mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 21:35:44 +03:00
112 lines
3.4 KiB
C
112 lines
3.4 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "io/motors.h"
|
|
#include "io/servos.h"
|
|
#include "drivers/timer.h"
|
|
|
|
typedef enum {
|
|
PWM_TYPE_STANDARD = 0,
|
|
PWM_TYPE_ONESHOT125,
|
|
PWM_TYPE_ONESHOT42,
|
|
PWM_TYPE_MULTISHOT,
|
|
PWM_TYPE_BRUSHED,
|
|
PWM_TYPE_DSHOT600,
|
|
PWM_TYPE_DSHOT300,
|
|
PWM_TYPE_DSHOT150,
|
|
PWM_TYPE_MAX
|
|
} motorPwmProtocolTypes_e;
|
|
|
|
#define PWM_TIMER_MHZ 1
|
|
|
|
#if defined(STM32F40_41xxx) // must be multiples of timer clock
|
|
#define ONESHOT125_TIMER_MHZ 12
|
|
#define ONESHOT42_TIMER_MHZ 21
|
|
#define MULTISHOT_TIMER_MHZ 84
|
|
#define PWM_BRUSHED_TIMER_MHZ 21
|
|
#elif defined(STM32F7) // must be multiples of timer clock
|
|
#define ONESHOT125_TIMER_MHZ 9
|
|
#define ONESHOT42_TIMER_MHZ 27
|
|
#define MULTISHOT_TIMER_MHZ 54
|
|
#define PWM_BRUSHED_TIMER_MHZ 27
|
|
#else
|
|
#define ONESHOT125_TIMER_MHZ 8
|
|
#define ONESHOT42_TIMER_MHZ 24
|
|
#define MULTISHOT_TIMER_MHZ 72
|
|
#define PWM_BRUSHED_TIMER_MHZ 24
|
|
#endif
|
|
|
|
#define MOTOR_DMA_BUFFER_SIZE 18 /* resolution + frame reset (2us) */
|
|
|
|
typedef struct {
|
|
TIM_TypeDef *timer;
|
|
uint16_t timerDmaSources;
|
|
} motorDmaTimer_t;
|
|
|
|
typedef struct {
|
|
ioTag_t ioTag;
|
|
const timerHardware_t *timerHardware;
|
|
uint16_t value;
|
|
uint16_t timerDmaSource;
|
|
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
|
|
uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
|
|
#else
|
|
uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
|
|
#endif
|
|
#if defined(STM32F7)
|
|
TIM_HandleTypeDef TimHandle;
|
|
DMA_HandleTypeDef hdma_tim;
|
|
#endif
|
|
} motorDmaOutput_t;
|
|
|
|
struct timerHardware_s;
|
|
typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
|
|
typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount); // function pointer used after motors are written
|
|
|
|
typedef struct {
|
|
volatile timCCR_t *ccr;
|
|
TIM_TypeDef *tim;
|
|
uint16_t period;
|
|
pwmWriteFuncPtr pwmWritePtr;
|
|
bool enabled;
|
|
IO_t io;
|
|
} pwmOutputPort_t;
|
|
|
|
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount);
|
|
void servoInit(const servoConfig_t *servoConfig);
|
|
|
|
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
|
|
|
|
#ifdef USE_DSHOT
|
|
void pwmWriteDigital(uint8_t index, uint16_t value);
|
|
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType);
|
|
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
|
|
#endif
|
|
|
|
void pwmWriteMotor(uint8_t index, uint16_t value);
|
|
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
|
|
void pwmCompleteMotorUpdate(uint8_t motorCount);
|
|
|
|
void pwmWriteServo(uint8_t index, uint16_t value);
|
|
|
|
pwmOutputPort_t *pwmGetMotors(void);
|
|
bool pwmIsSynced(void);
|
|
void pwmDisableMotors(void);
|
|
void pwmEnableMotors(void);
|
|
|