35 lines
950 B
C++
35 lines
950 B
C++
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#pragma once
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#include <stm32h7xx_hal.h>
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#include "DshotProtocol.h"
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extern "C" {
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extern TIM_HandleTypeDef htim2;
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}
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class EscController {
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public:
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void sendThrottle(std::uint16_t value) {
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value += 48;
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_dshotDmaBuffer.fill(Driver::Esc::DShot::encodePacket(value, false));
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_dmaRunning = true;
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if(HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, _dshotDmaBuffer.data(), _dshotDmaBuffer.size()) != HAL_OK){
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lfDebug() << "Failed to start timer DMA";
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}else{
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//Wait DMA complete
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while(_dmaRunning){
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asm("nop");
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}
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}
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}
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void onTimPwmPulseFinished(TIM_HandleTypeDef* htim) {
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__HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1);
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(void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]);
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_dmaRunning = false;
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}
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private:
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bool _dmaRunning = 0;
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Driver::Esc::DShot::DmaBuffer<std::uint32_t> _dshotDmaBuffer;
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};
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