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