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betaflight/src/drv_pwm.h

51 lines
1.5 KiB
C
Executable file

#pragma once
#define MAX_MOTORS 12
#define MAX_SERVOS 8
#define MAX_INPUTS 8
#define PULSE_1MS (1000) // 1ms pulse width
typedef struct drv_pwm_config_t {
bool enableInput;
bool usePPM;
bool useUART;
bool useSoftSerial;
bool useServos;
bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors
bool airplane; // fixed wing hardware config, lots of servos etc
uint8_t adcChannel; // steal one RC input for current sensor
uint16_t motorPwmRate;
uint16_t servoPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
uint16_t servoCenterPulse;
uint16_t failsafeThreshold;
} drv_pwm_config_t;
// This indexes into the read-only hardware definition structure in drv_pwm.c, as well as into pwmPorts[] structure with dynamic data.
enum {
PWM1 = 0,
PWM2,
PWM3,
PWM4,
PWM5,
PWM6,
PWM7,
PWM8,
PWM9,
PWM10,
PWM11,
PWM12,
PWM13,
PWM14,
MAX_PORTS
};
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity);
bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not
void pwmWriteMotor(uint8_t index, uint16_t value);
void pwmWriteServo(uint8_t index, uint16_t value);
uint16_t pwmRead(uint8_t channel);
// void pwmWrite(uint8_t channel, uint16_t value);