src/main/drivers/pwm_output.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "platform.h"
  21
  22 #include "drivers/io_types.h"
  23 #include "drivers/pwm_output_counts.h"
  24 #include "drivers/timer.h"
  25
  26
  27 #define ALL_MOTORS 255
  28
  29 #define DSHOT_MAX_COMMAND 47
  30
  31 /*
  32   DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
  33
  34   3D Mode:
  35   0 = stop
  36   48   (low) - 1047 (high) -> negative direction
  37   1048 (low) - 2047 (high) -> positive direction
  38  */
  39
  40 typedef enum {
  41     DSHOT_CMD_MOTOR_STOP = 0,
  42     DSHOT_CMD_BEACON1,
  43     DSHOT_CMD_BEACON2,
  44     DSHOT_CMD_BEACON3,
  45     DSHOT_CMD_BEACON4,
  46     DSHOT_CMD_BEACON5,
  47     DSHOT_CMD_ESC_INFO, // V2 includes settings
  48     DSHOT_CMD_SPIN_DIRECTION_1,
  49     DSHOT_CMD_SPIN_DIRECTION_2,
  50     DSHOT_CMD_3D_MODE_OFF,
  51     DSHOT_CMD_3D_MODE_ON,
  52     DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
  53     DSHOT_CMD_SAVE_SETTINGS,
  54     DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
  55     DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
  56     DSHOT_CMD_LED0_ON, // BLHeli32 only
  57     DSHOT_CMD_LED1_ON, // BLHeli32 only
  58     DSHOT_CMD_LED2_ON, // BLHeli32 only
  59     DSHOT_CMD_LED3_ON, // BLHeli32 only
  60     DSHOT_CMD_LED0_OFF, // BLHeli32 only
  61     DSHOT_CMD_LED1_OFF, // BLHeli32 only
  62     DSHOT_CMD_LED2_OFF, // BLHeli32 only
  63     DSHOT_CMD_LED3_OFF, // BLHeli32 only
  64     DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
  65     DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
  66     DSHOT_CMD_MAX = 47
  67 } dshotCommands_e;
  68
  69
  70 typedef enum {
  71     PWM_TYPE_STANDARD = 0,
  72     PWM_TYPE_ONESHOT125,
  73     PWM_TYPE_ONESHOT42,
  74     PWM_TYPE_MULTISHOT,
  75     PWM_TYPE_BRUSHED,
  76 #ifdef USE_DSHOT
  77     PWM_TYPE_DSHOT150,
  78     PWM_TYPE_DSHOT300,
  79     PWM_TYPE_DSHOT600,
  80     PWM_TYPE_DSHOT1200,
  81     PWM_TYPE_PROSHOT1000,
  82 #endif
  83     PWM_TYPE_MAX
  84 } motorPwmProtocolTypes_e;
  85
  86 #define PWM_TIMER_1MHZ        MHZ_TO_HZ(1)
  87
  88 #ifdef USE_DSHOT
  89 #define MAX_DMA_TIMERS        8
  90
  91 #define MOTOR_DSHOT1200_HZ    MHZ_TO_HZ(24)
  92 #define MOTOR_DSHOT600_HZ     MHZ_TO_HZ(12)
  93 #define MOTOR_DSHOT300_HZ     MHZ_TO_HZ(6)
  94 #define MOTOR_DSHOT150_HZ     MHZ_TO_HZ(3)
  95
  96 #define MOTOR_BIT_0           7
  97 #define MOTOR_BIT_1           14
  98 #define MOTOR_BITLENGTH       19
  99
 100 #define MOTOR_PROSHOT1000_HZ         MHZ_TO_HZ(24)
 101 #define PROSHOT_BASE_SYMBOL          24 // 1uS
 102 #define PROSHOT_BIT_WIDTH            3
 103 #define MOTOR_NIBBLE_LENGTH_PROSHOT  96 // 4uS
 104 #endif
 105
 106
 107 #define DSHOT_DMA_BUFFER_SIZE   18 /* resolution + frame reset (2us) */
 108 #define PROSHOT_DMA_BUFFER_SIZE 6  /* resolution + frame reset (2us) */
 109
 110 typedef struct {
 111     TIM_TypeDef *timer;
 112 #if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR)
 113 #if !defined(USE_HAL_DRIVER)
 114 #ifdef STM32F3
 115     DMA_Channel_TypeDef *dmaBurstRef;
 116 #else
 117     DMA_Stream_TypeDef *dmaBurstRef;
 118 #endif
 119     uint16_t dmaBurstLength;
 120 #endif
 121 #endif
 122     uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
 123     uint16_t timerDmaSources;
 124 } motorDmaTimer_t;
 125
 126 typedef struct {
 127     ioTag_t ioTag;
 128     const timerHardware_t *timerHardware;
 129     uint16_t value;
 130 #ifdef USE_DSHOT
 131     uint16_t timerDmaSource;
 132     bool configured;
 133 #endif
 134     motorDmaTimer_t *timer;
 135     volatile bool requestTelemetry;
 136 #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
 137     uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
 138 #else
 139     uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
 140 #endif
 141 #if defined(USE_HAL_DRIVER)
 142     TIM_HandleTypeDef TimHandle;
 143     DMA_HandleTypeDef hdma_tim;
 144     uint16_t timerDmaIndex;
 145 #endif
 146 } motorDmaOutput_t;
 147
 148 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
 149
 150 struct timerHardware_s;
 151 typedef void pwmWriteFn(uint8_t index, float value);  // function pointer used to write motors
 152 typedef void pwmCompleteWriteFn(uint8_t motorCount);   // function pointer used after motors are written
 153
 154 typedef struct {
 155     volatile timCCR_t *ccr;
 156     TIM_TypeDef       *tim;
 157 } timerChannel_t;
 158
 159 typedef struct {
 160     timerChannel_t channel;
 161     float pulseScale;
 162     float pulseOffset;
 163     bool forceOverflow;
 164     bool enabled;
 165     IO_t io;
 166 } pwmOutputPort_t;
 167
 168 //CAVEAT: This is used in the `motorConfig_t` parameter group, so the parameter group constraints apply
 169 typedef struct motorDevConfig_s {
 170     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
 171     uint8_t  motorPwmProtocol;              // Pwm Protocol
 172     uint8_t  motorPwmInversion;             // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
 173     uint8_t  useUnsyncedPwm;
 174     uint8_t  useBurstDshot;
 175     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
 176 } motorDevConfig_t;
 177
 178 extern bool useBurstDshot;
 179
 180 void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount);
 181
 182 typedef struct servoDevConfig_s {
 183     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
 184     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
 185     uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
 186     ioTag_t  ioTags[MAX_SUPPORTED_SERVOS];
 187 } servoDevConfig_t;
 188
 189 void servoDevInit(const servoDevConfig_t *servoDevConfig);
 190
 191 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 192
 193 bool isMotorProtocolDshot(void);
 194
 195 #ifdef USE_DSHOT
 196 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
 197
 198 uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, uint16_t value);
 199
 200 extern loadDmaBufferFn *loadDmaBuffer;
 201
 202 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
 203 void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command);
 204 void pwmWriteDshotInt(uint8_t index, uint16_t value);
 205 void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
 206 void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
 207 #endif
 208
 209 #ifdef BEEPER
 210 void pwmWriteBeeper(bool onoffBeep);
 211 void pwmToggleBeeper(void);
 212 void beeperPwmInit(const ioTag_t tag, uint16_t frequency);
 213 #endif
 214 void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion);
 215
 216 void pwmWriteMotor(uint8_t index, float value);
 217 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 218 void pwmCompleteMotorUpdate(uint8_t motorCount);
 219
 220 void pwmWriteServo(uint8_t index, float value);
 221
 222 pwmOutputPort_t *pwmGetMotors(void);
 223 bool pwmIsSynced(void);
 224 void pwmDisableMotors(void);
 225 void pwmEnableMotors(void);
 226 bool pwmAreMotorsEnabled(void);