#ifndef __DSHOT_H
#define __DSHOT_H

#include "stm32f4xx.h"

#define ESC_CMD_BUFFER_LEN 18

#define ESC_BIT_0     26
#define ESC_BIT_1     52

#define PWM3_PORT 	 		GPIOB
#define PWM3_PIN  	 		GPIO_Pin_6
#define PWM3_PinSource	GPIO_PinSource6
#define PWM3_GPIO_AF    GPIO_AF_TIM4

#define PWM4_PORT 	 		GPIOA
#define PWM4_PIN  	 		GPIO_Pin_7
#define PWM4_PinSource	GPIO_PinSource7
#define PWM4_GPIO_AF    GPIO_AF_TIM3

#define PWM5_PORT 	 		GPIOB
#define PWM5_PIN  	 		GPIO_Pin_4
#define PWM5_PinSource	GPIO_PinSource4
#define PWM5_GPIO_AF    GPIO_AF_TIM3

#define PWM6_PORT 	 		GPIOB
#define PWM6_PIN  	 		GPIO_Pin_0
#define PWM6_PinSource	GPIO_PinSource0
#define PWM6_GPIO_AF    GPIO_AF_TIM3

#define PWM7_PORT 	 		GPIOB
#define PWM7_PIN  	 		GPIO_Pin_7
#define PWM7_PinSource	GPIO_PinSource7
#define PWM7_GPIO_AF    GPIO_AF_TIM4

#define PWM8_PORT 	 		GPIOA
#define PWM8_PIN  	 		GPIO_Pin_5
#define PWM8_PinSource	GPIO_PinSource5
#define PWM8_GPIO_AF    GPIO_AF_TIM2


void pwmWriteDigital(u32 *esc_cmd, u16 value, DMA_Stream_TypeDef *DMA_Streamx);

//void Dshot_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef *GPIOx,u16 PIN ,u8 GPIO_AF, u8 GPIO_PinSource);

void Dshot_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef *GPIOx,u16 PIN, u8 GPIO_PinSource, u8 GPIO_AF);

void DSHOT_DMA_Config(TIM_TypeDef* TIMx,uint16_t TIM_DMASource, DMA_Stream_TypeDef *DMA_Streamx,u32 chx,u32 par,u32 mar);

void Dshot_NVIC_Config(u8 NVIC_IRQChannel, u8 pre, u8 sub);
	 
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
											
											
#endif
							 
							 
							 
							 
							 
//#define PWM1_PORT 	 			   		GPIOB
//#define PWM1_PIN  	 			   		GPIO_Pin_6
//#define PWM1_PinSource		   		GPIO_PinSource6
//#define PWM1_TIM             		TIM4
//#define PWM1_GPIO_AF    	   		GPIO_AF_TIM4
//#define PWM1_ClockCmd() 	   		RCC_AHB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_AHB1Periph_GPIOB, ENABLE)
//#define PWM1_OCInit(x)   	   		{TIM_OC1Init(PWM1_TIM, &TIM_OCInitStructure);TIM_OC1PreloadConfig(PWM1_TIM, TIM_OCPreload_Enable);}
//#define PWM1_DMA_Stream         DMA1_Stream0
//#define PWM1_DMA_Stream_IRQn    DMA1_Stream0_IRQn


//#define PWM2_PORT 	 			   		GPIOB
//#define PWM2_PIN  	 			   		GPIO_Pin_7
//#define PWM2_PinSource		   		GPIO_PinSource7
//#define PWM2_TIM             		TIM4
//#define PWM2_GPIO_AF    	      GPIO_AF_TIM4
//#define PWM2_ClockCmd()         RCC_AHB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_AHB1Periph_GPIOB, ENABLE)
//#define PWM2_OCInit(x)   	 	    {TIM_OC2Init(PWM2_TIM, &TIM_OCInitStructure);TIM_OC2PreloadConfig(PWM2_TIM, TIM_OCPreload_Enable);}
//#define PWM2_DMA_Stream         DMA1_Stream3
//#define PWM2_DMA_Stream_IRQn    DMA1_Stream3_IRQn


//#define PWM3_PORT 	 			 	    GPIOA
//#define PWM3_PIN  	 			 	    GPIO_Pin_7
//#define PWM3_PinSource		 	    GPIO_PinSource7
//#define PWM3_TIM           	    TIM3
//#define PWM3_GPIO_AF    	 	    GPIO_AF_TIM3
//#define PWM3_ClockCmd()    	    RCC_AHB1PeriphClockCmd(RCC_APB1Periph_TIM3|RCC_AHB1Periph_GPIOA, ENABLE)
//#define PWM3_OCInit(x)   	 	    {TIM_OC2Init(PWM1_TIM, &TIM_OCInitStructure);TIM_OC2PreloadConfig(PWM3_TIM, TIM_OCPreload_Enable);}
//#define PWM3_DMA_Stream         DMA1_Stream5
//#define PWM3_DMA_Stream_IRQn    DMA1_Stream5_IRQn


//#define PWM4_PORT 	 			 	    GPIOA
//#define PWM4_PIN  	 			 	    GPIO_Pin_5
//#define PWM4_PinSource		 	    GPIO_PinSource5
//#define PWM4_TIM           	    TIM2
//#define PWM4_GPIO_AF    	 	    GPIO_AF_TIM2
//#define PWM4_ClockCmd()    	    RCC_AHB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_AHB1Periph_GPIOA, ENABLE)
//#define PWM4_OCInit(x)   	      {TIM_OC1Init(PWM4_TIM, &TIM_OCInitStructure);TIM_OC1PreloadConfig(PWM4_TIM, TIM_OCPreload_Enable);}
//#define PWM4_DMA_Stream         DMA1_Stream5
//#define PWM4_DMA_Stream_IRQn    DMA1_Stream5_IRQn