*

2025-05-13 02:03:18 +03:00
parent 72860c7968
commit 90ef6120fd
463 changed files with 380758 additions and 2 deletions
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <stm32h7xx_hal.h>
+#include "DshotProtocol.h"
+
+extern "C" {
+    extern TIM_HandleTypeDef htim2;
+}
+
+class EscController {
+public:
+    void sendThrottle(std::uint16_t value) {
+        value += 48;
+        _dshotDmaBuffer.fill(Driver::Esc::DShot::encodePacket(value, false));
+
+        _dmaRunning = true;
+        if(HAL_TIM_PWM_Start_DMA(&htim2, TIM_CHANNEL_1, _dshotDmaBuffer.data(), _dshotDmaBuffer.size()) != HAL_OK){
+            lfDebug() << "Failed to start timer DMA";
+        }else{
+            //Wait DMA complete
+            while(_dmaRunning){
+                asm("nop");
+            }
+        }
+    }
+    void onTimPwmPulseFinished(TIM_HandleTypeDef* htim) {
+            __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1);
+            (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]);
+            _dmaRunning = false;
+    }
+
+private:
+    bool _dmaRunning = 0;
+    Driver::Esc::DShot::DmaBuffer<std::uint32_t> _dshotDmaBuffer;
+};