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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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18
src/main/drivers/timer.c
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@ -227,23 +227,7 @@ void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
// "The counter clock frequency (CK_CNT) is equal to f CK_PSC / (PSC[15:0] + 1)." - STM32F10x Reference Manual 14.4.11
// Thus for 1Mhz: 72000000 / 1000000 = 72, 72 - 1 = 71 = TIM_Prescaler
#if defined (STM32F40_41xxx)
if (tim == TIM1 || tim == TIM8 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
}
#elif defined (STM32F411xE)
if (tim == TIM1 || tim == TIM9 || tim == TIM10 || tim == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
}
else {
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / 2 / ((uint32_t)mhz * 1000000)) - 1;
}
#else
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / ((uint32_t)mhz * 1000000)) - 1;
#endif
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(tim) / ((uint32_t)mhz * 1000000)) - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;