dshot_rpmCapture.c File Reference

#include "modules/actuators/dshot_rpmCapture.h"
#include <string.h>

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Macros
#define	SWTICH_TO_CAPTURE_BASE_TIMOUT   28U
#define	nullptr   NULL

Functions
static void	startCapture (DshotRpmCapture *drcp)
	start the DMA capture
static void	stopCapture (DshotRpmCapture *drcp)
	stop the DMA capture
static void	initCache (DshotRpmCapture *drcp)
	build dma and timer registers cache
static uint32_t	processErpsDmaBuffer (const uint16_t *capture, size_t dmaLen)
	convert DMA buffer full of pulse length into raw ERPS frame
static void	buildDmaConfig (DshotRpmCapture *drcp)
	build dma configuration structure
static void	dmaErrCb (DMADriver *dmad, dmaerrormask_t em)
	dma error ISR :
static void	gptCb (GPTDriver *gptd)
	dma timeout ISR :
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

Variables
static const float	TIM_FREQ_MHZ = (STM32_SYSCLK / 1e6d)
static const float	bit1t_us = TIM_FREQ_MHZ * 6.67d * 4 / 5
static const float	speed_factor = DSHOT_SPEED / 150
static const uint32_t	ERPS_BIT1_DUTY = bit1t_us / speed_factor
static const uint32_t	TIM_PRESCALER = 1U
struct {
uint32_t	active
uint32_t	dier
}	activeDier [4]
static const TimICConfig	timicCfgSkel
static const GPTConfig	gptCfg

Macro Definition Documentation

nullptr

#define nullptr   NULL

Definition at line 49 of file dshot_rpmCapture.c.

SWTICH_TO_CAPTURE_BASE_TIMOUT

#define SWTICH_TO_CAPTURE_BASE_TIMOUT   28U

Definition at line 31 of file dshot_rpmCapture.c.

Function Documentation

buildDmaConfig()

static void buildDmaConfig ( DshotRpmCapture *  drcp )

static

build dma configuration structure

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Definition at line 250 of file dshot_rpmCapture.c.

References DMA_DIR_P2M, DMA_ONESHOT, dmaErrCb(), DSHOT_CHANNELS, foo, and DMAConfig::stream.

Referenced by initCache().

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dmaErrCb()

static void dmaErrCb ( DMADriver *  dmad, dmaerrormask_t  em  )

static

dma error ISR :

Parameters

[in]	drcp	pointer to the DMADriver
[in]	em	error mask

Note

does nothing if DSHOT_STATISTICS == FALSE

Definition at line 397 of file dshot_rpmCapture.c.

References foo.

Referenced by buildDmaConfig().

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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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gptCb()

static void gptCb ( GPTDriver *  gptd )

static

dma timeout ISR :

Parameters

[in]

gptd

pointer to the GPTDriver that trigger the timeout

Note

does nothing if DSHOT_STATISTICS == FALSE

Definition at line 414 of file dshot_rpmCapture.c.

References foo.

initCache()

static void initCache ( DshotRpmCapture *  drcp )

static

build dma and timer registers cache

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Definition at line 297 of file dshot_rpmCapture.c.

References buildDmaConfig(), dmaObjectInit(), dmaStart(), DSHOT_CHANNELS, dshotRpmCaptureStop(), foo, timerDmaCache_cache(), timIcObjectInit(), and timIcStart().

Referenced by dshotRpmCaptureStart().

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processErpsDmaBuffer()

static uint32_t processErpsDmaBuffer ( const uint16_t *  capture, size_t  dmaLen  )

static

convert DMA buffer full of pulse length into raw ERPS frame

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Definition at line 347 of file dshot_rpmCapture.c.

References ERPS_BIT1_DUTY, and foo.

Referenced by dshotRpmCatchErps().

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startCapture()

static void startCapture ( DshotRpmCapture *  drcp )

static

start the DMA capture

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Definition at line 320 of file dshot_rpmCapture.c.

References foo, gptCfg, timerDmaCache_restore(), and timIcStartCapture().

Referenced by dshotRpmCatchErps().

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stopCapture()

static void stopCapture ( DshotRpmCapture *  drcp )

static

stop the DMA capture

Parameters

[in]

drcp

pointer to the DshotRpmCapture object

Definition at line 333 of file dshot_rpmCapture.c.

References foo, timIcRccDisable(), and timIcStopCapture().

Referenced by dshotRpmCaptureStop(), and dshotRpmCatchErps().

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Variable Documentation

[struct]

const struct { ... } activeDier[4]

Initial value:

= {
  {CH1_BOTH_EDGES,
   TIM_DIER_CC1DE | TIM_DIER_TDE},
  {CH1_BOTH_EDGES | CH2_BOTH_EDGES,
   TIM_DIER_CC1DE | TIM_DIER_CC2DE | TIM_DIER_TDE},
  {CH1_BOTH_EDGES | CH2_BOTH_EDGES | CH3_BOTH_EDGES,
   TIM_DIER_CC1DE | TIM_DIER_CC2DE | TIM_DIER_CC3DE | TIM_DIER_TDE},
  {CH1_BOTH_EDGES | CH2_BOTH_EDGES | CH3_BOTH_EDGES | CH4_BOTH_EDGES,
   TIM_DIER_CC1DE | TIM_DIER_CC2DE | TIM_DIER_CC3DE | TIM_DIER_CC4DE | TIM_DIER_TDE}
}

bit1t_us

const float bit1t_us = TIM_FREQ_MHZ * 6.67d * 4 / 5

static

Definition at line 17 of file dshot_rpmCapture.c.

ERPS_BIT1_DUTY

const uint32_t ERPS_BIT1_DUTY = bit1t_us / speed_factor

static

Definition at line 20 of file dshot_rpmCapture.c.

Referenced by processErpsDmaBuffer().

gptCfg

const GPTConfig gptCfg

static

Initial value:

=  {
  .frequency    = 1000U * 1000U, 
  .callback     = &gptCb,
  .cr2 = 0,
  .dier = 0
}

Definition at line 92 of file dshot_rpmCapture.c.

Referenced by startCapture().

speed_factor

const float speed_factor = DSHOT_SPEED / 150

static

Definition at line 18 of file dshot_rpmCapture.c.

TIM_FREQ_MHZ

const float TIM_FREQ_MHZ = (STM32_SYSCLK / 1e6d)

static

Definition at line 15 of file dshot_rpmCapture.c.

TIM_PRESCALER

const uint32_t TIM_PRESCALER = 1U

static

Definition at line 21 of file dshot_rpmCapture.c.

timicCfgSkel

const TimICConfig timicCfgSkel

static

Initial value:

= {
    .timer = NULL,
    .capture_cb = NULL,
    .overflow_cb = NULL,
    .mode = TIMIC_INPUT_CAPTURE,
    .active = activeDier[DSHOT_CHANNELS-1].active,
    .dier = activeDier[DSHOT_CHANNELS-1].dier,
    .dcr = 0, 
    .prescaler = TIM_PRESCALER,
    .arr =  0xffffffff
}

Definition at line 68 of file dshot_rpmCapture.c.

Referenced by dshotRpmCaptureStart().