#include "pios.h"
#include "pios_servo_priv.h"
#include "pios_tim_priv.h"
#include <pios_dio.h>
#include "pios_inlinedelay.h"
#include "pios_irq.h"
#include "misc_math.h"

Data Structures
struct	dshot_info

struct	output_channel

struct	timer_bank

Macros
#define	CLEAR_BITS(gpio, bits) do { (gpio)->BSRR = ((uint32_t) bits) << 16; } while (0)

#define	SET_BITS(gpio, bits) do { (gpio)->BSRR = bits; } while (0)

Enumerations
enum	dshot_gpio
	The counter rate for the channel, used to calculate compare values. More...

enum	channel_mode

Functions
enum dshot_gpio	__attribute__ ((packed))

static uint32_t	timer_apb_clock (TIM_TypeDef *timer)

static uint32_t	max_timer_clock (TIM_TypeDef *timer)
	Determines the maximum clock rate for a given timer (i.e. no prescale) More...

int32_t	PIOS_Servo_Init (const struct pios_servo_cfg *cfg)

void	PIOS_Servo_DisableChannel (int channel)

int	PIOS_Servo_GetPins (dio_tag_t *dios, int max_dio)

static void	ChannelSetup_DShot (int j, uint16_t rate)

static int	BankSetup_DShot (struct timer_bank *bank)

static int	BankSetup_OneShot (struct timer_bank *bank, int32_t max_tim_clock)

static int	BankSetup_PWM (struct timer_bank *bank, int32_t max_tim_clock, uint16_t rate)

int	PIOS_Servo_SetMode (const uint16_t out_rate, const int banks, const uint16_t channel_max, const uint16_t *channel_min)
	PIOS_Servo_SetMode Sets the PWM output frequency and resolution. An output rate of 0 indicates Synchronous updates (e.g. SyncPWM/OneShot), otherwise normal PWM at the specified output rate. SyncPWM uses hardware one-pulse mode. Timer prescaler and related parameters are calculated based on the channel with highest max pulse length on each timer. A deadtime is provided to ensure SyncPWM pulses cannot merge. The information required to convert from us to compare value is cached for each channel (not timer) to facilitate PIOS_Servo_Set. More...

static void	PIOS_Servo_SetRaw (uint8_t servo, uint32_t raw_position)

void	PIOS_Servo_SetFraction (uint8_t servo, uint16_t fraction, uint16_t max_val, uint16_t min_val)

bool	PIOS_Servo_IsDshot (uint8_t servo)

void	PIOS_Servo_Set (uint8_t servo, float position)

static int	DSHOT_Update ()

void	PIOS_Servo_Update (void)

void	PIOS_Servo_PrepareForReset ()
	Determines the APB clock used by a given timer. More...

Variables
static const struct pios_servo_cfg *	servo_cfg

static uint32_t	channel_mask = 0

	DS_GPIOA = 0

	DS_GPIOB

	DS_GPIOC

	DS_GPIO_NUMVALS

	UNCONFIGURED = 0

	REGULAR_PWM

	REGULAR_INVERTED_PWM

	SYNC_PWM

	SYNC_DSHOT_300

	SYNC_DSHOT_600

	SYNC_DSHOT_1200

	SYNC_DSHOT_DMA

struct dshot_info	__attribute__

enum channel_mode	mode

union {
uint32_t pwm_res

struct dshot_info dshot

}	i

static struct output_channel *	output_channels

static uintptr_t	servo_tim_id

static bool	resetting

static bool	dshot_in_use

Macro Definition Documentation

#define CLEAR_BITS	(	gpio,
		bits
	)	do { (gpio)->BSRR = ((uint32_t) bits) << 16; } while (0)

#define SET_BITS	(	gpio,
		bits
	)	do { (gpio)->BSRR = bits; } while (0)

Data Structures

Macros

Enumerations

Functions

Variables

Macro Definition Documentation