/* * This file is part of Cleanflight. * * Cleanflight is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * Cleanflight is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with Cleanflight. If not, see . */ #pragma once #include "platform.h" #include "drivers/io_types.h" #include "drivers/pwm_output_counts.h" #include "drivers/timer.h" #define ALL_MOTORS 255 #define DSHOT_MAX_COMMAND 47 /* DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings 3D Mode: 0 = stop 48 (low) - 1047 (high) -> negative direction 1048 (low) - 2047 (high) -> positive direction */ typedef enum { DSHOT_CMD_MOTOR_STOP = 0, DSHOT_CMD_BEACON1, DSHOT_CMD_BEACON2, DSHOT_CMD_BEACON3, DSHOT_CMD_BEACON4, DSHOT_CMD_BEACON5, DSHOT_CMD_ESC_INFO, // V2 includes settings DSHOT_CMD_SPIN_DIRECTION_1, DSHOT_CMD_SPIN_DIRECTION_2, DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_ON, DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, DSHOT_CMD_LED0_ON, // BLHeli32 only DSHOT_CMD_LED1_ON, // BLHeli32 only DSHOT_CMD_LED2_ON, // BLHeli32 only DSHOT_CMD_LED3_ON, // BLHeli32 only DSHOT_CMD_LED0_OFF, // BLHeli32 only DSHOT_CMD_LED1_OFF, // BLHeli32 only DSHOT_CMD_LED2_OFF, // BLHeli32 only DSHOT_CMD_LED3_OFF, // BLHeli32 only DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off DSHOT_CMD_MAX = 47 } dshotCommands_e; typedef enum { PWM_TYPE_STANDARD = 0, PWM_TYPE_ONESHOT125, PWM_TYPE_ONESHOT42, PWM_TYPE_MULTISHOT, PWM_TYPE_BRUSHED, #ifdef USE_DSHOT PWM_TYPE_DSHOT150, PWM_TYPE_DSHOT300, PWM_TYPE_DSHOT600, PWM_TYPE_DSHOT1200, PWM_TYPE_PROSHOT1000, #endif PWM_TYPE_MAX } motorPwmProtocolTypes_e; #define PWM_TIMER_1MHZ MHZ_TO_HZ(1) #ifdef USE_DSHOT #define MAX_DMA_TIMERS 8 #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_HZ MHZ_TO_HZ(24) #define PROSHOT_BASE_SYMBOL 24 // 1uS #define PROSHOT_BIT_WIDTH 3 #define MOTOR_NIBBLE_LENGTH_PROSHOT 96 // 4uS #endif #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; #if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR) #if !defined(USE_HAL_DRIVER) #ifdef STM32F3 DMA_Channel_TypeDef *dmaBurstRef; #else DMA_Stream_TypeDef *dmaBurstRef; #endif uint16_t dmaBurstLength; #endif #endif uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4]; uint16_t timerDmaSources; } motorDmaTimer_t; typedef struct { ioTag_t ioTag; const timerHardware_t *timerHardware; uint16_t value; #ifdef USE_DSHOT uint16_t timerDmaSource; bool configured; #endif motorDmaTimer_t *timer; volatile bool requestTelemetry; #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE]; #else uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE]; #endif #if defined(USE_HAL_DRIVER) TIM_HandleTypeDef TimHandle; DMA_HandleTypeDef hdma_tim; uint16_t timerDmaIndex; #endif } motorDmaOutput_t; motorDmaOutput_t *getMotorDmaOutput(uint8_t index); struct timerHardware_s; typedef void pwmWriteFn(uint8_t index, float value); // function pointer used to write motors typedef void pwmCompleteWriteFn(uint8_t motorCount); // function pointer used after motors are written typedef struct { volatile timCCR_t *ccr; TIM_TypeDef *tim; } timerChannel_t; typedef struct { timerChannel_t channel; float pulseScale; float pulseOffset; bool forceOverflow; bool enabled; IO_t io; } pwmOutputPort_t; //CAVEAT: This is used in the `motorConfig_t` parameter group, so the parameter group constraints apply typedef struct motorDevConfig_s { uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz) uint8_t motorPwmProtocol; // Pwm Protocol uint8_t motorPwmInversion; // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation uint8_t useUnsyncedPwm; uint8_t useBurstDshot; ioTag_t ioTags[MAX_SUPPORTED_MOTORS]; } motorDevConfig_t; extern bool useBurstDshot; void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount); typedef struct servoDevConfig_s { // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms) uint16_t servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500. uint16_t servoPwmRate; // The update rate of servo outputs (50-498Hz) ioTag_t ioTags[MAX_SUPPORTED_SERVOS]; } servoDevConfig_t; void servoDevInit(const servoDevConfig_t *servoDevConfig); void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse); bool isMotorProtocolDshot(void); #ifdef USE_DSHOT typedef uint8_t loadDmaBufferFn(uint32_t *dmaBuffer, int stride, uint16_t packet); // function pointer used to encode a digital motor value into the DMA buffer representation uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, uint16_t value); extern loadDmaBufferFn *loadDmaBuffer; uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType); void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command); void pwmWriteDshotInt(uint8_t index, uint16_t value); void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output); void pwmCompleteDshotMotorUpdate(uint8_t motorCount); #endif #ifdef USE_BEEPER void pwmWriteBeeper(bool onoffBeep); void pwmToggleBeeper(void); void beeperPwmInit(const ioTag_t tag, uint16_t frequency); #endif void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion); void pwmWriteMotor(uint8_t index, float value); void pwmShutdownPulsesForAllMotors(uint8_t motorCount); void pwmCompleteMotorUpdate(uint8_t motorCount); void pwmWriteServo(uint8_t index, float value); pwmOutputPort_t *pwmGetMotors(void); bool pwmIsSynced(void); void pwmDisableMotors(void); void pwmEnableMotors(void); bool pwmAreMotorsEnabled(void);