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[H7] Enable motor

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- Initial cut without Dshot

- Enable HAL-based DShot (no burst yet)

- Burst Dshot First working version

- Non-stop PWM refactor

- Conditionalize HAL structures inside motorTimerDma_s
This commit is contained in:
jflyper 2019-04-22 09:37:07 +09:00
parent 1cbff2b9aa
commit 3a7edd1e3a
3 changed files with 454 additions and 0 deletions
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7
src/main/drivers/pwm_output.c
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@ -42,6 +42,13 @@ static FAST_RAM_ZERO_INIT pwmStartWriteFn *pwmStartWrite = NULL;
#endif
#ifdef USE_DSHOT
#ifdef STM32H7
// XXX dshotDmaBuffer can be embedded inside dshotBurstDmaBuffer
DMA_RAM uint32_t dshotDmaBuffer[MAX_SUPPORTED_MOTORS][DSHOT_DMA_BUFFER_SIZE];
#ifdef USE_DSHOT_DMAR
DMA_RAM uint32_t dshotBurstDmaBuffer[MAX_DMA_TIMERS][DSHOT_DMA_BUFFER_SIZE * 4];
#endif
#endif
FAST_RAM_ZERO_INIT loadDmaBufferFn *loadDmaBuffer;
#define DSHOT_INITIAL_DELAY_US 10000
#define DSHOT_COMMAND_DELAY_US 1000