#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 More...

static void	stopCapture (DshotRpmCapture *drcp)
	stop the DMA capture More...

static void	initCache (DshotRpmCapture *drcp)
	build dma and timer registers cache More...

static uint32_t	processErpsDmaBuffer (const uint16_t *capture, size_t dmaLen)
	convert DMA buffer full of pulse length into raw ERPS frame More...

static void	buildDmaConfig (DshotRpmCapture *drcp)
	build dma configuration structure More...

static void	dmaErrCb (DMADriver *, dmaerrormask_t em)
	dma error ISR : More...

static void	gptCb (GPTDriver *gptd)
	dma timeout ISR : More...

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...

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 DMAConfig::channel, DshotDmaStreamChan::channel, DshotRpmCapture::config, DMA_DIR_P2M, DMA_ONESHOT, DshotRpmCaptureConfig::dma_streams, DshotRpmCapture::dmaCfgs, dmaErrCb(), DSHOT_CHANNELS, DMAConfig::stream, and DshotDmaStreamChan::stream.

Referenced by initCache().

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◆ dmaErrCb()

static void dmaErrCb	(	DMADriver *	,
		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.

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 DshotRpmCapture::config, DshotRpmCapture::icCfg, 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 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 DshotRpmCaptureOneChannelDmaBuffer::buf, TimICDriver::config, DshotRpmCapture::config, DshotRpmCaptureDmaBuffer::dma_buf, DshotRpmCaptureConfig::dma_capture, DshotRpmCapture::dmads, dmaGetTransactionCounter(), dmaStartTransfert(), dmaStopTransfertI(), DSHOT_CHANNELS, DSHOT_DMA_DATA_LEN, DSHOT_DMA_EXTRADATA_LEN, DSHOT_SPEED, DshotRpmCaptureConfig::gptd, DshotRpmCapture::icd, msg, processErpsDmaBuffer(), DshotRpmCapture::rpms, startCapture(), stopCapture(), SWTICH_TO_CAPTURE_BASE_TIMOUT, timeoutUs, and TimICConfig::timer.

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 DshotRpmCapture::dmads.

◆ 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(), DshotRpmCapture::cache, DshotRpmCapture::config, DshotRpmCapture::dmaCfgs, DshotRpmCapture::dmads, dmaObjectInit(), dmaStart(), DSHOT_CHANNELS, dshotRpmCaptureStop(), DshotRpmCaptureConfig::gptd, DshotRpmCapture::icCfg, DshotRpmCapture::icd, TimICConfig::timer, 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.

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 DshotRpmCapture::cache, DshotRpmCapture::config, DshotRpmCapture::dmads, gptCfg, DshotRpmCaptureConfig::gptd, DshotRpmCapture::icCfg, DshotRpmCapture::icd, TimICConfig::timer, 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 DshotRpmCapture::config, DshotRpmCaptureConfig::gptd, DshotRpmCapture::icd, timIcRccDisable(), and timIcStopCapture().

Referenced by dshotRpmCaptureStop(), and dshotRpmCatchErps().

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Variable Documentation

◆

const { ... } 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().

Macros

Functions

Variables

Macro Definition Documentation

◆ nullptr

◆ SWTICH_TO_CAPTURE_BASE_TIMOUT

Function Documentation

◆ buildDmaConfig()

◆ dmaErrCb()

◆ dshotRpmCaptureStart()

◆ dshotRpmCaptureStop()

◆ dshotRpmCatchErps()

◆ gptCb()

◆ initCache()

◆ processErpsDmaBuffer()

◆ startCapture()

◆ stopCapture()

Variable Documentation

◆

◆ bit1t_us

◆ ERPS_BIT1_DUTY

◆ gptCfg

◆ speed_factor

◆ TIM_FREQ_MHZ

◆ TIM_PRESCALER

◆ timicCfgSkel