rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Add DSHOT300 

Bool check for dshot protocol

Add dshot300 to init

ident
This commit is contained in:
borisbstyle 2016-10-25 01:09:06 +02:00
parent 726a8d29e2
commit f79896b1bd
10 changed files with 59 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/main/drivers/pwm_output.c
View File

@ -189,6 +189,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
break;
#ifdef USE_DSHOT
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
isDigital = true;

1
src/main/drivers/pwm_output.h
View File

@ -28,6 +28,7 @@ typedef enum {
PWM_TYPE_MULTISHOT,
PWM_TYPE_BRUSHED,
PWM_TYPE_DSHOT600,
PWM_TYPE_DSHOT300,
PWM_TYPE_DSHOT150,
PWM_TYPE_MAX
} motorPwmProtocolTypes_e;

15
src/main/drivers/pwm_output_stm32f3xx.c
View File

@ -33,6 +33,7 @@
#define MAX_DMA_TIMERS 8
#define MOTOR_DSHOT600_MHZ 24
#define MOTOR_DSHOT300_MHZ 12
#define MOTOR_DSHOT150_MHZ 6
#define MOTOR_BIT_0 14
@ -122,7 +123,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
RCC_ClockCmd(timerRCC(timer), ENABLE);
TIM_Cmd(timer, DISABLE);
uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
uint32_t hz;
switch (pwmProtocolType) {
case(PWM_TYPE_DSHOT600):
hz = MOTOR_DSHOT600_MHZ * 1000000;
break;
case(PWM_TYPE_DSHOT300):
hz = MOTOR_DSHOT300_MHZ * 1000000;
break;
default:
case(PWM_TYPE_DSHOT150):
hz = MOTOR_DSHOT150_MHZ * 1000000;
}
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / hz) - 1);
TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

15
src/main/drivers/pwm_output_stm32f4xx.c
View File

@ -34,6 +34,7 @@
#define MAX_DMA_TIMERS 8
#define MOTOR_DSHOT600_MHZ 12
#define MOTOR_DSHOT300_MHZ 6
#define MOTOR_DSHOT150_MHZ 3
#define MOTOR_BIT_0 7
@ -123,7 +124,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
RCC_ClockCmd(timerRCC(timer), ENABLE);
TIM_Cmd(timer, DISABLE);
uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
uint32_t hz;
switch (pwmProtocolType) {
case(PWM_TYPE_DSHOT600):
hz = MOTOR_DSHOT600_MHZ * 1000000;
break;
case(PWM_TYPE_DSHOT300):
hz = MOTOR_DSHOT300_MHZ * 1000000;
break;
default:
case(PWM_TYPE_DSHOT150):
hz = MOTOR_DSHOT150_MHZ * 1000000;
}
TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

15
src/main/drivers/pwm_output_stm32f7xx.c
View File

@ -33,6 +33,7 @@
#define MAX_DMA_TIMERS 8
#define MOTOR_DSHOT600_MHZ 12
#define MOTOR_DSHOT300_MHZ 6
#define MOTOR_DSHOT150_MHZ 3
#define MOTOR_BIT_0 7
@ -128,7 +129,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
if (configureTimer) {
RCC_ClockCmd(timerRCC(timer), ENABLE);
uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
uint32_t hz;
switch (pwmProtocolType) {
case(PWM_TYPE_DSHOT600):
hz = MOTOR_DSHOT600_MHZ * 1000000;
break;
case(PWM_TYPE_DSHOT300):
hz = MOTOR_DSHOT300_MHZ * 1000000;
break;
default:
case(PWM_TYPE_DSHOT150):
hz = MOTOR_DSHOT150_MHZ * 1000000;
}
motor->TimHandle.Instance = timerHardware->tim;
motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;;
motor->TimHandle.Init.Period = MOTOR_BITLENGTH;

2
src/main/fc/config.c
View File

@ -259,7 +259,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
#endif
motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000;
motorConfig->digitalIdleOffset = 0;
motorConfig->digitalIdleOffset = 40;
uint8_t motorIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && i < MAX_SUPPORTED_MOTORS; i++) {

2
src/main/fc/fc_msp.c
View File

@ -653,7 +653,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, 0);
continue;
}
if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600)
if (isMotorProtocolDshot())
sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
else
sbufWriteU16(dst, motor[i]);

13
src/main/flight/mixer.c
View File

@ -336,9 +336,16 @@ static motorMixer_t *customMixers;
static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, deadbandMotor3dHigh, deadbandMotor3dLow;
static float rcCommandThrottleRange;
bool isMotorProtocolDshot(void) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
return true;
else
return false;
}
// Add here scaled ESC outputs for digital protol
void initEscEndpoints(void) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
if (isMotorProtocolDshot()) {
disarmMotorOutput = DSHOT_DISARM_COMMAND;
minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
@ -843,7 +850,7 @@ void mixTable(void *pidProfilePtr)
motor[i] = lrintf( motorOutputMin + (motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle))) );
if (failsafeIsActive()) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
if (isMotorProtocolDshot())
motor[i] = (motor[i] < motorOutputMin) ? disarmMotorOutput : motor[i]; // Prevent getting into special reserved range
motor[i] = constrain(motor[i], disarmMotorOutput, motorOutputMax);
@ -875,7 +882,7 @@ void mixTable(void *pidProfilePtr)
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
if (isMotorProtocolDshot()) {
motor[i] = (motor_disarmed[i] < motorOutputMin) ? disarmMotorOutput : motor_disarmed[i]; // Prevent getting into special reserved range
if (motor_disarmed[i] != disarmMotorOutput)

1
src/main/flight/mixer.h
View File

@ -230,3 +230,4 @@ void syncMotors(bool enabled);
void writeMotors(void);
void stopMotors(void);
void stopPwmAllMotors(void);
bool isMotorProtocolDshot(void);

2
src/main/io/serial_cli.c
View File

@ -525,7 +525,7 @@ static const char * const lookupTableSuperExpoYaw[] = {
static const char * const lookupTablePwmProtocol[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
#ifdef USE_DSHOT
"DSHOT600", "DSHOT150"
"DSHOT600", "DSHOT300", "DSHOT150"
#endif
};