void ppmAvoidPWMTimerClash(TIM_TypeDef *pwmTimer)
{
pwmOutputPort_t *motors = pwmGetMotors();
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
if (!motors[motorIndex].enabled || motors[motorIndex].channel.tim != pwmTimer) {
continue;
}
ppmCountDivisor = timerClock(pwmTimer) / (pwmTimer->PSC + 1);
return;
}
}
static void serialTimerConfigureTimebase(const timerHardware_t *timerHardwarePtr, uint32_t baud)
{
uint32_t baseClock = timerClock(timerHardwarePtr->tim);
uint32_t clock = baseClock;
uint32_t timerPeriod;
do {
timerPeriod = clock / baud;
if (isTimerPeriodTooLarge(timerPeriod)) {
if (clock > 1) {
clock = clock / 2; // this is wrong - mhz stays the same ... This will double baudrate until ok (but minimum baudrate is < 1200)
} else {
// TODO unable to continue, unable to determine clock and timerPeriods for the given baud
}
}
} while (isTimerPeriodTooLarge(timerPeriod));
timerConfigure(timerHardwarePtr, timerPeriod, baseClock);
}
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
const IO_t motorIO = IOGetByTag(timerHardware->tag);
const uint8_t timerIndex = getTimerIndex(timer);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP), timerHardware->alternateFunction);
__DMA1_CLK_ENABLE();
RCC_ClockCmd(timerRCC(timer), ENABLE);
motor->TimHandle.Instance = timerHardware->tim;
motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;
motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
motor->TimHandle.Init.RepetitionCounter = 0;
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
motor->TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK) {
/* Initialization Error */
return;
}
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
/* Set the parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaChannel;
motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
motor->hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
motor->hdma_tim.Init.Mode = DMA_NORMAL;
motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
/* Set hdma_tim instance */
if (timerHardware->dmaRef == NULL) {
/* Initialization Error */
return;
}
motor->hdma_tim.Instance = timerHardware->dmaRef;
/* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaSource], motor->hdma_tim);
dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
/* Initialize TIMx DMA handle */
if (HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK) {
/* Initialization Error */
return;
}
TIM_OC_InitTypeDef TIM_OCInitStructure;
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW;
} else {
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;
TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_SET;
TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_LOW : TIM_OCNPOLARITY_HIGH;
}
TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
TIM_OCInitStructure.Pulse = 0;
if (HAL_TIM_PWM_ConfigChannel(&motor->TimHandle, &TIM_OCInitStructure, motor->timerHardware->channel) != HAL_OK) {
/* Configuration Error */
return;
}
}