[H7] LL-Dshot support with DShot GCR telemetry

make/mcu/STM32H7.mk

@@ -71,7 +71,6 @@ EXCLUDES        = \
                 stm32h7xx_ll_crc.c \
                 stm32h7xx_ll_dac.c \
                 stm32h7xx_ll_delayblock.c \
-                stm32h7xx_ll_dma.c \
                 stm32h7xx_ll_dma2d.c \
                 stm32h7xx_ll_exti.c \
                 stm32h7xx_ll_fmc.c \
@@ -88,7 +87,6 @@ EXCLUDES        = \
                 stm32h7xx_ll_rtc.c \
                 stm32h7xx_ll_spi.c \
                 stm32h7xx_ll_swpmi.c \
-                stm32h7xx_ll_tim.c \
                 stm32h7xx_ll_usart.c \
                 stm32h7xx_ll_utils.c
 
@@ -151,7 +149,7 @@ endif
 #Flags
 ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 
-DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_DMA_RAM
+DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DUSE_DMA_RAM
 
 #
 # H743xI : 2M FLASH, 1M RAM (H753xI also)
@@ -243,7 +241,8 @@ MCU_COMMON_SRC = \
             drivers/light_ws2811strip_hal.c \
             drivers/adc_stm32h7xx.c \
             drivers/bus_i2c_hal.c \
-            drivers/pwm_output_dshot_hal_hal.c \
+            drivers/pwm_output_dshot_hal.c \
+            drivers/pwm_output_dshot_shared.c \
             drivers/persistent.c \
             drivers/transponder_ir_io_hal.c \
             drivers/audio_stm32h7xx.c \

src/main/drivers/pwm_output_dshot_hal.c

@@ -308,7 +308,11 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
 
         motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
 
+#if defined(STM32H7)
+        DMAINIT.PeriphRequest = dmaChannel;
+#else
         DMAINIT.Channel = dmaChannel;
+#endif
         DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
         DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_FULL;
         DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
@@ -319,7 +323,11 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
 
         motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
 
+#if defined(STM32H7)
+        DMAINIT.PeriphRequest = dmaChannel;
+#else
         DMAINIT.Channel = dmaChannel;
+#endif
         DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
         DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_1_4;
         DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);

src/main/drivers/pwm_output_dshot_shared.h

@@ -25,14 +25,14 @@
 #include <string.h>
 #endif
 
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
 typedef DMA_Stream_TypeDef dmaStream_t;
 #else
 typedef DMA_Channel_TypeDef dmaStream_t;
 #endif
 
 extern FAST_RAM_ZERO_INIT uint8_t dmaMotorTimerCount;
-#ifdef STM32F7
+#if defined(STM32F7) || defined(STM32H7)
 extern FAST_RAM_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 extern FAST_RAM_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 #else
@@ -59,8 +59,8 @@ void dshotEnableChannels(uint8_t motorCount);
 FAST_CODE void pwmDshotSetDirectionOutput(
     motorDmaOutput_t * const motor, bool output
 #ifndef USE_DSHOT_TELEMETRY
-#ifdef STM32F7
+#if defined(STM32F7) || defined(STM32H7)
-    , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit)
+    , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
 #else
     , TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
 #endif

src/main/drivers/stm32h7xx_ll_ex.h

@@ -0,0 +1,104 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "stm32h7xx.h"
+#include "common/utils.h"
+
+// XXX Followings are straight copy of stm32f7xx_ll_ex.h.
+// XXX Consider consolidation when LL-DShot is stable.
+
+#define DMA_STREAM_MASK 0xFFU
+
+__STATIC_INLINE DMA_TypeDef *LL_EX_DMA_Stream_to_DMA(DMA_Stream_TypeDef *DMAx_Streamy)
+{
+    // clear stream address
+    return (DMA_TypeDef *) (((uint32_t) DMAx_Streamy) & ((uint32_t) ~DMA_STREAM_MASK));
+}
+
+__STATIC_INLINE uint32_t LL_EX_DMA_Stream_to_Stream(DMA_Stream_TypeDef *DMAx_Streamy)
+{
+    STATIC_ASSERT(DMA1_Stream0_BASE - DMA1_BASE == sizeof(DMA_TypeDef), DMA_TypeDef_has_padding);
+    STATIC_ASSERT(DMA1_Stream1_BASE - DMA1_Stream0_BASE == sizeof(DMA_Stream_TypeDef), DMA_Stream_TypeDef_has_padding);
+
+    const size_t firstStreamOffset = sizeof(DMA_TypeDef);
+    const size_t streamSize = sizeof(DMA_Stream_TypeDef);
+
+    return (((uint32_t) DMAx_Streamy & DMA_STREAM_MASK) - firstStreamOffset) / streamSize;
+}
+
+#undef DMA_STREAM_MASK
+
+__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Stream_TypeDef *DMAx_Streamy, LL_DMA_InitTypeDef *DMA_InitStruct) {
+    DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
+    const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);
+
+    return LL_DMA_Init(DMA, Stream, DMA_InitStruct);
+}
+
+__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Stream_TypeDef *DMAx_Streamy) {
+    DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
+    const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);
+
+    return LL_DMA_DeInit(DMA, Stream);
+}
+
+__STATIC_INLINE void LL_EX_DMA_EnableResource(DMA_Stream_TypeDef *DMAx_Streamy)
+{
+    SET_BIT(DMAx_Streamy->CR, DMA_SxCR_EN);
+}
+
+__STATIC_INLINE void LL_EX_DMA_DisableResource(DMA_Stream_TypeDef *DMAx_Streamy)
+{
+    CLEAR_BIT(DMAx_Streamy->CR, DMA_SxCR_EN);
+}
+
+__STATIC_INLINE void LL_EX_DMA_EnableIT_TC(DMA_Stream_TypeDef *DMAx_Streamy)
+{
+    SET_BIT(DMAx_Streamy->CR, DMA_SxCR_TCIE);
+}
+
+__STATIC_INLINE void LL_EX_DMA_SetDataLength(DMA_Stream_TypeDef* DMAx_Streamy, uint32_t NbData)
+{
+    MODIFY_REG(DMAx_Streamy->NDTR, DMA_SxNDT, NbData);
+}
+
+__STATIC_INLINE uint32_t LL_EX_DMA_GetDataLength(DMA_Stream_TypeDef* DMAx_Streamy)
+{
+    DMA_TypeDef *DMA = LL_EX_DMA_Stream_to_DMA(DMAx_Streamy);
+    const uint32_t Stream = LL_EX_DMA_Stream_to_Stream(DMAx_Streamy);
+    return LL_DMA_GetDataLength(DMA, Stream);
+}
+
+__STATIC_INLINE void LL_EX_TIM_EnableIT(TIM_TypeDef *TIMx, uint32_t Sources)
+{
+    SET_BIT(TIMx->DIER, Sources);
+}
+
+__STATIC_INLINE void LL_EX_TIM_DisableIT(TIM_TypeDef *TIMx, uint32_t Sources)
+{
+    CLEAR_BIT(TIMx->DIER, Sources);
+}
+
+__STATIC_INLINE void LL_EX_TIM_CC_EnableNChannel(TIM_TypeDef *TIMx, uint32_t Channel)
+{
+    LL_TIM_CC_EnableChannel(TIMx, 4 * Channel);
+}

src/main/platform.h

@@ -31,6 +31,15 @@
 #include "stm32h7xx_hal.h"
 #include "system_stm32h7xx.h"
 
+#include "stm32h7xx_ll_spi.h"
+#include "stm32h7xx_ll_gpio.h"
+#include "stm32h7xx_ll_dma.h"
+#include "stm32h7xx_ll_rcc.h"
+#include "stm32h7xx_ll_bus.h"
+#include "stm32h7xx_ll_tim.h"
+#include "stm32h7xx_ll_system.h"
+#include "drivers/stm32h7xx_ll_ex.h"
+
 // Chip Unique ID on H7
 #define U_ID_0 (*(uint32_t*)0x1FF1E800)
 #define U_ID_1 (*(uint32_t*)0x1FF1E804)

src/main/target/common_pre.h

@@ -107,6 +107,10 @@
 #define USE_ITCM_RAM
 #define USE_FAST_RAM
 #define USE_DSHOT
+#define USE_DSHOT_TELEMETRY
+#define USE_DSHOT_TELEMETRY_STATS
+#define USE_RPM_FILTER
+#define USE_DYN_IDLE
 #define USE_GYRO_DATA_ANALYSE
 #define USE_ADC_INTERNAL
 #define USE_USB_CDC_HID