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Merge pull request #4828 from jflyper/bfdev-hal-dshot-cleanup

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Clean up Dshot code for HAL
This commit is contained in:
Michael Keller 2017-12-26 11:05:43 +13:00 • committed by GitHub
commit 2fa18901c2
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 28 additions and 33 deletions
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3
src/main/drivers/pwm_output.h
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@ -127,11 +127,10 @@ typedef struct {
#else
uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#endif
#if defined(STM32F7)
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef TimHandle;
DMA_HandleTypeDef hdma_tim;
uint16_t timerDmaIndex;
uint8_t timerIndex;
#endif
} motorDmaOutput_t;

58
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -71,10 +71,10 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
uint8_t channel_index = motor->timerHardware->channel / TIM_CHANNEL_2;
// load channel data into burst buffer
for(int i = 0; i < bufferSize; i++) {
dmaMotorTimers[motor->timerIndex].dmaBurstBuffer[channel_index + i * 4] = motor->dmaBuffer[i];
motor->timer->dmaBurstBuffer[channel_index + i * 4] = motor->dmaBuffer[i];
}
if(HAL_DMA_STATE_READY == motor->TimHandle.hdma[motor->timerDmaIndex]->State) {
HAL_DMA_Start_IT(motor->TimHandle.hdma[motor->timerDmaIndex], (uint32_t)dmaMotorTimers[motor->timerIndex].dmaBurstBuffer, (uint32_t)&motor->TimHandle.Instance->DMAR, bufferSize * 4);
HAL_DMA_Start_IT(motor->TimHandle.hdma[motor->timerDmaIndex], (uint32_t)motor->timer->dmaBurstBuffer, (uint32_t)&motor->TimHandle.Instance->DMAR, bufferSize * 4);
}
#else
if (DMA_SetCurrDataCounter(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
@ -125,14 +125,22 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
#ifdef USE_DSHOT_DMAR
if (timerHardware->dmaTimUPRef == NULL) {
return;
}
#else
if (timerHardware->dmaRef == NULL) {
return;
}
#endif
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
const IO_t motorIO = IOGetByTag(timerHardware->tag);
const uint8_t timerIndex = getTimerIndex(timer);
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLDOWN), timerHardware->alternateFunction);
__DMA1_CLK_ENABLE();
@ -146,15 +154,15 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
motor->TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&motor->TimHandle) != HAL_OK) {
/* Initialization Error */
return;
}
#ifdef USE_DSHOT_DMAR
motor->timerDmaIndex = TIM_DMA_ID_UPDATE;
/* Set the parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaTimUPChannel;
motor->timer = &dmaMotorTimers[getTimerIndex(timer)];
/* Set the common dma handle parameters to be configured */
motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
@ -162,17 +170,19 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
motor->hdma_tim.Init.Mode = DMA_NORMAL;
motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
#ifdef USE_DSHOT_DMAR
motor->timerDmaIndex = TIM_DMA_ID_UPDATE;
/* Set the DMAR specific dma handle parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaTimUPChannel;
motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
/* Set hdma_tim instance */
if (timerHardware->dmaTimUPRef == NULL) {
/* Initialization Error */
return;
}
motor->hdma_tim.Instance = timerHardware->dmaTimUPRef;
/* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaIndex], motor->hdma_tim);
@ -180,29 +190,15 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
#else
motor->timerDmaIndex = timerDmaIndex(timerHardware->channel);
motor->timer = &dmaMotorTimers[timerIndex];
dmaMotorTimers[timerIndex].timerDmaSources |= timerDmaSource(timerHardware->channel);
motor->timer->timerDmaSources |= timerDmaSource(timerHardware->channel);
/* Set the parameters to be configured */
/* Set the non-DMAR specific dma handle parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaChannel;
motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
motor->hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
motor->hdma_tim.Init.Mode = DMA_NORMAL;
motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
/* Set hdma_tim instance */
if (timerHardware->dmaRef == NULL) {
/* Initialization Error */
return;
}
motor->hdma_tim.Instance = timerHardware->dmaRef;
/* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaIndex], motor->hdma_tim);
@ -262,7 +258,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
break;
}
}
motor->timerIndex = timerIndex;
LL_TIM_CC_EnableChannel(motor->timerHardware->tim, channels);
#else
if (output & TIMER_OUTPUT_N_CHANNEL) {