Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Fixup Dshot / Proshot implementation.

Browse source
This commit is contained in:
mikeller 2017-06-20 01:33:22 +12:00
parent 7b762e640c
commit 559079ff31
5 changed files with 78 additions and 131 deletions
Download patch file Download diff file Expand all files Collapse all files

61
src/main/drivers/pwm_output_dshot.c
View file

@ -54,70 +54,19 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount-1;
}
void pwmWriteDshot(uint8_t index, float value)
void pwmWriteDigitalInt(uint8_t index, uint16_t value)
{
const uint16_t digitalValue = lrintf(value);
motorDmaOutput_t * const motor = &dmaMotors[index];
motorDmaOutput_t *const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = (digitalValue << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
uint16_t packet = prepareDshotPacket(motor, value);
// compute checksum
int csum = 0;
int csum_data = packet;
for (int i = 0; i < 3; i++) {
csum ^= csum_data; // xor data by nibbles
csum_data >>= 4;
}
csum &= 0xf;
// append checksum
packet = (packet << 4) | csum;
// generate pulses for whole packet
for (int i = 0; i < 16; i++) {
motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
packet <<= 1;
}
uint8_t bufferSize = loadDmaBufferPtr(motor, packet);
DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, DSHOT_DMA_BUFFER_SIZE);
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}
void pwmWriteProShot(uint8_t index, float value)
{
const uint16_t digitalValue = lrintf(value);
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = (digitalValue << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
int csum = 0;
int csum_data = packet;
for (int i = 0; i < 3; i++) {
csum ^= csum_data; // xor data by nibbles
csum_data >>= 4;
}
csum &= 0xf;
// append checksum
packet = (packet << 4) | csum;
// generate pulses for Proshot
for (int i = 0; i < 4; i++) {
motor->dmaBuffer[i] = PROSHOT_BASE_SYMBOL + ((packet & 0xF000) >> 12) * PROSHOT_BIT_WIDTH; // Most significant nibble first
packet <<= 4; // Shift 4 bits
}
DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, PROSHOT_DMA_BUFFER_SIZE);
DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, bufferSize);
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}