N3_stm32/N3Drive/USER/dshot.c

#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();
//}