void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
{
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);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
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();
if (configureTimer) {
RCC_ClockCmd(timerRCC(timer), ENABLE);
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;
motor->TimHandle.Init.RepetitionCounter = 0;
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK)
{
/* Initialization Error */
return;
}
}
else
{
motor->TimHandle = dmaMotors[timerIndex].TimHandle;
}
switch (timerHardware->channel) {
case TIM_CHANNEL_1:
motor->timerDmaSource = TIM_DMA_ID_CC1;
break;
case TIM_CHANNEL_2:
motor->timerDmaSource = TIM_DMA_ID_CC2;
break;
case TIM_CHANNEL_3:
motor->timerDmaSource = TIM_DMA_ID_CC3;
break;
case TIM_CHANNEL_4:
motor->timerDmaSource = TIM_DMA_ID_CC4;
break;
}
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->dmaStream == NULL)
{
/* Initialization Error */
return;
}
motor->hdma_tim.Instance = timerHardware->dmaStream;
/* 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;
TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;
TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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;
}
}
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;
}
}
void ws2811LedStripHardwareInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t prescalerValue;
dmaSetHandler(WS2811_DMA_HANDLER_IDENTIFER, WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0);
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIO(ws2811IO, IO_CONFIG(GPIO_Speed_50MHz, GPIO_Mode_AF_PP));
RCC_ClockCmd(timerRCC(WS2811_TIMER), ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 29; // 800kHz
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM3, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel6 Config */
DMA_DeInit(DMA1_Channel6);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM3->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel6, &DMA_InitStructure);
/* TIM3 CC1 DMA Request enable */
TIM_DMACmd(TIM3, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE);
const hsvColor_t hsv_white = { 0, 255, 255};
ws2811Initialised = true;
setStripColor(&hsv_white);
ws2811UpdateStrip();
}
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
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);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
if (configureTimer) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
RCC_ClockCmd(timerRCC(timer), ENABLE);
TIM_Cmd(timer, DISABLE);
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;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(timer, &TIM_TimeBaseStructure);
}
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
if (timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OCInitStructure.TIM_OCNPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPolarity_Low : TIM_OCNPolarity_High;
} else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCPolarity = (timerHardware->output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_Low : TIM_OCPolarity_High;
}
TIM_OCInitStructure.TIM_Pulse = 0;
timerOCInit(timer, timerHardware->channel, &TIM_OCInitStructure);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
TIM_CCxCmd(timer, timerHardware->channel, TIM_CCx_Enable);
if (configureTimer) {
TIM_CtrlPWMOutputs(timer, ENABLE);
TIM_ARRPreloadConfig(timer, ENABLE);
TIM_Cmd(timer, ENABLE);
}
DMA_Channel_TypeDef *channel = timerHardware->dmaChannel;
if (channel == NULL) {
/* trying to use a non valid channel */
return;
}
dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
DMA_Cmd(channel, DISABLE);
DMA_DeInit(channel);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerChCCR(timerHardware);
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)motor->dmaBuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = MOTOR_DMA_BUFFER_SIZE;
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_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(channel, &DMA_InitStructure);
DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
}
