target name keep its original configuration such as USBD_PRODUCT_STRING
-#endif
-```
+## Configuration
+### Timer overrides
+![Alt text](Screenshots/timer_outputs.png)
 
-Once the target is built, it can be flashed to the FC.
+Set Output mode to `AUTO`. And set all servo/motor Timer outputs  to `MOTORS` or `SERVOS`. This will result in a consistent mapping between MR and FW modes.
+A Sanity check on timer overrides settings could potentially block Profile Switch for safety reasons.
 
-## Configuration
+For SITL builds, is not necessary to set timer overrides.
 
 ### Profile Switch
 
 Setup the FW mode and MR mode separately in two different mixer profiles:
 
 In this example, FW mode is `mixer_profile` 1 and MR mode is `mixer_profile` 2.
 
-Currently, the INAV Configurator does not support `mixer_profile`, so some of the settings have to be done in CLI.
+Currently, the INAV Configurator does not fully support `mixer_profile`, so some of the settings have to be done in CLI.
 
 Add `set mixer_pid_profile_linking = ON` in order to enable `pid_profile` auto handling. It will change the `pid profile` index according to the `mixer_profile` index on FC boot and allow `mixer_profile` hot switching (this is recommended usage).
 
@@ -209,6 +144,7 @@ When `mixer_automated_switch`:`OFF` is set for all mixer_profiles(defaults). Mod
 Remember that this is currently an emerging capability:
 
 * Test every thing on bench first.
+* Remove the props and try `MIXER PROFILE 2`, `MIXER TRANSITION` RC modes while arming.
 * Then try MR or FW mode separately see if there are any problems.
 * Try it somewhere you can recover your model in case of fail-safe. Fail-safe behavior is unknown at the current stage of development.
 * Use the INAV Discord for help and setup questions; use the Github Issues for reporting bugs and unexpected behaviors. For reporting on Github, a CLI `diff all`, a DVR and a Blackbox log of the incident will assist investigation.

src/main/drivers/pwm_mapping.c

@@ -244,6 +244,23 @@ static void timerHardwareOverride(timerHardware_t * timer) {
     }
 }
 
+bool check_pwm_assigned_to_motor_or_servo(void)
+{  
+#if defined(SITL_BUILD)
+    return true;
+#endif
+    // Check TIM_USE_FW_* and TIM_USE_MC_* is consistent, If so, return true, means the pwm mapping will remain same between FW and MC
+    bool pwm_assigned_to_motor_or_servo = true;
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        timerHardware_t *timHw = &timerHardware[idx];
+        if (timHw->usageFlags & (TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO)) {
+            pwm_assigned_to_motor_or_servo &= (timHw->usageFlags == TIM_USE_VTOL_SERVO) | (timHw->usageFlags == TIM_USE_VTOL_MOTOR);
+        }
+    }
+    return pwm_assigned_to_motor_or_servo;
+}
+
+
 bool pwmHasMotorOnTimer(timMotorServoHardware_t * timOutputs, HAL_Timer_t *tim)
 {
     for (int i = 0; i < timOutputs->maxTimMotorCount; ++i) {

src/main/drivers/pwm_mapping.h

@@ -73,6 +73,7 @@ typedef struct {
 } motorProtocolProperties_t;
 
 bool pwmMotorAndServoInit(void);
+bool check_pwm_assigned_to_motor_or_servo(void);
 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
 pwmInitError_e getPwmInitError(void);
 const char * getPwmInitErrorMessage(void);

src/main/fc/fc_init.c

@@ -305,7 +305,6 @@ void init(void)
     // Initialize servo and motor mixers
     // This needs to be called early to set up platform type correctly and count required motors & servos
     mixerConfigInit();
-    checkMixerProfileHotSwitchAvalibility();
 
     // Some sanity checking
     if (motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) {

src/main/flight/mixer_profile.c

@@ -191,17 +191,13 @@ bool checkMixerProfileHotSwitchAvalibility(void)
     {
         return true;
     }
-#ifdef ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
-    bool MCFW_hotswap_available = true;
-#else
-    bool MCFW_hotswap_available = false;
-#endif
+    bool MCFW_pwm_settings_valid = check_pwm_assigned_to_motor_or_servo();
     uint8_t platform_type0 = mixerConfigByIndex(0)->platformType;
     uint8_t platform_type1 = mixerConfigByIndex(1)->platformType;
     bool platform_type_mc0 = (platform_type0 == PLATFORM_MULTIROTOR) || (platform_type0 == PLATFORM_TRICOPTER);
     bool platform_type_mc1 = (platform_type1 == PLATFORM_MULTIROTOR) || (platform_type1 == PLATFORM_TRICOPTER);
     bool is_mcfw_switching = platform_type_mc0 ^ platform_type_mc1;
-    if ((!MCFW_hotswap_available) && is_mcfw_switching)
+    if ((!MCFW_pwm_settings_valid) && is_mcfw_switching)
     {
         allow_hot_switch = 0;
         return false;

src/main/target/MATEKF405TE/CMakeLists.txt

@@ -1,3 +1,2 @@
 target_stm32f405xg(MATEKF405TE)
 target_stm32f405xg(MATEKF405TE_SD)
-target_stm32f405xg(MATEKF405TE_SD_VTOL)

src/main/target/MATEKF405TE/target.c

@@ -25,22 +25,6 @@
 #include "drivers/timer_def_stm32f4xx.h"
 
 timerHardware_t timerHardware[] = {
-#ifdef MATEKF405TE_SD_VTOL
-//With INAV firmware, DSHOT can not work on S3, S5,S7 because of DMA clash,  pls use ONESHOT or MULTISHOT and calibrate ESC PWM range.<-copied from matek website
-    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_VTOL_MOTOR,   0, 0), // S1 D(2,7,7) UP217
-    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_VTOL_MOTOR,   0, 0), // S2 D(2,2,0) UP217
-    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_VTOL_MOTOR,   0, 0), // S3 D(2,6,0) UP256
-    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_VTOL_MOTOR,   0, 1), // S4 D(2,1,6) UP256
-
-    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_VTOL_SERVO,   0, 0), // S5 D(1,7,3) UP173
-    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_VTOL_SERVO,   0, 0), // S6 D(1,1,3) UP173
-    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_VTOL_SERVO,   0, 0), // S7 D(1,6,3) UP173
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_VTOL_SERVO,   0, 0), // S8 D(1,5,3) UP173
-
-    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_VTOL_SERVO,   0, 0), // S9  DMA NONE
-    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_VTOL_SERVO,   0, 0), // S10 DMA NONE
-    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_VTOL_MOTOR,   0, 0), // S11 D(1,0,2)
-#else
     DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S1 D(2,7,7) UP217
     DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S2 D(2,2,0) UP217
     DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S3 D(2,6,0) UP256
@@ -50,10 +34,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S6 D(1,1,3) UP173
     DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S7 D(1,6,3) UP173
     DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S8 D(1,5,3) UP173
+
     DEF_TIM(TIM12, CH1,  PB14, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S9  DMA NONE
     DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S10 DMA NONE
     DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S11 D(1,0,2)
-#endif
 
     DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_LED,    0, 0), // 2812LED  D(1,2,5)
     DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_BEEPER, 0, 0), // BEEPER PWM

src/main/target/MATEKF405TE/target.h

@@ -18,11 +18,6 @@
 #pragma once
 #define USE_TARGET_CONFIG
 
-#ifdef MATEKF405TE_SD_VTOL
-#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
-#define MATEKF405TE_SD
-#endif
-
 #if defined(MATEKF405TE_SD)
 #   define TARGET_BOARD_IDENTIFIER "MF4T"
 #   define USBD_PRODUCT_STRING  "MatekF405TE_SD"

src/main/target/SITL/target.h

@@ -69,7 +69,6 @@
 #define USE_GPS_FAKE
 #define USE_RANGEFINDER_FAKE
 #define USE_RX_SIM
-#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
 #undef MAX_MIXER_PROFILE_COUNT
 #define MAX_MIXER_PROFILE_COUNT 2