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 "drivers/io_types.h"
  21 #include "drivers/time.h"
  22
  23
  24 #if defined(WS2811_PIN)
  25 #define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS + 1)
  26 #else
  27 #define MAX_PWM_OUTPUTS (MAX_PWM_OUTPUT_PORTS)
  28 #endif
  29 typedef enum {
  30     DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
  31     DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
  32 } dshotCommands_e;
  33
  34 typedef struct {
  35     dshotCommands_e cmd;
  36     int remainingRepeats;
  37 } currentExecutingCommand_t;
  38
  39 void pwmRequestMotorTelemetry(int motorIndex);
  40
  41 ioTag_t pwmGetMotorPinTag(int motorIndex);
  42
  43 void pwmWriteMotor(uint8_t index, uint16_t value);
  44 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
  45 void pwmCompleteMotorUpdate(void);
  46 bool isMotorProtocolDigital(void);
  47 bool isMotorProtocolDshot(void);
  48
  49 void pwmWriteServo(uint8_t index, uint16_t value);
  50
  51 void pwmDisableMotors(void);
  52 void pwmEnableMotors(void);
  53 struct timerHardware_s;
  54
  55 void pwmMotorPreconfigure(void);
  56 bool pwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIndex, bool enableOutput);
  57
  58 void pwmServoPreconfigure(void);
  59 bool pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput);
  60 void pwmWriteBeeper(bool onoffBeep);
  61 void beeperPwmInit(ioTag_t tag, uint16_t frequency);
  62
  63 void sendDShotCommand(dshotCommands_e cmd);
  64 void initDShotCommands(void);
  65
  66 uint32_t getEscUpdateFrequency(void);