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Code Issues Wiki Activity

Motor code refactor (Phase 1)

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This commit is contained in:
jflyper 2019-06-29 03:30:05 +09:00
parent f4bb75180e
commit 542146c702
41 changed files with 1543 additions and 975 deletions
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19
src/main/drivers/pwm_output_dshot.c
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@ -42,6 +42,9 @@
#endif
#include "pwm_output.h"
#include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h"
#include "drivers/dshot_command.h"
#include "pwm_output_dshot_shared.h"
@ -143,13 +146,11 @@ FAST_CODE void pwmDshotSetDirectionOutput(
}
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
void pwmCompleteDshotMotorUpdate(void)
{
UNUSED(motorCount);
/* If there is a dshot command loaded up, time it correctly with motor update*/
if (pwmDshotCommandIsQueued()) {
if (!pwmDshotCommandOutputIsEnabled(motorCount)) {
if (!dshotCommandQueueEmpty()) {
if (!dshotCommandOutputIsEnabled(dshotPwmDevice.count)) {
return;
}
}
@ -336,6 +337,8 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
if (useBurstDshot) {
dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
#if defined(STM32F3)
DMAINIT.DMA_MemoryBaseAddr = (uint32_t)motor->timer->dmaBurstBuffer;
DMAINIT.DMA_DIR = DMA_DIR_PeripheralDST;
@ -361,6 +364,8 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
{
dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
#if defined(STM32F3)
DMAINIT.DMA_MemoryBaseAddr = (uint32_t)motor->dmaBuffer;
DMAINIT.DMA_DIR = DMA_DIR_PeripheralDST;
@ -398,11 +403,11 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#endif
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(2, 1), motor->index);
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
} else
#endif
{
dmaSetHandler(dmaGetIdentifier(dmaRef), motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(2, 1), motor->index);
dmaSetHandler(dmaGetIdentifier(dmaRef), motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
}
TIM_Cmd(timer, ENABLE);