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https://github.com/betaflight/betaflight.git
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199 lines
6.1 KiB
C
199 lines
6.1 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/io_types.h"
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#include "timer.h"
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#define MAX_SUPPORTED_MOTORS 12
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#if defined(USE_QUAD_MIXER_ONLY)
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#define MAX_SUPPORTED_SERVOS 1
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#else
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#define MAX_SUPPORTED_SERVOS 8
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#endif
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#define DSHOT_MAX_COMMAND 47
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typedef enum {
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DSHOT_CMD_MOTOR_STOP = 0,
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DSHOT_CMD_BEEP1,
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DSHOT_CMD_BEEP2,
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DSHOT_CMD_BEEP3,
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DSHOT_CMD_BEEP4,
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DSHOT_CMD_BEEP5,
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DSHOT_CMD_ESC_INFO,
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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,
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DSHOT_CMD_SAVE_SETTINGS,
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DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, //Blheli_S only command
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DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, //Blheli_S only command
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DSHOT_CMD_MAX = 47
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} dshotCommands_e;
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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_MHZ 1
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#ifdef USE_DSHOT
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#define MAX_DMA_TIMERS 8
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#define MOTOR_DSHOT1200_MHZ 24
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#define MOTOR_DSHOT600_MHZ 12
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#define MOTOR_DSHOT300_MHZ 6
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#define MOTOR_DSHOT150_MHZ 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 19
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#define MOTOR_PROSHOT1000_MHZ 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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#if defined(STM32F40_41xxx) // must be multiples of timer clock
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#define ONESHOT125_TIMER_MHZ 12
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#define ONESHOT42_TIMER_MHZ 21
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#define MULTISHOT_TIMER_MHZ 84
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#define PWM_BRUSHED_TIMER_MHZ 21
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#elif defined(STM32F7) // must be multiples of timer clock
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#define ONESHOT125_TIMER_MHZ 9
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#define ONESHOT42_TIMER_MHZ 27
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#define MULTISHOT_TIMER_MHZ 54
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#define PWM_BRUSHED_TIMER_MHZ 27
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#else
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#define ONESHOT125_TIMER_MHZ 8
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#define ONESHOT42_TIMER_MHZ 24
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#define MULTISHOT_TIMER_MHZ 72
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#define PWM_BRUSHED_TIMER_MHZ 24
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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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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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uint16_t timerDmaSource;
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volatile bool requestTelemetry;
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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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#if defined(STM32F7)
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TIM_HandleTypeDef TimHandle;
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DMA_HandleTypeDef hdma_tim;
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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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extern bool pwmMotorsEnabled;
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struct timerHardware_s;
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typedef void pwmWriteFunc(uint8_t index, float value); // function pointer used to write motors
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typedef void pwmCompleteWriteFunc(uint8_t motorCount); // function pointer used after 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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bool forceOverflow;
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uint16_t period;
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bool enabled;
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IO_t io;
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} pwmOutputPort_t;
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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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ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
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} motorDevConfig_t;
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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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#ifdef USE_DSHOT
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typedef uint8_t loadDmaBufferFunc(motorDmaOutput_t *const motor, 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, uint16_t value);
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extern loadDmaBufferFunc *loadDmaBuffer;
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uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
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void pwmWriteDshotCommand(uint8_t index, uint8_t command);
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void pwmWriteDigitalInt(uint8_t index, uint16_t value);
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void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
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void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
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#endif
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#ifdef BEEPER
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void pwmWriteBeeper(bool onoffBeep);
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void pwmToggleBeeper(void);
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void beeperPwmInit(IO_t io, uint16_t frequency);
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#endif
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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 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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