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Merge pull request #3162 from TonyBazz/master

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ProShot Implementation
This commit is contained in:
borisbstyle 2017-06-19 07:57:02 +02:00 • committed by GitHub
commit 9a4e93fa60
4 changed files with 114 additions and 33 deletions
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16
src/main/drivers/pwm_output.h
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@ -59,6 +59,7 @@ typedef enum {
PWM_TYPE_DSHOT300,
PWM_TYPE_DSHOT600,
PWM_TYPE_DSHOT1200,
PWM_TYPE_PROSHOT1000,
#endif
PWM_TYPE_MAX
} motorPwmProtocolTypes_e;
@ -76,6 +77,11 @@ typedef enum {
#define MOTOR_BIT_0 7
#define MOTOR_BIT_1 14
#define MOTOR_BITLENGTH 19
#define MOTOR_PROSHOT1000_MHZ 24
#define PROSHOT_BASE_SYMBOL 24 // 1uS
#define PROSHOT_BIT_WIDTH 3
#define MOTOR_NIBBLE_LENGTH_PROSHOT 96 // 4uS
#endif
#if defined(STM32F40_41xxx) // must be multiples of timer clock
@ -95,7 +101,8 @@ typedef enum {
#define PWM_BRUSHED_TIMER_MHZ 24
#endif
#define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
#define DSHOT_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
#define PROSHOT_DMA_BUFFER_SIZE 6/* resolution + frame reset (2us) */
typedef struct {
TIM_TypeDef *timer;
@ -109,9 +116,9 @@ typedef struct {
uint16_t timerDmaSource;
volatile bool requestTelemetry;
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#else
uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#endif
#if defined(STM32F7)
TIM_HandleTypeDef TimHandle;
@ -160,7 +167,8 @@ void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIn
#ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDshotCommand(uint8_t index, uint8_t command);
void pwmWriteDigital(uint8_t index, uint16_t value);
void pwmWriteProShot(uint8_t index, uint16_t value);
void pwmWriteDshot(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
#endif