mirror of
https://github.com/betaflight/betaflight.git
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232 lines
7.5 KiB
C
232 lines
7.5 KiB
C
/*
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* This file is part of Betaflight.
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*
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* Betaflight 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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* Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "platform.h"
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#include "io.h"
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#include "timer.h"
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#include "pwm_output.h"
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#include "nvic.h"
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#include "dma.h"
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#include "system.h"
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#include "rcc.h"
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#ifdef USE_DSHOT
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#define MAX_DMA_TIMERS 8
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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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static uint8_t dmaMotorTimerCount = 0;
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static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
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static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
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uint8_t getTimerIndex(TIM_TypeDef *timer)
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{
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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if (dmaMotorTimers[i].timer == timer) {
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return i;
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}
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}
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dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
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return dmaMotorTimerCount-1;
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}
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void pwmWriteDigital(uint8_t index, uint16_t value)
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{
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motorDmaOutput_t * const motor = &dmaMotors[index];
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uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
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// compute checksum
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int csum = 0;
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int csum_data = packet;
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for (int i = 0; i < 3; i++) {
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csum ^= csum_data; // xor data by nibbles
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csum_data >>= 4;
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}
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csum &= 0xf;
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// append checksum
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packet = (packet << 4) | csum;
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// generate pulses for whole packet
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for (int i = 0; i < 16; i++) {
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motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
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packet <<= 1;
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}
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if( HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
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{
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/* Starting PWM generation Error */
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return;
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}
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}
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void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
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{
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UNUSED(motorCount);
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for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
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//TIM_SetCounter(dmaMotorTimers[i].timer, 0);
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//TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
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}
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}
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static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
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{
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motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
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HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
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}
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/*static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
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{
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
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motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
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DMA_Cmd(descriptor->stream, DISABLE);
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TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
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}
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}*/
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void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
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{
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motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
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motor->timerHardware = timerHardware;
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TIM_TypeDef *timer = timerHardware->tim;
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const IO_t motorIO = IOGetByTag(timerHardware->tag);
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const uint8_t timerIndex = getTimerIndex(timer);
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const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
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IOInit(motorIO, OWNER_MOTOR, RESOURCE_OUTPUT, 0);
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IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP), timerHardware->alternateFunction);
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__DMA1_CLK_ENABLE();
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if (configureTimer) {
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RCC_ClockCmd(timerRCC(timer), ENABLE);
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uint32_t hz;
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switch (pwmProtocolType) {
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case(PWM_TYPE_DSHOT600):
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hz = MOTOR_DSHOT600_MHZ * 1000000;
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break;
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case(PWM_TYPE_DSHOT300):
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hz = MOTOR_DSHOT300_MHZ * 1000000;
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break;
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default:
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case(PWM_TYPE_DSHOT150):
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hz = MOTOR_DSHOT150_MHZ * 1000000;
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}
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motor->TimHandle.Instance = timerHardware->tim;
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motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;;
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motor->TimHandle.Init.Period = MOTOR_BITLENGTH;
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motor->TimHandle.Init.RepetitionCounter = 0;
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motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
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if(HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK)
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{
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/* Initialization Error */
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return;
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}
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}
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else
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{
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motor->TimHandle = dmaMotors[timerIndex].TimHandle;
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}
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switch (timerHardware->channel) {
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case TIM_CHANNEL_1:
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motor->timerDmaSource = TIM_DMA_ID_CC1;
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break;
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case TIM_CHANNEL_2:
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motor->timerDmaSource = TIM_DMA_ID_CC2;
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break;
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case TIM_CHANNEL_3:
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motor->timerDmaSource = TIM_DMA_ID_CC3;
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break;
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case TIM_CHANNEL_4:
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motor->timerDmaSource = TIM_DMA_ID_CC4;
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break;
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}
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dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
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/* Set the parameters to be configured */
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motor->hdma_tim.Init.Channel = timerHardware->dmaChannel;
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motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
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motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
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motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
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motor->hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD ;
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motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ;
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motor->hdma_tim.Init.Mode = DMA_NORMAL;
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motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
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motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
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motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
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motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
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/* Set hdma_tim instance */
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if(timerHardware->dmaStream == NULL)
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{
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/* Initialization Error */
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return;
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}
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motor->hdma_tim.Instance = timerHardware->dmaStream;
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/* Link hdma_tim to hdma[x] (channelx) */
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__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaSource], motor->hdma_tim);
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dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, motorIndex);
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dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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/* Initialize TIMx DMA handle */
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if(HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK)
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{
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/* Initialization Error */
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return;
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}
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TIM_OC_InitTypeDef TIM_OCInitStructure;
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/* PWM1 Mode configuration: Channel1 */
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TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
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TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;
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TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
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TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
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TIM_OCInitStructure.Pulse = 0;
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if(HAL_TIM_PWM_ConfigChannel(&motor->TimHandle, &TIM_OCInitStructure, motor->timerHardware->channel) != HAL_OK)
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{
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/* Configuration Error */
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return;
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}
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}
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#endif
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