AM32 电调学习--tenKhzRoutine()函数分析

最新推荐文章于 2025-10-27 18:41:31 发布

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最新推荐文章于 2025-10-27 18:41:31 发布 · 1.6k 阅读

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#学习 #java #算法

AM32 电调学习–输入获取分析

#define INTERVAL_TIMER TIM2 ; 过零时间测量
psc=31
#define TEN_KHZ_TIMER TIM6 ;tenKhzRoutine frq=1M load=1M/20k
psc=63
#define UTILITY_TIMER TIM17
#define COM_TIMER TIM14 //PeriodElapsedCallback 过零后等待时间中断
psc=31
#define IC_TIMER_REGISTER TIM3
psc=0
PB4 tim3_chn1

一、使用到的变量

dma1chan1 interrupt transfercomplete:

uint16_t signaltimeout = 0;
out_put: 0:receiveDshotDma1:
1:sendDshotDma
char dshot_telemetry = 0; dshort检测到标志

processDshot(EXTI4_15_IRQHandler)<--DMA1_Channel1_IRQHandler

ic_timer_prescaler char ic_timer_prescaler = CPU_FREQUENCY_MHZ / 5;
output_timer_prescaler

        if (CPU_FREQUENCY_MHZ > 100) {
            output_timer_prescaler = 1;
        } else {
            output_timer_prescaler = 0;
        }

char inputSet = 0; 输入方式是否已经决定标志

二、输入端口设置

PB4设置为tim3 channel1.
dma1 channel1 ,方向per(halfword)–>memory(word)
分频为0
双沿触发

三、开始处理

在main初始化中调用receiveDshotDma().
在dma中断中处理transfercomplete()

void transfercomplete()
{
    signaltimeout = 0;
    if (armed && dshot_telemetry) {
        if (out_put) {
            receiveDshotDma();
            compute_dshot_flag = 2;
            return;
        } else {
            sendDshotDma();
            compute_dshot_flag = 1;
            return;
        }
    }
    if (inputSet == 0) {
        detectInput();
        receiveDshotDma();
        return;
    }
    if (inputSet == 1) {

        if (dshot_telemetry) {
            if (out_put) {
                make_dshot_package(e_com_time);
                computeDshotDMA();
                receiveDshotDma();
                return;
            } else {
                sendDshotDma();
                return;
            }
        } else {

            if (dshot == 1) {
                computeDshotDMA();
                receiveDshotDma();
            }
            if (servoPwm == 1) {
                if (getInputPinState()) {
                    buffersize = 3;
                } else {
                    buffersize = 2;
                    computeServoInput();
                }
                receiveDshotDma();
            }
        }
        if (!armed) {
            if (dshot && (average_count < 8) && (zero_input_count > 5)) {
                average_count++;
                average_packet_length = average_packet_length + (dma_buffer[31] - dma_buffer[0]);
                if (average_count == 8) {
                    dshot_frametime_high = (average_packet_length >> 3) + (average_packet_length >> 7);
                    dshot_frametime_low = (average_packet_length >> 3) - (average_packet_length >> 7);
                }
            }
            if (adjusted_input < 0) {
                adjusted_input = 0;
            }
            if (adjusted_input == 0 && calibration_required == 0) { // note this in input..not newinput so it
                                                                    // will be adjusted be main loop
                zero_input_count++;
            } else {