#include <pios.h>
#include "pios_dmashot.h"

Data Structures
union	dma_buffer

struct	servo_timer

Macros
#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
static bool	PIOS_DMAShot_HalfWord (struct servo_timer *s_timer)

static int	PIOS_DMAShot_GetNumChannels (struct servo_timer *timer)

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...

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

void	PIOS_DMAShot_WriteValue (const struct pios_tim_channel *servo_channel, uint16_t throttle)
	Sets the throttle value of a specific servo. 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_Validate ()
	Validates any timer and servo registrations. More...

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

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

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

static void	PIOS_DMAShot_DMASetup (struct servo_timer *s_timer)

static uint32_t	PIOS_DMAShot_AllocateBuffer (uint16_t size)

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

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

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

Variables
const struct pios_dmashot_cfg *	dmashot_cfg

struct servo_timer **	servo_timers

Detailed Description

Definition in file pios_dmashot.c.

Data Structures

Macros

Functions

Variables

Detailed Description