src/main/drivers/pwm_output.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 #pragma once
  22
  23 #include "platform.h"
  24
  25 #include "common/time.h"
  26
  27 #include "drivers/dma.h"
  28 #include "drivers/io_types.h"
  29 #include "drivers/motor.h"
  30 #include "drivers/timer.h"
  31
  32 #define BRUSHED_MOTORS_PWM_RATE 16000
  33 #define BRUSHLESS_MOTORS_PWM_RATE 480
  34
  35 #define ALL_MOTORS 255
  36
  37 #define MOTOR_OUTPUT_LIMIT_PERCENT_MIN 1
  38 #define MOTOR_OUTPUT_LIMIT_PERCENT_MAX 100
  39
  40 #define PWM_TIMER_1MHZ        MHZ_TO_HZ(1)
  41
  42 struct timerHardware_s;
  43
  44 typedef struct {
  45     volatile timCCR_t *ccr;
  46     TIM_TypeDef       *tim;
  47 } timerChannel_t;
  48
  49 typedef struct {
  50     timerChannel_t channel;
  51     float pulseScale;
  52     float pulseOffset;
  53     bool forceOverflow;
  54     bool enabled;
  55     IO_t io;
  56 } pwmOutputPort_t;
  57
  58 extern FAST_DATA_ZERO_INIT pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
  59
  60 struct motorDevConfig_s;
  61 motorDevice_t *motorPwmDevInit(const struct motorDevConfig_s *motorDevConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedPwm);
  62
  63 typedef struct servoDevConfig_s {
  64     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
  65     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
  66     uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
  67     ioTag_t  ioTags[MAX_SUPPORTED_SERVOS];
  68 } servoDevConfig_t;
  69
  70 void servoDevInit(const servoDevConfig_t *servoDevConfig);
  71
  72 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
  73
  74 void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware, uint32_t hz, uint16_t period, uint16_t value, uint8_t inversion);
  75
  76 void pwmWriteServo(uint8_t index, float value);
  77
  78 pwmOutputPort_t *pwmGetMotors(void);
  79 bool pwmIsSynced(void);