Generates DShot signal by updating timer CC registers via DMA bursts. More...

Data Structures
struct	pios_dmashot_timer_cfg
	Configuration struct to assign a DMA channel and stream to a timer, and optionally specify a master timer to update single timer registers of timers without DMA channel. More...

struct	pios_dmashot_cfg
	Configuration struct holding all timer configurations. More...

union	dma_buffer

struct	servo_timer

Macros
#define	DMASHOT_150 150000

#define	DMASHOT_300 300000

#define	DMASHOT_600 600000

#define	DMASHOT_1200 1200000

#define	MAX_TIMERS 8

#define	DMASHOT_MESSAGE_WIDTH 16

#define	DMASHOT_MESSAGE_PAUSE 1

#define	DMASHOT_STM32_BUFFER (DMASHOT_MESSAGE_PAUSE + DMASHOT_MESSAGE_WIDTH + DMASHOT_MESSAGE_PAUSE)

#define	DSHOT_DUTY_CYCLE_0 36

#define	DSHOT_DUTY_CYCLE_1 74

#define	TIMC_TO_INDEX(c) ((c)>>2)

Functions
void	PIOS_DMAShot_Init (const struct pios_dmashot_cfg *config)
	Initializes the DMAShot driver by loading the configuration. More...

void	PIOS_DMAShot_Prepare ()
	Makes sure the DMAShot driver has allocated all internal structs. More...

bool	PIOS_DMAShot_IsConfigured ()
	Checks whether DMAShot has been configured. More...

bool	PIOS_DMAShot_IsReady ()
	Checks whether DMAShot is ready for use (i.e. at least one DMA configured timer). More...

bool	PIOS_DMAShot_RegisterTimer (TIM_TypeDef *timer, uint32_t clockrate, uint32_t dshot_freq)
	Tells the DMAShot driver about a timer that needs to be set up. More...

bool	PIOS_DMAShot_RegisterServo (const struct pios_tim_channel *servo_channel)
	Tells the DMAShot driver about a servo that needs to be set up. More...

void	PIOS_DMAShot_InitializeGPIOs ()
	Initializes the GPIO on the registered servos for DMAShot operation. More...

void	PIOS_DMAShot_InitializeTimers (TIM_OCInitTypeDef *ocinit)
	Initializes and configures the registered timers for DMAShot operation. More...

void	PIOS_DMAShot_InitializeDMAs ()
	Initializes and configures the known DMA channels for DMAShot operation. More...

void	PIOS_DMAShot_Validate ()
	Validates any timer and servo registrations. More...

void	PIOS_DMAShot_WriteValue (const struct pios_tim_channel *servo_channel, uint16_t throttle)
	Sets the throttle value of a specific servo. More...

void	PIOS_DMAShot_TriggerUpdate ()
	Triggers the configured DMA channels to fire and send throttle values to the timer DMAR and optional CCRx registers. More...

static bool	PIOS_DMAShot_HalfWord (struct servo_timer *s_timer)

static int	PIOS_DMAShot_GetNumChannels (struct servo_timer *timer)

static struct servo_timer *	PIOS_DMAShot_GetServoTimer (const struct pios_tim_channel *servo_channel)

static void	PIOS_DMAShot_TimerSetup (struct servo_timer s_timer, uint32_t sysclock, uint32_t dshot_freq, TIM_OCInitTypeDef ocinit, bool master)

static void	PIOS_DMAShot_DMASetup (struct servo_timer *s_timer)

static uint32_t	PIOS_DMAShot_AllocateBuffer (uint16_t size)

Variables
TIM_TypeDef *	pios_dmashot_timer_cfg::timer

DMA_Stream_TypeDef *	pios_dmashot_timer_cfg::stream

uint32_t	pios_dmashot_timer_cfg::channel

uint32_t	pios_dmashot_timer_cfg::tcif

TIM_TypeDef *	pios_dmashot_timer_cfg::master_timer

uint16_t	pios_dmashot_timer_cfg::master_config

const struct pios_dmashot_timer_cfg *	pios_dmashot_cfg::timer_cfg

uint8_t	pios_dmashot_cfg::num_timers

uint32_t	dma_buffer::ptr

uint32_t *	dma_buffer::fw

uint16_t *	dma_buffer::hw

uint32_t	servo_timer::sysclock

const struct pios_dmashot_timer_cfg *	servo_timer::dma

const struct pios_tim_channel *	servo_timer::servo_channels [4]

uint8_t	servo_timer::low_channel

uint8_t	servo_timer::high_channel

uint32_t	servo_timer::dshot_freq

uint16_t	servo_timer::duty_cycle_0

uint16_t	servo_timer::duty_cycle_1

union dma_buffer	servo_timer::buffer

uint8_t	servo_timer::dma_started

const struct pios_dmashot_cfg *	dmashot_cfg

struct servo_timer **	servo_timers

Detailed Description

Generates DShot signal by updating timer CC registers via DMA bursts.

Macro Definition Documentation

#define DMASHOT_1200 1200000

Definition at line 44 of file pios_dmashot.h.

#define DMASHOT_150 150000

Definition at line 41 of file pios_dmashot.h.

#define DMASHOT_300 300000

Definition at line 42 of file pios_dmashot.h.

#define DMASHOT_600 600000

Definition at line 43 of file pios_dmashot.h.

#define DMASHOT_MESSAGE_PAUSE 1

Definition at line 68 of file pios_dmashot.c.

#define DMASHOT_MESSAGE_WIDTH 16

Definition at line 67 of file pios_dmashot.c.

#define DMASHOT_STM32_BUFFER (DMASHOT_MESSAGE_PAUSE + DMASHOT_MESSAGE_WIDTH + DMASHOT_MESSAGE_PAUSE)

Definition at line 69 of file pios_dmashot.c.

#define DSHOT_DUTY_CYCLE_0 36

Definition at line 73 of file pios_dmashot.c.

#define DSHOT_DUTY_CYCLE_1 74

Definition at line 74 of file pios_dmashot.c.

#define MAX_TIMERS 8

Definition at line 33 of file pios_dmashot.c.

#define TIMC_TO_INDEX ( c ) ((c)>>2)

Definition at line 76 of file pios_dmashot.c.

Function Documentation

static uint32_t PIOS_DMAShot_AllocateBuffer ( uint16_t size )

static

Definition at line 450 of file pios_dmashot.c.

static void PIOS_DMAShot_DMASetup ( struct servo_timer * s_timer )

static

Definition at line 399 of file pios_dmashot.c.

static int PIOS_DMAShot_GetNumChannels ( struct servo_timer * timer )

static

Definition at line 88 of file pios_dmashot.c.

static struct servo_timer* PIOS_DMAShot_GetServoTimer ( const struct pios_tim_channel * servo_channel )

static

Definition at line 126 of file pios_dmashot.c.

static bool PIOS_DMAShot_HalfWord ( struct servo_timer * s_timer )

inlinestatic

Definition at line 82 of file pios_dmashot.c.

void PIOS_DMAShot_Init ( const struct pios_dmashot_cfg * config )

Initializes the DMAShot driver by loading the configuration.

Parameters

[in] config Configuration struct.

Definition at line 96 of file pios_dmashot.c.

void PIOS_DMAShot_InitializeDMAs ( )

Initializes and configures the known DMA channels for DMAShot operation.

Definition at line 467 of file pios_dmashot.c.

void PIOS_DMAShot_InitializeGPIOs ( )

Initializes the GPIO on the registered servos for DMAShot operation.

Definition at line 297 of file pios_dmashot.c.

void PIOS_DMAShot_InitializeTimers ( TIM_OCInitTypeDef * ocinit )

Initializes and configures the registered timers for DMAShot operation.

Definition at line 367 of file pios_dmashot.c.

bool PIOS_DMAShot_IsConfigured ( )

Checks whether DMAShot has been configured.

Return values

TRUE	on success, FALSE when there's no configuration.

Definition at line 565 of file pios_dmashot.c.

bool PIOS_DMAShot_IsReady ( )

Checks whether DMAShot is ready for use (i.e. at least one DMA configured timer).

Return values

TRUE	on success, FALSE when there's no configuration or DMA capable timers.

Definition at line 552 of file pios_dmashot.c.

void PIOS_DMAShot_Prepare ( )

Makes sure the DMAShot driver has allocated all internal structs.

Definition at line 104 of file pios_dmashot.c.

bool PIOS_DMAShot_RegisterServo ( const struct pios_tim_channel * servo_channel )

Tells the DMAShot driver about a servo that needs to be set up.

Parameters

[in] servo_channel The servo in question.

Return values

TRUE	on success, FALSE when the related timer isn't set up, or DMAShot isn't set up correctly.

Definition at line 250 of file pios_dmashot.c.

bool PIOS_DMAShot_RegisterTimer	(	TIM_TypeDef *	timer,
		uint32_t	clockrate,
		uint32_t	dshot_freq
	)

Tells the DMAShot driver about a timer that needs to be set up.

Parameters

[in]	timer	The STM32 timer in question.
[in]	clockrate	The frequency the timer's set up to run.
[in]	dshot_freq	The desired DShot signal frequency (in KHz).

Return values

TRUE	on success, FALSE when there's no configuration for the specific timer, or DMAShot isn't set up correctly.

Definition at line 190 of file pios_dmashot.c.

static void PIOS_DMAShot_TimerSetup	(	struct servo_timer *	s_timer,
		uint32_t	sysclock,
		uint32_t	dshot_freq,
		TIM_OCInitTypeDef *	ocinit,
		bool	master
	)

static

Definition at line 322 of file pios_dmashot.c.

void PIOS_DMAShot_TriggerUpdate ( )

Triggers the configured DMA channels to fire and send throttle values to the timer DMAR and optional CCRx registers.

Definition at line 489 of file pios_dmashot.c.

void PIOS_DMAShot_Validate ( )

Validates any timer and servo registrations.

Definition at line 279 of file pios_dmashot.c.

void PIOS_DMAShot_WriteValue	(	const struct pios_tim_channel *	servo_channel,
		uint16_t	throttle
	)

Sets the throttle value of a specific servo.

Parameters

[in]	servo_channel	The servo to update.
[in]	throttle	The desired throttle value (0-2047).

Return values

TRUE	on success, FALSE if the channel's not set up for DMA.

Definition at line 143 of file pios_dmashot.c.

Variable Documentation

union dma_buffer servo_timer::buffer

Definition at line 60 of file pios_dmashot.c.

uint32_t pios_dmashot_timer_cfg::channel

Definition at line 55 of file pios_dmashot.h.

const struct pios_dmashot_timer_cfg* servo_timer::dma

Definition at line 48 of file pios_dmashot.c.

uint8_t servo_timer::dma_started

Definition at line 61 of file pios_dmashot.c.

const struct pios_dmashot_cfg* dmashot_cfg

Definition at line 78 of file pios_dmashot.c.

uint32_t servo_timer::dshot_freq

Definition at line 55 of file pios_dmashot.c.

uint16_t servo_timer::duty_cycle_0

Definition at line 57 of file pios_dmashot.c.

uint16_t servo_timer::duty_cycle_1

Definition at line 58 of file pios_dmashot.c.

uint32_t* dma_buffer::fw

Definition at line 40 of file pios_dmashot.c.

uint8_t servo_timer::high_channel

Definition at line 53 of file pios_dmashot.c.

uint16_t* dma_buffer::hw

Definition at line 41 of file pios_dmashot.c.

uint8_t servo_timer::low_channel

Definition at line 52 of file pios_dmashot.c.

uint16_t pios_dmashot_timer_cfg::master_config

Definition at line 59 of file pios_dmashot.h.

TIM_TypeDef* pios_dmashot_timer_cfg::master_timer

Definition at line 58 of file pios_dmashot.h.

uint8_t pios_dmashot_cfg::num_timers

Definition at line 69 of file pios_dmashot.h.

uint32_t dma_buffer::ptr

Definition at line 39 of file pios_dmashot.c.

const struct pios_tim_channel* servo_timer::servo_channels[4]

Definition at line 49 of file pios_dmashot.c.

struct servo_timer** servo_timers

Definition at line 79 of file pios_dmashot.c.

DMA_Stream_TypeDef* pios_dmashot_timer_cfg::stream

Definition at line 54 of file pios_dmashot.h.

uint32_t servo_timer::sysclock

Definition at line 46 of file pios_dmashot.c.

uint32_t pios_dmashot_timer_cfg::tcif

Definition at line 56 of file pios_dmashot.h.

TIM_TypeDef* pios_dmashot_timer_cfg::timer

Definition at line 53 of file pios_dmashot.h.

const struct pios_dmashot_timer_cfg* pios_dmashot_cfg::timer_cfg

Definition at line 68 of file pios_dmashot.h.

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation