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 // Timer clock frequency for the dshot speeds
  29 #define MOTOR_DSHOT600_HZ     MHZ_TO_HZ(12)
  30 #define MOTOR_DSHOT300_HZ     MHZ_TO_HZ(6)
  31 #define MOTOR_DSHOT150_HZ     MHZ_TO_HZ(3)
  32
  33 // These three constants are times in timer clock ticks, e.g. with a 6 MHz clock 20 ticks for bitlength = 300kHz bit rate
  34 #define MOTOR_BIT_0           7
  35 #define MOTOR_BIT_1           14
  36 #define MOTOR_BITLENGTH       20
  37
  38 #define MOTOR_PROSHOT1000_HZ         MHZ_TO_HZ(24)
  39 #define PROSHOT_BASE_SYMBOL          24 // 1uS
  40 #define PROSHOT_BIT_WIDTH            3
  41 #define MOTOR_NIBBLE_LENGTH_PROSHOT  (PROSHOT_BASE_SYMBOL * 4) // 4uS
  42
  43 #define DSHOT_TELEMETRY_DEADTIME_US   (30 + 5) // 30 to switch lines and 5 to switch lines back
  44
  45
  46 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
  47 extern FAST_DATA_ZERO_INIT loadDmaBufferFn *loadDmaBuffer;
  48 uint8_t loadDmaBufferDshot(uint32_t *dmaBuffer, int stride, uint16_t packet);
  49 uint8_t loadDmaBufferProshot(uint32_t *dmaBuffer, int stride, uint16_t packet);
  50
  51 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
  52
  53 struct motorDevConfig_s;
  54 motorDevice_t *dshotPwmDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedPwm);
  55
  56 /* Motor DMA related, moved from pwm_output.h */
  57
  58 #define MAX_DMA_TIMERS        8
  59
  60 #define DSHOT_DMA_BUFFER_SIZE   18 /* resolution + frame reset (2us) */
  61 #define PROSHOT_DMA_BUFFER_SIZE 6  /* resolution + frame reset (2us) */
  62
  63 #define GCR_TELEMETRY_INPUT_LEN MAX_GCR_EDGES
  64
  65 // For H7, DMA buffer is placed in a dedicated segment for coherency management
  66 // XXX Do we need any special qualifier for AT32?
  67 #if defined(STM32H7)
  68 #define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM
  69 #elif defined(STM32G4)
  70 #define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM_W
  71 #elif defined(STM32F7)
  72 #define DSHOT_DMA_BUFFER_ATTRIBUTE FAST_DATA_ZERO_INIT
  73 #else
  74 #define DSHOT_DMA_BUFFER_ATTRIBUTE // None
  75 #endif
  76
  77 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F435) || defined(APM32F4)
  78 #define DSHOT_DMA_BUFFER_UNIT uint32_t
  79 #else
  80 #define DSHOT_DMA_BUFFER_UNIT uint8_t
  81 #endif
  82
  83 #ifdef USE_DSHOT_TELEMETRY
  84 STATIC_ASSERT(GCR_TELEMETRY_INPUT_LEN >= DSHOT_DMA_BUFFER_SIZE, dshotBufferSizeConstrait);
  85 #define DSHOT_DMA_BUFFER_ALLOC_SIZE GCR_TELEMETRY_INPUT_LEN
  86 #else
  87 #define DSHOT_DMA_BUFFER_ALLOC_SIZE DSHOT_DMA_BUFFER_SIZE
  88 #endif
  89
  90 extern DSHOT_DMA_BUFFER_UNIT dshotDmaBuffer[MAX_SUPPORTED_MOTORS][DSHOT_DMA_BUFFER_ALLOC_SIZE];
  91 extern DSHOT_DMA_BUFFER_UNIT dshotDmaInputBuffer[MAX_SUPPORTED_MOTORS][DSHOT_DMA_BUFFER_ALLOC_SIZE];
  92
  93 #ifdef USE_DSHOT_DMAR
  94 extern DSHOT_DMA_BUFFER_UNIT dshotBurstDmaBuffer[MAX_DMA_TIMERS][DSHOT_DMA_BUFFER_SIZE * 4];
  95 #endif
  96
  97 typedef struct {
  98     TIM_TypeDef *timer;
  99 #if defined(USE_DSHOT)
 100     uint16_t outputPeriod;
 101 #if defined(USE_DSHOT_DMAR)
 102 #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 103     TIM_HandleTypeDef timHandle;
 104     DMA_HandleTypeDef hdma_tim;
 105 #endif
 106     dmaResource_t *dmaBurstRef;
 107     uint16_t dmaBurstLength;
 108     uint32_t *dmaBurstBuffer;
 109 #endif
 110 #endif
 111     uint16_t timerDmaSources;
 112 } motorDmaTimer_t;
 113
 114 typedef struct motorDmaOutput_s {
 115     dshotProtocolControl_t protocolControl;
 116     ioTag_t ioTag;
 117     const timerHardware_t *timerHardware;
 118 #ifdef USE_DSHOT
 119     uint16_t timerDmaSource;
 120     uint8_t timerDmaIndex;
 121     bool configured;
 122 #if defined(STM32H7) || defined(STM32G4)
 123     TIM_HandleTypeDef TimHandle;
 124     DMA_HandleTypeDef hdma_tim;
 125     IO_t io;
 126 #endif
 127     uint8_t output;
 128     uint8_t index;
 129     uint32_t iocfg;
 130
 131 #if defined(USE_HAL_DRIVER) && defined(USE_FULL_LL_DRIVER)
 132     LL_DMA_InitTypeDef    dmaInitStruct;
 133     uint32_t llChannel;
 134 #else
 135     DMA_InitTypeDef   dmaInitStruct;
 136 #endif
 137
 138 #ifdef USE_DSHOT_TELEMETRY
 139     volatile bool isInput;
 140     timeDelta_t dshotTelemetryDeadtimeUs;
 141     uint8_t dmaInputLen;
 142
 143 #ifdef USE_HAL_DRIVER
 144     LL_TIM_OC_InitTypeDef ocInitStruct;
 145     LL_TIM_IC_InitTypeDef icInitStruct;
 146 #else
 147     TIM_OCInitTypeDef ocInitStruct;
 148     TIM_ICInitTypeDef icInitStruct;
 149 #endif
 150
 151 #endif // USE_DSHOT_TELEMETRY
 152
 153     dmaResource_t *dmaRef;
 154 #endif // USE_DSHOT
 155
 156     motorDmaTimer_t *timer;
 157     DSHOT_DMA_BUFFER_UNIT *dmaBuffer;
 158 } motorDmaOutput_t;
 159
 160 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
 161
 162 void pwmWriteDshotInt(uint8_t index, uint16_t value);
 163 bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
 164 #ifdef USE_DSHOT_TELEMETRY
 165 bool pwmTelemetryDecode(void);
 166 #endif
 167 void pwmCompleteDshotMotorUpdate(void);
 168
 169 extern bool useBurstDshot;
 170
 171 extern motorDevice_t dshotPwmDevice;