dshot_rpmCapture.h File Reference

#include <ch.h>
#include <hal.h>
#include "mcu_periph/input_capture_arch.h"
#include "mcu_periph/hal_stm32_dma.h"
#include "mcu_periph/timerDmaCache.h"
#include "modules/actuators/esc_dshot_config.h"

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Data Structures
struct	DshotDmaStreamChan
	structure defining dma channel More...
struct	DshotRpmCaptureOneChannelDmaBuffer
	DMA capture if (errFrame > 2000) { chSysHalt("p *dshotd.config.dma_capt_cfg.dma_capture"); } buffer. More...
struct	DshotRpmCaptureDmaBuffer
struct	DshotRpmCaptureConfig
	: DSHOT Rpm Capture Driver configuration structure. More...
struct	DshotRpmCapture

Macros
#define	DSHOT_DMA_DATA_LEN   16U
#define	DSHOT_DMA_EXTRADATA_LEN   2U
#define	DSHOT_CONCAT_CAPTURE_NX(pre, tim, stream, channel)   pre ## tim ## stream , pre ## tim ## channel
	macro helper to design DMA stream
#define	DSHOTS_1STREAM(tim)   DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH1_DMA_STREAM, _CH1_DMA_CHANNEL)
#define	DSHOTS_2STREAMS(tim)
#define	DSHOTS_3STREAMS(tim)
#define	DSHOTS_4STREAMS(tim)
#define	STM32_SYSCLK   STM32_SYS_CK

Functions
void	dshotRpmCaptureStart (DshotRpmCapture *drcp, const DshotRpmCaptureConfig *cfg, stm32_tim_t *timer)
	Configures and activates the DSHOT ERPS CAPTURE driver.
void	dshotRpmCaptureStop (DshotRpmCapture *drcp)
	stop the the DSHOT ERPS CAPTURE driver.
void	dshotRpmCatchErps (DshotRpmCapture *drcp)
	capture the DSHOT ERPS frame(s) : one frame for each DSHOT_CHANNELS
static uint32_t	dshotRpmGetFrame (const DshotRpmCapture *drcp, uint8_t index)
	return last collected erps frame

---

Data Structure Documentation

DshotDmaStreamChan

struct DshotDmaStreamChan

structure defining dma channel

Note

does not apply for DMAMUX MCU

Definition at line 79 of file dshot_rpmCapture.h.

Data Fields
uint8_t	channel
uint32_t	stream

DshotRpmCaptureOneChannelDmaBuffer

struct DshotRpmCaptureOneChannelDmaBuffer

DMA capture if (errFrame > 2000) { chSysHalt("p *dshotd.config.dma_capt_cfg.dma_capture"); } buffer.

Definition at line 95 of file dshot_rpmCapture.h.

Data Fields
uint16_t	buf[DSHOT_DMA_DATA_LEN+DSHOT_DMA_EXTRADATA_LEN]

DshotRpmCaptureDmaBuffer

struct DshotRpmCaptureDmaBuffer

Definition at line 99 of file dshot_rpmCapture.h.

Collaboration diagram for DshotRpmCaptureDmaBuffer:

Data Fields
DshotRpmCaptureOneChannelDmaBuffer	dma_buf[DSHOT_CHANNELS]

DshotRpmCaptureConfig

struct DshotRpmCaptureConfig

: DSHOT Rpm Capture Driver configuration structure.

Definition at line 106 of file dshot_rpmCapture.h.

Collaboration diagram for DshotRpmCaptureConfig:

Data Fields
DshotRpmCaptureDmaBuffer *	dma_capture	: pointer to the input capture DMA buffer Note : dma_capture must point to DMA compatible memory DCACHE disabled section for F7
DshotDmaStreamChan	dma_streams[DSHOT_CHANNELS]	: array of DMA stream for each capture channel
GPTDriver *	gptd	: GPT Driver to manage microseconds timeout Note : timeout is too narrow to be managed by RTOS

DshotRpmCapture

struct DshotRpmCapture

Definition at line 131 of file dshot_rpmCapture.h.

Collaboration diagram for DshotRpmCapture:

Data Fields
TimerDmaCache	cache	: cache for timer and dma configuration Note : cached configuration are restored via memcpy which is faster than field by field setting
const DshotRpmCaptureConfig *	config	: pointer to configuration structure Note : must be valid for the object life
DMAConfig	dmaCfgs[DSHOT_CHANNELS]	: dma input capture configuration
DMADriver	dmads[DSHOT_CHANNELS]	: dma input capture drivers
uint32_t	erps[DSHOT_CHANNELS]	: array of erps frames
TimICConfig	icCfg	: input capture timer configuration
TimICDriver	icd	: input capture timer driver
uint32_t	rpms[DSHOT_CHANNELS]	: array of rpms

Macro Definition Documentation

DSHOT_CONCAT_CAPTURE_NX

#define DSHOT_CONCAT_CAPTURE_NX	(		pre,
			tim,
			stream,
			channel
	)		pre ## tim ## stream , pre ## tim ## channel

macro helper to design DMA stream

Note

does not apply for DMAMUX MCU

Definition at line 23 of file dshot_rpmCapture.h.

DSHOT_DMA_DATA_LEN

#define DSHOT_DMA_DATA_LEN   16U

Definition at line 14 of file dshot_rpmCapture.h.

DSHOT_DMA_EXTRADATA_LEN

#define DSHOT_DMA_EXTRADATA_LEN   2U

Definition at line 15 of file dshot_rpmCapture.h.

DSHOTS_1STREAM

#define DSHOTS_1STREAM

(

tim

)

DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH1_DMA_STREAM, _CH1_DMA_CHANNEL)

Definition at line 24 of file dshot_rpmCapture.h.

DSHOTS_2STREAMS

#define DSHOTS_2STREAMS

(

tim

)

Value:

                             DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH1_DMA_STREAM, _CH1_DMA_CHANNEL), \
                             DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH2_DMA_STREAM, _CH2_DMA_CHANNEL)

Definition at line 25 of file dshot_rpmCapture.h.

DSHOTS_3STREAMS

#define DSHOTS_3STREAMS

(

tim

)

Value:

           DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH1_DMA_STREAM, _CH1_DMA_CHANNEL), \
			     DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH2_DMA_STREAM, _CH2_DMA_CHANNEL), \
                             DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH3_DMA_STREAM, _CH3_DMA_CHANNEL)

Definition at line 27 of file dshot_rpmCapture.h.

DSHOTS_4STREAMS

#define DSHOTS_4STREAMS

(

tim

)

Value:

           DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH1_DMA_STREAM, _CH1_DMA_CHANNEL), \
			     DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH2_DMA_STREAM, _CH2_DMA_CHANNEL), \
			     DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH3_DMA_STREAM, _CH3_DMA_CHANNEL), \
			     DSHOT_CONCAT_CAPTURE_NX(STM32_TIM, tim, _CH4_DMA_STREAM, _CH4_DMA_CHANNEL)

Definition at line 30 of file dshot_rpmCapture.h.

STM32_SYSCLK

#define STM32_SYSCLK   STM32_SYS_CK

Definition at line 71 of file dshot_rpmCapture.h.

Function Documentation

dshotRpmCaptureStart()

void dshotRpmCaptureStart	(	DshotRpmCapture *	drcp,
		const DshotRpmCaptureConfig *	cfg,
		stm32_tim_t *	timer
	)

Configures and activates the DSHOT ERPS CAPTURE driver.

Parameters

[in]	drcp	pointer to the DshotRpmCapture object
[in]	cfg	pointer to the DshotRpmCaptureConfig object.
[in]	timer	pointer to the underlying timer (same one used to output control frame) @api

Definition at line 108 of file dshot_rpmCapture.c.

References foo, initCache(), TimICConfig::timer, and timicCfgSkel.

Referenced by dshotStart().

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dshotRpmCaptureStop()

void dshotRpmCaptureStop

(

DshotRpmCapture *

drcp

)

stop the the DSHOT ERPS CAPTURE driver.

Parameters

[in]

drcp

pointer to the DshotRpmCapture object @api

Definition at line 124 of file dshot_rpmCapture.c.

References foo, and stopCapture().

Referenced by initCache().

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dshotRpmCatchErps()

void dshotRpmCatchErps

(

DshotRpmCapture *

drcp

)

capture the DSHOT ERPS frame(s) : one frame for each DSHOT_CHANNELS

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Note

synchronous API, when it returns, the erpm data is available @api

Definition at line 149 of file dshot_rpmCapture.c.

References dmaGetTransactionCounter(), dmaStartTransfert(), dmaStopTransfertI(), DSHOT_CHANNELS, DSHOT_DMA_DATA_LEN, DSHOT_DMA_EXTRADATA_LEN, DSHOT_SPEED, foo, msg, processErpsDmaBuffer(), startCapture(), stopCapture(), SWTICH_TO_CAPTURE_BASE_TIMOUT, and timeoutUs.

Referenced by dshotSendFrame().

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dshotRpmGetFrame()

static uint32_t dshotRpmGetFrame ( const DshotRpmCapture *  drcp, uint8_t  index  )

inlinestatic

return last collected erps frame

Parameters

[in]	drcp	pointer to the DshotRpmCapture object
[in]	index	index of the channel [1 .. 4] @api

Definition at line 197 of file dshot_rpmCapture.h.

References foo.