#include "dshot.h" /* 使用案例: DshotInit(TIM2, GPIOA, GPIO_Pin_5, GPIO_AF_TIM2, GPIO_PinSource5,70-1, 4-1, DMA1_Stream5_IRQn, RCC_APB1Periph_TIM2, RCC_AHB1Periph_GPIOA,RCC_AHB1PeriphClockCmd,TIM_OC1Init,TIM_OC1PreloadConfig) */ void Dshot_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef *GPIOx, u16 PIN, u8 GPIO_PinSource, u8 GPIO_AF) { RCC_AHB1PeriphClockCmd(RCC_APBnPeriphn,ENABLE); //引脚复用 GPIO_PinAFConfig(GPIOx, GPIO_PinSource, GPIO_AF); //GPIO初始化 GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // 复用功能 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; // 速度50MHz GPIO_Speed_50MHz GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // 推挽复用输出 GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // 上拉 GPIO_PuPd_UP GPIO_Init(GPIOx,&GPIO_InitStructure); } void Dshot_NVIC_Config(u8 NVIC_IRQChannel, u8 pre, u8 sub) { //DMA中断设置 NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = NVIC_IRQChannel; //DMA2_Stream0中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = pre; //抢占优先级1 NVIC_InitStructure.NVIC_IRQChannelSubPriority = sub; //子优先级1 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化NVIC寄存器 } void Dshot_TIM_Config(void(*ClockCMD)(uint32_t, FunctionalState),u32 RCC_APBnPeriphn, //APB时钟使能设置 TIM_TypeDef* TIMx, u16 psc, u16 per, //dshot频率设置 void(*TIM_OCInit)(TIM_TypeDef*, TIM_OCInitTypeDef*), //OC通道设置 void(*TIM_OCPreloadConfig)(TIM_TypeDef*, uint16_t)) //OC通道使能 { //使能时钟 (*ClockCMD)(RCC_APBnPeriphn,ENABLE); //时基初始化 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_TimeBaseStructure.TIM_Prescaler = psc; //定时器分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式 TIM_TimeBaseStructure.TIM_Period = per; //自动重装载值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIMx,&TIM_TimeBaseStructure);//初始化定时器 //输出比较初始化 TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitStructure.TIM_Pulse = 0; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性低 (*TIM_OCInit)(TIMx,&TIM_OCInitStructure); (*TIM_OCPreloadConfig)(TIMx,TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIMx,ENABLE);//ARPE使能 TIM_Cmd(TIMx, ENABLE);//定时器使能 } //DSHOT_DMA_Config(TIM2,TIM_DMA_CC1,DMA1_Stream5,DMA_Channel_3,(uint32_t)&(TIM2->CCR1),(uint32_t)dd) void DSHOT_DMA_Config(TIM_TypeDef* TIMx,uint16_t TIM_DMASource, DMA_Stream_TypeDef *DMA_Streamx,u32 chx,u32 par,u32 mar) { DMA_InitTypeDef DMA_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1,ENABLE); DMA_DeInit(DMA_Streamx); while (DMA_GetCmdStatus(DMA_Streamx) != DISABLE){} DMA_InitStructure.DMA_Channel = chx; DMA_InitStructure.DMA_PeripheralBaseAddr = par; DMA_InitStructure.DMA_Memory0BaseAddr = mar; DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; DMA_InitStructure.DMA_BufferSize = 18; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word; DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA_Streamx, &DMA_InitStructure); TIM_DMACmd(TIMx, TIM_DMASource, ENABLE); //设置DMA中断 DMA_ClearITPendingBit(DMA_Streamx, DMA_IT_TC); //清除中断标志 DMA_ITConfig(DMA_Streamx, DMA_IT_TC, ENABLE); //传输完成中断 //DMA_Cmd(DMA_Streamx, ENABLE); //使能DMA DMA_Cmd(DMA_Streamx, DISABLE); } u16 add_checksum_and_telemetry(u16 packet) { u16 packet_telemetry = (packet << 1) | 0; u8 i; int csum = 0; int csum_data = packet_telemetry; for (i = 0; i < 3; i++) { csum ^= csum_data; // xor data by nibbles csum_data >>= 4; } csum &= 0xf; packet_telemetry = (packet_telemetry << 4) | csum; return packet_telemetry; //append checksum } void pwmWriteDigital(u32 *esc_cmd, u16 value, DMA_Stream_TypeDef *DMA_Streamx) { value = ( (value > 2047) ? 2047 : value ); value = add_checksum_and_telemetry(value); esc_cmd[0] = (value & 0x8000) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[1] = (value & 0x4000) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[2] = (value & 0x2000) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[3] = (value & 0x1000) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[4] = (value & 0x0800) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[5] = (value & 0x0400) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[6] = (value & 0x0200) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[7] = (value & 0x0100) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[8] = (value & 0x0080) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[9] = (value & 0x0040) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[10] = (value & 0x0020) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[11] = (value & 0x0010) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[12] = (value & 0x8) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[13] = (value & 0x4) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[14] = (value & 0x2) ? ESC_BIT_1 : ESC_BIT_0; esc_cmd[15] = (value & 0x1) ? ESC_BIT_1 : ESC_BIT_0; DMA_Cmd(DMA_Streamx, ENABLE);// enable DMA channel 6 } //void PWM_GPIO_Config(void) //{ // GPIO_InitTypeDef GPIO_InitStructure; // // //使能GPIO时钟 // PWM1_ClockCmd(); // PWM2_ClockCmd(); // PWM3_ClockCmd(); // PWM4_ClockCmd(); // GPIO_PinAFConfig(PWM1_PORT, PWM1_PinSource, PWM1_GPIO_AF); // GPIO_PinAFConfig(PWM2_PORT, PWM2_PinSource, PWM2_GPIO_AF); // GPIO_PinAFConfig(PWM3_PORT, PWM3_PinSource, PWM3_GPIO_AF); // GPIO_PinAFConfig(PWM4_PORT, PWM4_PinSource, PWM4_GPIO_AF); // // GPIO_InitStructure.GPIO_Pin = PWM1_PIN; // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; // 复用功能 // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; // 速度50MHz GPIO_Speed_50MHz // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // 推挽复用输出 // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // 上拉 GPIO_PuPd_UP // GPIO_Init(PWM1_PORT,&GPIO_InitStructure); // 初始化 // GPIO_InitStructure.GPIO_Pin = PWM2_PIN; // GPIO_Init(PWM2_PORT,&GPIO_InitStructure); // // GPIO_InitStructure.GPIO_Pin = PWM3_PIN; // GPIO_Init(PWM3_PORT,&GPIO_InitStructure); // // GPIO_InitStructure.GPIO_Pin = PWM4_PIN; // GPIO_Init(PWM4_PORT,&GPIO_InitStructure); //} //void PWM_TIM_Config(u16 arr, u16 psc, u16 Pulse) //{ // TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; // TIM_OCInitTypeDef TIM_OCInitStructure; // // TIM_TimeBaseStructure.TIM_Prescaler = psc; //定时器分频 // TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式 // TIM_TimeBaseStructure.TIM_Period = arr; //自动重装载值 // TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; // TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; // // TIM_TimeBaseInit(PWM1_TIM,&TIM_TimeBaseStructure);//初始化定时器 // TIM_TimeBaseInit(PWM2_TIM,&TIM_TimeBaseStructure); // TIM_TimeBaseInit(PWM3_TIM,&TIM_TimeBaseStructure); // TIM_TimeBaseInit(PWM4_TIM,&TIM_TimeBaseStructure); // // TIM_OCInitStructure.TIM_Pulse = Pulse; // TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2 // TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 // TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性低 // // PWM1_OCInit(TIM_OCInitStructure); // PWM2_OCInit(TIM_OCInitStructure); // PWM3_OCInit(TIM_OCInitStructure); // PWM4_OCInit(TIM_OCInitStructure); // // TIM_ARRPreloadConfig(PWM1_TIM,ENABLE);//ARPE使能 // TIM_ARRPreloadConfig(PWM2_TIM,ENABLE); // TIM_ARRPreloadConfig(PWM3_TIM,ENABLE); // TIM_ARRPreloadConfig(PWM4_TIM,ENABLE); // // TIM_Cmd(PWM1_TIM, ENABLE); // TIM_Cmd(PWM2_TIM, ENABLE); // TIM_Cmd(PWM3_TIM, ENABLE); // TIM_Cmd(PWM4_TIM, ENABLE); //} //void DSHOT_NVIC_Config(void) //{ // NVIC_InitTypeDef NVIC_InitStructure; // // //DMA中断设置 // NVIC_InitStructure.NVIC_IRQChannel = PWM1_DMA_Stream_IRQn; //DMA2_Stream0中断 // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //抢占优先级1 // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级1 // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 // NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化NVIC寄存器 // // NVIC_InitStructure.NVIC_IRQChannel = PWM2_DMA_Stream_IRQn; // NVIC_Init(&NVIC_InitStructure); // // NVIC_InitStructure.NVIC_IRQChannel = PWM3_DMA_Stream_IRQn; // NVIC_Init(&NVIC_InitStructure); // // NVIC_InitStructure.NVIC_IRQChannel = PWM4_DMA_Stream_IRQn; // NVIC_Init(&NVIC_InitStructure); //} //void OutPutPWM_Config(void) //{ // PWM_GPIO_Config(); // // PWM_TIM_Config(70-1,4-1,0); //DSHOT_1200 // // DSHOT_NVIC_Config(); //}