#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"

Include dependency graph for dshot_rpmCapture.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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 More...

#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. More...

void	dshotRpmCaptureStop (DshotRpmCapture *drcp)
	stop the the DSHOT ERPS CAPTURE driver. More...

void	dshotRpmCatchErps (DshotRpmCapture *drcp)
	capture the DSHOT ERPS frame(s) : one frame for each DSHOT_CHANNELS More...

static uint32_t	dshotRpmGetFrame (const DshotRpmCapture *drcp, uint8_t index)
	return last collected erps frame More...

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)

DSHOT_CONCAT_CAPTURE_NX

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

macro helper to design DMA stream

Definition: dshot_rpmCapture.h:23

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