src/main/drivers/pwm_output_dshot_shared.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
  21 #ifdef USE_DSHOT
  22
  23 extern FAST_DATA_ZERO_INIT uint8_t dmaMotorTimerCount;
  24 #if defined(STM32F7) || defined(STM32H7)
  25 extern FAST_DATA_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
  26 extern FAST_DATA_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
  27 #else
  28 extern motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
  29 extern motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
  30 #endif
  31
  32 #ifdef USE_DSHOT_TELEMETRY
  33 extern uint32_t readDoneCount;
  34
  35 FAST_DATA_ZERO_INIT extern uint32_t inputStampUs;
  36
  37 typedef struct dshotDMAHandlerCycleCounters_s {
  38     uint32_t irqAt;
  39     uint32_t changeDirectionCompletedAt;
  40 } dshotDMAHandlerCycleCounters_t;
  41
  42 FAST_DATA_ZERO_INIT extern dshotDMAHandlerCycleCounters_t dshotDMAHandlerCycleCounters;
  43
  44 #endif
  45
  46 uint8_t getTimerIndex(TIM_TypeDef *timer);
  47 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
  48 void dshotEnableChannels(uint8_t motorCount);
  49
  50 #ifdef USE_DSHOT_TELEMETRY
  51 void pwmDshotSetDirectionOutput(
  52     motorDmaOutput_t * const motor
  53 #ifndef USE_DSHOT_TELEMETRY
  54 #if defined(STM32F7) || defined(STM32H7)
  55     , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
  56 #else
  57     , TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
  58 #endif
  59 #endif
  60 );
  61
  62 bool pwmTelemetryDecode(void);
  63
  64 #endif
  65 #endif