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PWM output calculations dynamic based on clock speed

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This commit is contained in:
blckmn 2017-06-28 21:59:42 +10:00
parent 14f82e2a63
commit b9ebf8f4fd
11 changed files with 117 additions and 139 deletions
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35
src/main/drivers/pwm_output.h
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@ -20,7 +20,9 @@
#include "drivers/io_types.h"
#include "timer.h"
#ifndef MAX_SUPPORTED_MOTORS
#define MAX_SUPPORTED_MOTORS 12
#endif
#if defined(USE_QUAD_MIXER_ONLY)
#define MAX_SUPPORTED_SERVOS 1
@ -75,45 +77,29 @@ typedef enum {
PWM_TYPE_MAX
} motorPwmProtocolTypes_e;
#define PWM_TIMER_MHZ 1
#define PWM_TIMER_HZ MHZ_TO_HZ(1)
#ifdef USE_DSHOT
#define MAX_DMA_TIMERS 8
#define MOTOR_DSHOT1200_MHZ 24
#define MOTOR_DSHOT600_MHZ 12
#define MOTOR_DSHOT300_MHZ 6
#define MOTOR_DSHOT150_MHZ 3
#define MOTOR_DSHOT1200_HZ MHZ_TO_HZ(24)
#define MOTOR_DSHOT600_HZ MHZ_TO_HZ(12)
#define MOTOR_DSHOT300_HZ MHZ_TO_HZ(6)
#define MOTOR_DSHOT150_HZ MHZ_TO_HZ(3)
#define MOTOR_BIT_0 7
#define MOTOR_BIT_1 14
#define MOTOR_BITLENGTH 19
#define MOTOR_PROSHOT1000_MHZ 24
#define MOTOR_PROSHOT1000_HZ MHZ_TO_HZ(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
#define ONESHOT125_TIMER_MHZ 12
#define ONESHOT42_TIMER_MHZ 21
#define MULTISHOT_TIMER_MHZ 84
#define PWM_BRUSHED_TIMER_MHZ 21
#elif defined(STM32F7) // must be multiples of timer clock
#define ONESHOT125_TIMER_MHZ 9
#define ONESHOT42_TIMER_MHZ 27
#define MULTISHOT_TIMER_MHZ 54
#define PWM_BRUSHED_TIMER_MHZ 27
#else
#define ONESHOT125_TIMER_MHZ 8
#define ONESHOT42_TIMER_MHZ 24
#define MULTISHOT_TIMER_MHZ 72
#define PWM_BRUSHED_TIMER_MHZ 24
#endif
#define DSHOT_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
#define PROSHOT_DMA_BUFFER_SIZE 6/* resolution + frame reset (2us) */
#define PROSHOT_DMA_BUFFER_SIZE 6 /* resolution + frame reset (2us) */
typedef struct {
TIM_TypeDef *timer;
@ -149,9 +135,10 @@ typedef struct {
volatile timCCR_t *ccr;
TIM_TypeDef *tim;
bool forceOverflow;
uint16_t period;
bool enabled;
IO_t io;
float pulseScale;
float pulseOffset;
} pwmOutputPort_t;
typedef struct motorDevConfig_s {