src/main/drivers/dshot_dpwm.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  *
  20  * Author: jflyper
  21  */
  22
  23 #pragma once
  24
  25 #include "drivers/dshot.h"
  26 #include "drivers/motor.h"
  27
  28 #define MOTOR_DSHOT600_HZ     MHZ_TO_HZ(12)
  29 #define MOTOR_DSHOT300_HZ     MHZ_TO_HZ(6)
  30 #define MOTOR_DSHOT150_HZ     MHZ_TO_HZ(3)
  31
  32 #define MOTOR_BIT_0           7
  33 #define MOTOR_BIT_1           14
  34 #define MOTOR_BITLENGTH       20
  35
  36 #define MOTOR_PROSHOT1000_HZ         MHZ_TO_HZ(24)
  37 #define PROSHOT_BASE_SYMBOL          24 // 1uS
  38 #define PROSHOT_BIT_WIDTH            3
  39 #define MOTOR_NIBBLE_LENGTH_PROSHOT  (PROSHOT_BASE_SYMBOL * 4) // 4uS
  40
  41 #define DSHOT_TELEMETRY_DEADTIME_US   (30 + 5) // 30 to switch lines and 5 to switch lines back
  42
  43
  44 typedef uint8_t loadDmaBufferFn(uint32_t *dmaBuffer, int stride, uint16_t packet);  // function pointer used to encode a digital motor value into the DMA buffer representation
  45 extern FAST_DATA_ZERO_INIT loadDmaBufferFn *loadDmaBuffer;
  46 uint8_t loadDmaBufferDshot(uint32_t *dmaBuffer, int stride, uint16_t packet);
  47 uint8_t loadDmaBufferProshot(uint32_t *dmaBuffer, int stride, uint16_t packet);
  48
  49 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
  50
  51 struct motorDevConfig_s;
  52 motorDevice_t *dshotPwmDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedPwm);
  53
  54 /* Motor DMA related, moved from pwm_output.h */
  55
  56 #define MAX_DMA_TIMERS        8
  57
  58 #define DSHOT_DMA_BUFFER_SIZE   18 /* resolution + frame reset (2us) */
  59 #define PROSHOT_DMA_BUFFER_SIZE 6  /* resolution + frame reset (2us) */
  60
  61 #define GCR_TELEMETRY_INPUT_LEN MAX_GCR_EDGES
  62
  63 // For H7, DMA buffer is placed in a dedicated segment for coherency management
  64 #if defined(STM32H7)
  65 #define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM
  66 #elif defined(STM32G4)
  67 #define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM_W
  68 #elif defined(STM32F7)
  69 #define DSHOT_DMA_BUFFER_ATTRIBUTE FAST_DATA_ZERO_INIT
  70 #else
  71 #define DSHOT_DMA_BUFFER_ATTRIBUTE // None
  72 #endif
  73
  74 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
  75 #define DSHOT_DMA_BUFFER_UNIT uint32_t
  76 #else
  77 #define DSHOT_DMA_BUFFER_UNIT uint8_t
  78 #endif
  79
  80 #ifdef USE_DSHOT_TELEMETRY
  81 STATIC_ASSERT(GCR_TELEMETRY_INPUT_LEN >= DSHOT_DMA_BUFFER_SIZE, dshotBufferSizeConstrait);
  82 #define DSHOT_DMA_BUFFER_ALLOC_SIZE GCR_TELEMETRY_INPUT_LEN
  83 #else
  84 #define DSHOT_DMA_BUFFER_ALLOC_SIZE DSHOT_DMA_BUFFER_SIZE
  85 #endif
  86
  87 extern DSHOT_DMA_BUFFER_UNIT dshotDmaBuffer[MAX_SUPPORTED_MOTORS][DSHOT_DMA_BUFFER_ALLOC_SIZE];
  88 extern DSHOT_DMA_BUFFER_UNIT dshotDmaInputBuffer[MAX_SUPPORTED_MOTORS][DSHOT_DMA_BUFFER_ALLOC_SIZE];
  89
  90 #ifdef USE_DSHOT_DMAR
  91 extern DSHOT_DMA_BUFFER_UNIT dshotBurstDmaBuffer[MAX_DMA_TIMERS][DSHOT_DMA_BUFFER_SIZE * 4];
  92 #endif
  93
  94 typedef struct {
  95     TIM_TypeDef *timer;
  96 #if defined(USE_DSHOT)
  97     uint16_t outputPeriod;
  98 #if defined(USE_DSHOT_DMAR)
  99 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 100     TIM_HandleTypeDef timHandle;
 101     DMA_HandleTypeDef hdma_tim;
 102 #endif
 103     dmaResource_t *dmaBurstRef;
 104     uint16_t dmaBurstLength;
 105     uint32_t *dmaBurstBuffer;
 106 #endif
 107 #endif
 108     uint16_t timerDmaSources;
 109 } motorDmaTimer_t;
 110
 111 typedef struct motorDmaOutput_s {
 112     dshotProtocolControl_t protocolControl;
 113     ioTag_t ioTag;
 114     const timerHardware_t *timerHardware;
 115 #ifdef USE_DSHOT
 116     uint16_t timerDmaSource;
 117     uint8_t timerDmaIndex;
 118     bool configured;
 119 #if defined(STM32H7) || defined(STM32G4)
 120     TIM_HandleTypeDef TimHandle;
 121     DMA_HandleTypeDef hdma_tim;
 122     IO_t io;
 123 #endif
 124     uint8_t output;
 125     uint8_t index;
 126     uint32_t iocfg;
 127
 128 #if defined(USE_HAL_DRIVER) && defined(USE_FULL_LL_DRIVER)
 129     LL_DMA_InitTypeDef    dmaInitStruct;
 130     uint32_t llChannel;
 131 #else
 132     DMA_InitTypeDef   dmaInitStruct;
 133 #endif
 134
 135 #ifdef USE_DSHOT_TELEMETRY
 136     volatile bool isInput;
 137     timeDelta_t dshotTelemetryDeadtimeUs;
 138     uint8_t dmaInputLen;
 139
 140 #ifdef USE_HAL_DRIVER
 141     LL_TIM_OC_InitTypeDef ocInitStruct;
 142     LL_TIM_IC_InitTypeDef icInitStruct;
 143 #else
 144     TIM_OCInitTypeDef ocInitStruct;
 145     TIM_ICInitTypeDef icInitStruct;
 146 #endif
 147
 148 #endif // USE_DSHOT_TELEMETRY
 149
 150     dmaResource_t *dmaRef;
 151 #endif // USE_DSHOT
 152
 153     motorDmaTimer_t *timer;
 154     DSHOT_DMA_BUFFER_UNIT *dmaBuffer;
 155 } motorDmaOutput_t;
 156
 157 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
 158
 159 void pwmWriteDshotInt(uint8_t index, uint16_t value);
 160 bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
 161 #ifdef USE_DSHOT_TELEMETRY
 162 bool pwmStartDshotMotorUpdate(void);
 163 #endif
 164 void pwmCompleteDshotMotorUpdate(void);
 165
 166 extern bool useBurstDshot;
 167
 168 extern motorDevice_t dshotPwmDevice;