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Initial implementation of DSHOT protocol (600 and 150)

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This commit is contained in:
blckmn 2016-10-13 22:03:37 +11:00
parent 7db9b9cbc7
commit 4e529642d1
22 changed files with 637 additions and 100 deletions
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37
src/main/drivers/pwm_output.h
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@ -26,10 +26,12 @@ typedef enum {
PWM_TYPE_ONESHOT125,
PWM_TYPE_ONESHOT42,
PWM_TYPE_MULTISHOT,
PWM_TYPE_BRUSHED
PWM_TYPE_BRUSHED,
PWM_TYPE_DSHOT600,
PWM_TYPE_DSHOT150
} motorPwmProtocolTypes_e;
#define PWM_TIMER_MHZ 1
#define PWM_TIMER_MHZ 1
#if defined(STM32F40_41xxx) // must be multiples of timer clock
#define ONESHOT125_TIMER_MHZ 12
@ -43,8 +45,28 @@ typedef enum {
#define PWM_BRUSHED_TIMER_MHZ 24
#endif
#define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
typedef struct {
TIM_TypeDef *timer;
uint16_t timerDmaSources;
} motorDmaTimer_t;
typedef struct {
ioTag_t ioTag;
const timerHardware_t *timerHardware;
uint16_t value;
uint16_t timerDmaSource;
#if defined(STM32F4)
uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
#else
uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
#endif
} motorDmaOutput_t;
struct timerHardware_s;
typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount); // function pointer used after motors are written
typedef struct {
volatile timCCR_t *ccr;
@ -60,13 +82,20 @@ void servoInit(const servoConfig_t *servoConfig);
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
#ifdef USE_DSHOT
void pwmWriteDigital(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
#endif
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmCompleteMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, uint16_t value);
pwmOutputPort_t *pwmGetMotors();
pwmOutputPort_t *pwmGetMotors(void);
bool pwmIsSynced(void);
void pwmDisableMotors(void);
void pwmEnableMotors(void);