void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = prepareDshotPacket(motor, value);
uint8_t bufferSize = loadDmaBuffer(motor, packet);
if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
} else {
if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
/* Compute the value of ARR regiter to generate signal frequency at 17.57 Khz */
uwTimerPeriod = (uint32_t)(SystemCoreClock / 17570 ) - 1;
/* Compute CCR1 value to generate a duty cycle at 75% */
aCCValue_Buffer[0] = (uint32_t) ((75 * (uwTimerPeriod - 1)) / 100);
/* Compute CCR2 value to generate a duty cycle at 50% */
aCCValue_Buffer[1] = (uint32_t) ((50 * (uwTimerPeriod - 1)) / 100);
/* Compute CCR3 value to generate a duty cycle at 25% */
aCCValue_Buffer[2] = (uint32_t) ((25 * (uwTimerPeriod - 1)) / 100);
/*##-1- Configure the TIM peripheral #######################################*/
/* Initialize TIM3 peripheral as follow:
+ Period = TimerPeriod (To have an output frequency equal to 17.570 KHz)
+ Repetition Counter = 3
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
TimHandle.Instance = TIMx;
TimHandle.Init.Period = uwTimerPeriod;
TimHandle.Init.RepetitionCounter = 3;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.ClockDivision = 0;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&TimHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the PWM channel 3 ########################################*/
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.Pulse = aCCValue_Buffer[0];
if(HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3) != HAL_OK)
{
/* Configuration Error */
Error_Handler();
}
/*##-3- Start PWM signal generation in DMA mode ############################*/
if( HAL_TIM_PWM_Start_DMA(&TimHandle, TIM_CHANNEL_3, aCCValue_Buffer, 3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Wait till the channel3 start process finish */
while(TimHandle.State != HAL_TIM_STATE_READY)
{}
/*##-4- Start PWM Complementary signal generation in DMA mode ##############*/
if( HAL_TIMEx_PWMN_Start_DMA(&TimHandle, TIM_CHANNEL_3, aCCValue_Buffer, 3) != HAL_OK)
{
/* Starting Error */
Error_Handler();
}
/* Infinite loop */
while (1)
{
}
}
