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Some simple changes to allow for Proshot (Another digital protocol).

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This commit is contained in:
TonyBazz 2017-05-28 02:30:33 +10:00
parent 51f607fdfc
commit b4d2388103
4 changed files with 114 additions and 33 deletions
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55
src/main/drivers/pwm_output_dshot_hal.c
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@ -49,12 +49,8 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount - 1;
}
void pwmWriteDigital(uint8_t index, uint16_t value)
void pwmWriteDshot(uint8_t index, uint16_t value)
{
if (!pwmMotorsEnabled) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
@ -81,12 +77,53 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
}
if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, DSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
} else {
if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK) {
if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, DSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
}
}
void pwmWriteProShot(uint8_t index, uint16_t value)
{
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = (value << 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
}
if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, PROSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
} else {
if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, PROSHOT_DMA_BUFFER_SIZE) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
@ -122,8 +159,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
RCC_ClockCmd(timerRCC(timer), ENABLE);
motor->TimHandle.Instance = timerHardware->tim;
motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;;
motor->TimHandle.Init.Period = MOTOR_BITLENGTH;
motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;
motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
motor->TimHandle.Init.RepetitionCounter = 0;
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;