/*
 * dshot150.h
 *
 *  Created on: Sep 1, 2023
 *      Author: user
 */

#ifndef INC_DSHOT150_H_
#define INC_DSHOT150_H_

#include "main.h"

// 160 MHz clock with prescaler 16 gives 0.1 us
#define DSHOT150_BIT_0  	22 // 1/3
#define DSHOT150_BIT_1 		44 // 2/3
#define DSHOT150_TIM_ARR 	(67-1)
#define DSHOT_TELEMETRY 	0
#define SPEED_MIN 			100  //48
#define SPEED_MAX 			500  //2047
#define TEST_SPEED_1 			100
#define TEST_SPEED_2 			120
#define TEST_SPEED_3 			130
#define TEST_SPEED_4 			150


uint16_t dshot_prepare_packet(uint16_t value);
void dshot_prepare_dmabuffer(uint8_t *_dshot_dmabuffer_ccr,
		uint8_t *_dshot_dmabuffer_arr, uint16_t _value);
void dshot_send_ref_speed(uint16_t speed);
void dshot_arm_esc(void);

#endif /* INC_DSHOT150_H_ */
