mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
f8103b8c86
Converting the universal target as well. Simplified timer management some. Added F722 support for good measuer. Fixed SITL, tests. Cleanup after rebase. Added support for all timer consumers and F7. Fixed 'USE_DMA_SPEC' for F3, some cleanups.
270 lines
8.6 KiB
C
270 lines
8.6 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "platform.h"
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#include "drivers/io_types.h"
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#include "drivers/pwm_output_counts.h"
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#include "drivers/timer.h"
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#define ALL_MOTORS 255
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#define DSHOT_MAX_COMMAND 47
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#define DSHOT_TELEMETRY_INPUT_LEN 32
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#define PROSHOT_TELEMETRY_INPUT_LEN 8
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#define MOTOR_OUTPUT_LIMIT_PERCENT_MIN 1
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#define MOTOR_OUTPUT_LIMIT_PERCENT_MAX 100
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/*
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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
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3D Mode:
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0 = stop
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48 (low) - 1047 (high) -> negative direction
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1048 (low) - 2047 (high) -> positive direction
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*/
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typedef enum {
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DSHOT_CMD_MOTOR_STOP = 0,
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DSHOT_CMD_BEACON1,
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DSHOT_CMD_BEACON2,
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DSHOT_CMD_BEACON3,
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DSHOT_CMD_BEACON4,
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DSHOT_CMD_BEACON5,
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DSHOT_CMD_ESC_INFO, // V2 includes settings
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DSHOT_CMD_SPIN_DIRECTION_1,
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DSHOT_CMD_SPIN_DIRECTION_2,
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DSHOT_CMD_3D_MODE_OFF,
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DSHOT_CMD_3D_MODE_ON,
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS,
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DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
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DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
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DSHOT_CMD_LED0_ON, // BLHeli32 only
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DSHOT_CMD_LED1_ON, // BLHeli32 only
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DSHOT_CMD_LED2_ON, // BLHeli32 only
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DSHOT_CMD_LED3_ON, // BLHeli32 only
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DSHOT_CMD_LED0_OFF, // BLHeli32 only
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DSHOT_CMD_LED1_OFF, // BLHeli32 only
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DSHOT_CMD_LED2_OFF, // BLHeli32 only
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DSHOT_CMD_LED3_OFF, // BLHeli32 only
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DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
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DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
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DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE = 32,
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DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY = 33,
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DSHOT_CMD_MAX = 47
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} dshotCommands_e;
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#define DSHOT_MIN_THROTTLE 48
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#define DSHOT_MAX_THROTTLE 2047
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typedef enum {
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PWM_TYPE_STANDARD = 0,
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PWM_TYPE_ONESHOT125,
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PWM_TYPE_ONESHOT42,
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PWM_TYPE_MULTISHOT,
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PWM_TYPE_BRUSHED,
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#ifdef USE_DSHOT
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PWM_TYPE_DSHOT150,
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PWM_TYPE_DSHOT300,
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PWM_TYPE_DSHOT600,
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PWM_TYPE_DSHOT1200,
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PWM_TYPE_PROSHOT1000,
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#endif
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PWM_TYPE_MAX
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} motorPwmProtocolTypes_e;
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#define PWM_TIMER_1MHZ MHZ_TO_HZ(1)
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#ifdef USE_DSHOT
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#define MAX_DMA_TIMERS 8
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#define MOTOR_DSHOT1200_HZ MHZ_TO_HZ(24)
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#define MOTOR_DSHOT600_HZ MHZ_TO_HZ(12)
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#define MOTOR_DSHOT300_HZ MHZ_TO_HZ(6)
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#define MOTOR_DSHOT150_HZ MHZ_TO_HZ(3)
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#define MOTOR_BIT_0 7
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#define MOTOR_BIT_1 14
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#define MOTOR_BITLENGTH 20
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#define MOTOR_PROSHOT1000_HZ MHZ_TO_HZ(24)
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#define PROSHOT_BASE_SYMBOL 24 // 1uS
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#define PROSHOT_BIT_WIDTH 3
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#define MOTOR_NIBBLE_LENGTH_PROSHOT 96 // 4uS
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#endif
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#define DSHOT_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
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#define PROSHOT_DMA_BUFFER_SIZE 6 /* resolution + frame reset (2us) */
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typedef struct {
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TIM_TypeDef *timer;
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#if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR)
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#ifdef STM32F3
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DMA_Channel_TypeDef *dmaBurstRef;
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#else
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DMA_Stream_TypeDef *dmaBurstRef;
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#endif
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uint16_t dmaBurstLength;
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uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
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#endif
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uint16_t timerDmaSources;
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} motorDmaTimer_t;
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typedef struct {
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ioTag_t ioTag;
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const timerHardware_t *timerHardware;
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uint16_t value;
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#ifdef USE_DSHOT
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uint16_t timerDmaSource;
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bool configured;
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uint8_t output;
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uint8_t index;
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#ifdef USE_DSHOT_TELEMETRY
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bool useProshot;
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volatile bool isInput;
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volatile bool hasTelemetry;
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uint16_t dshotTelemetryValue;
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TIM_OCInitTypeDef ocInitStruct;
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TIM_ICInitTypeDef icInitStruct;
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DMA_InitTypeDef dmaInitStruct;
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uint8_t dmaInputLen;
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#endif
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#ifdef STM32F3
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DMA_Channel_TypeDef *dmaRef;
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#else
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DMA_Stream_TypeDef *dmaRef;
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#endif
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#endif
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motorDmaTimer_t *timer;
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volatile bool requestTelemetry;
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#ifdef USE_DSHOT_TELEMETRY
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uint32_t dmaBuffer[DSHOT_TELEMETRY_INPUT_LEN];
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#else
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#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
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uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
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#else
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uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
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#endif
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#endif
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} motorDmaOutput_t;
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motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
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struct timerHardware_s;
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typedef void pwmWriteFn(uint8_t index, float value); // function pointer used to write motors
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typedef void pwmCompleteWriteFn(uint8_t motorCount); // function pointer used after motors are written
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typedef void pwmStartWriteFn(uint8_t motorCount); // function pointer used before motors are written
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typedef struct {
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volatile timCCR_t *ccr;
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TIM_TypeDef *tim;
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} timerChannel_t;
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typedef struct {
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timerChannel_t channel;
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float pulseScale;
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float pulseOffset;
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bool forceOverflow;
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bool enabled;
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IO_t io;
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} pwmOutputPort_t;
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//CAVEAT: This is used in the `motorConfig_t` parameter group, so the parameter group constraints apply
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typedef struct motorDevConfig_s {
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uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
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uint8_t motorPwmProtocol; // Pwm Protocol
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uint8_t motorPwmInversion; // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
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uint8_t useUnsyncedPwm;
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uint8_t useBurstDshot;
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uint8_t useDshotTelemetry;
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ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
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} motorDevConfig_t;
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extern bool useBurstDshot;
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#ifdef USE_DSHOT_TELEMETRY
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extern bool useDshotTelemetry;
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extern uint32_t dshotInvalidPacketCount;
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#endif
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void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount);
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typedef struct servoDevConfig_s {
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// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
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uint16_t servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500.
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uint16_t servoPwmRate; // The update rate of servo outputs (50-498Hz)
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ioTag_t ioTags[MAX_SUPPORTED_SERVOS];
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} servoDevConfig_t;
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void servoDevInit(const servoDevConfig_t *servoDevConfig);
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void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
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bool isMotorProtocolDshot(void);
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#ifdef USE_DSHOT
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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
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uint16_t prepareDshotPacket(motorDmaOutput_t *const motor);
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extern loadDmaBufferFn *loadDmaBuffer;
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uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
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void pwmWriteDshotCommandControl(uint8_t index);
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void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking);
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void pwmWriteDshotInt(uint8_t index, uint16_t value);
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void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
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#ifdef USE_DSHOT_TELEMETRY
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void pwmStartDshotMotorUpdate(uint8_t motorCount);
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#endif
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void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
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void pwmDshotCommandQueueUpdate(void);
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bool pwmDshotCommandIsQueued(void);
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bool pwmDshotCommandIsProcessing(void);
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uint8_t pwmGetDshotCommand(uint8_t index);
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bool pwmDshotCommandOutputIsEnabled(uint8_t motorCount);
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uint16_t getDshotTelemetry(uint8_t index);
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#endif
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#ifdef USE_BEEPER
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void pwmWriteBeeper(bool onoffBeep);
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void pwmToggleBeeper(void);
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void beeperPwmInit(const ioTag_t tag, uint16_t frequency);
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#endif
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void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion);
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void pwmWriteMotor(uint8_t index, float value);
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void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
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void pwmCompleteMotorUpdate(uint8_t motorCount);
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void pwmStartMotorUpdate(uint8_t motorCount);
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void pwmWriteServo(uint8_t index, float value);
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pwmOutputPort_t *pwmGetMotors(void);
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bool pwmIsSynced(void);
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void pwmDisableMotors(void);
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void pwmEnableMotors(void);
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bool pwmAreMotorsEnabled(void);
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