Merge pull request #8763 from hydra/bf-refactor-dshot-1

Refactor DSHOT 1

src/main/drivers/pwm_output_dshot.c

@@ -66,7 +66,7 @@ void dshotEnableChannels(uint8_t motorCount)
 static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
 
 FAST_CODE void pwmDshotSetDirectionOutput(
-    motorDmaOutput_t * const motor, bool output
+    motorDmaOutput_t * const motor
 #ifndef USE_DSHOT_TELEMETRY
     ,TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
 #endif
@@ -91,60 +91,70 @@ FAST_CODE void pwmDshotSetDirectionOutput(
     xDMA_DeInit(dmaRef);
 
 #ifdef USE_DSHOT_TELEMETRY
-    if (!output) {
+    motor->isInput = false;
-        motor->isInput = true;
-        if (!inputStampUs) {
-            inputStampUs = micros();
-        }
-        TIM_ARRPreloadConfig(timer, ENABLE);
-        timer->ARR = 0xffffffff;
-
-        TIM_ICInit(timer, &motor->icInitStruct);
-
-#if defined(STM32F3)
-        motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralSRC;
-        motor->dmaInitStruct.DMA_M2M = DMA_M2M_Disable;
-#elif defined(STM32F4)
-        motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
 #endif
-    } else
+    timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
-#else
+    timerOCInit(timer, timerHardware->channel, pOcInit);
-    UNUSED(output);
+    timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
-#endif
-    {
-#ifdef USE_DSHOT_TELEMETRY
-        motor->isInput = false;
-#endif
-        timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
-        timerOCInit(timer, timerHardware->channel, pOcInit);
-        timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
 
 #ifdef USE_DSHOT_DMAR
-        if (useBurstDshot) {
+    if (useBurstDshot) {
 #if defined(STM32F3)
-            pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
+        pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
 #else
-            pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
+        pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
 #endif
-        } else
+    } else
 #endif
-        {
+    {
 #if defined(STM32F3)
-            pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
+        pDmaInit->DMA_DIR = DMA_DIR_PeripheralDST;
-            pDmaInit->DMA_M2M = DMA_M2M_Disable;
+        pDmaInit->DMA_M2M = DMA_M2M_Disable;
 #elif defined(STM32F4)
-            pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
+        pDmaInit->DMA_DIR = DMA_DIR_MemoryToPeripheral;
 #endif
-        }
     }
 
     xDMA_Init(dmaRef, pDmaInit);
-    if (output) {
+    xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
-        xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
-    }
 }
 
 
+#ifdef USE_DSHOT_TELEMETRY
+FAST_CODE void pwmDshotSetDirectionInput(
+    motorDmaOutput_t * const motor
+)
+{
+    DMA_InitTypeDef* pDmaInit = &motor->dmaInitStruct;
+
+    const timerHardware_t * const timerHardware = motor->timerHardware;
+    TIM_TypeDef *timer = timerHardware->tim;
+
+    dmaResource_t *dmaRef = motor->dmaRef;
+
+    xDMA_DeInit(dmaRef);
+
+    motor->isInput = true;
+    if (!inputStampUs) {
+        inputStampUs = micros();
+    }
+    TIM_ARRPreloadConfig(timer, ENABLE);
+    timer->ARR = 0xffffffff;
+
+    TIM_ICInit(timer, &motor->icInitStruct);
+
+#if defined(STM32F3)
+    motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralSRC;
+    motor->dmaInitStruct.DMA_M2M = DMA_M2M_Disable;
+#elif defined(STM32F4)
+    motor->dmaInitStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
+#endif
+
+    xDMA_Init(dmaRef, pDmaInit);
+}
+#endif
+
+
 void pwmCompleteDshotMotorUpdate(void)
 {
     /* If there is a dshot command loaded up, time it correctly with motor update*/
@@ -194,7 +204,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
 
 #ifdef USE_DSHOT_TELEMETRY
         if (useDshotTelemetry) {
-            pwmDshotSetDirectionOutput(motor, false);
+            pwmDshotSetDirectionInput(motor);
             xDMA_SetCurrDataCounter(motor->dmaRef, GCR_TELEMETRY_INPUT_LEN);
             xDMA_Cmd(motor->dmaRef, ENABLE);
             TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, ENABLE);
@@ -392,9 +402,9 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
         (16 * MOTOR_BITLENGTH) / getDshotHz(pwmProtocolType);
     motor->timer->outputPeriod = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
-    pwmDshotSetDirectionOutput(motor, true);
+    pwmDshotSetDirectionOutput(motor);
 #else
-    pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);
+    pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
 #endif
 #ifdef USE_DSHOT_DMAR
     if (useBurstDshot) {

src/main/drivers/pwm_output_dshot_hal.c

@@ -69,7 +69,7 @@ void dshotEnableChannels(uint8_t motorCount)
 static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
 
 void pwmDshotSetDirectionOutput(
-    motorDmaOutput_t * const motor, bool output
+    motorDmaOutput_t * const motor
 #ifndef USE_DSHOT_TELEMETRY
     , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
 #endif
@@ -86,35 +86,42 @@ void pwmDshotSetDirectionOutput(
     xLL_EX_DMA_DeInit(motor->dmaRef);
 
 #ifdef USE_DSHOT_TELEMETRY
-    if (!output) {
+    motor->isInput = false;
-        motor->isInput = true;
-        if (!inputStampUs) {
-            inputStampUs = micros();
-        }
-        LL_TIM_EnableARRPreload(timer); // Only update the period once all channels are done
-        timer->ARR = 0xffffffff;
-        LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
-        motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
-    } else
-#else
-    UNUSED(output);
 #endif
-    {
+    LL_TIM_OC_DisablePreload(timer, motor->llChannel);
-#ifdef USE_DSHOT_TELEMETRY
+    LL_TIM_OC_Init(timer, motor->llChannel, pOcInit);
-        motor->isInput = false;
+    LL_TIM_OC_EnablePreload(timer, motor->llChannel);
-#endif
+
-        LL_TIM_OC_DisablePreload(timer, motor->llChannel);
+    motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
-        LL_TIM_OC_Init(timer, motor->llChannel, pOcInit);
-        LL_TIM_OC_EnablePreload(timer, motor->llChannel);
 
-        motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
-    }
     xLL_EX_DMA_Init(motor->dmaRef, pDmaInit);
-    if (output) {
+    xLL_EX_DMA_EnableIT_TC(motor->dmaRef);
-        xLL_EX_DMA_EnableIT_TC(motor->dmaRef);
-    }
 }
 
+#ifdef USE_DSHOT_TELEMETRY
+void pwmDshotSetDirectionInput(
+    motorDmaOutput_t * const motor
+)
+{
+    LL_DMA_InitTypeDef* pDmaInit = &motor->dmaInitStruct;
+
+    const timerHardware_t * const timerHardware = motor->timerHardware;
+    TIM_TypeDef *timer = timerHardware->tim;
+
+    xLL_EX_DMA_DeInit(motor->dmaRef);
+
+    motor->isInput = true;
+    if (!inputStampUs) {
+        inputStampUs = micros();
+    }
+    LL_TIM_EnableARRPreload(timer); // Only update the period once all channels are done
+    timer->ARR = 0xffffffff;
+    LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
+    motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
+    xLL_EX_DMA_Init(motor->dmaRef, pDmaInit);
+}
+#endif
+
 
 FAST_CODE void pwmCompleteDshotMotorUpdate(void)
 {
@@ -169,7 +176,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
 
 #ifdef USE_DSHOT_TELEMETRY
             if (useDshotTelemetry) {
-                pwmDshotSetDirectionOutput(motor, false);
+                pwmDshotSetDirectionInput(motor);
                 xLL_EX_DMA_SetDataLength(motor->dmaRef, GCR_TELEMETRY_INPUT_LEN);
                 xLL_EX_DMA_EnableResource(motor->dmaRef);
                 LL_EX_TIM_EnableIT(motor->timerHardware->tim, motor->timerDmaSource);
@@ -353,9 +360,9 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
         ( 16 * MOTOR_BITLENGTH) / getDshotHz(pwmProtocolType);
     motor->timer->outputPeriod = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
-    pwmDshotSetDirectionOutput(motor, true);
+    pwmDshotSetDirectionOutput(motor);
 #else
-    pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);
+    pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
 #endif
 #ifdef USE_DSHOT_DMAR
     if (useBurstDshot) {

src/main/drivers/pwm_output_dshot_shared.c

@@ -219,17 +219,6 @@ uint16_t getDshotTelemetry(uint8_t index)
 
 #endif
 
-FAST_CODE void pwmDshotSetDirectionOutput(
-    motorDmaOutput_t * const motor, bool output
-#ifndef USE_DSHOT_TELEMETRY
-#ifdef USE_FULL_LL_DRIVER
-    , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
-#else
-    , TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
-#endif
-#endif
-);
-
 #ifdef USE_DSHOT_TELEMETRY
 #ifdef USE_DSHOT_TELEMETRY_STATS
 void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool packetValid, timeMs_t currentTimeMs)
@@ -307,7 +296,7 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
             }
 #endif
         }
-        pwmDshotSetDirectionOutput(&dmaMotors[i], true);
+        pwmDshotSetDirectionOutput(&dmaMotors[i]);
     }
     inputStampUs = 0;
     dshotEnableChannels(dshotPwmDevice.count);

src/main/drivers/pwm_output_dshot_shared.h

@@ -57,7 +57,7 @@ void dshotEnableChannels(uint8_t motorCount);
 #ifdef USE_DSHOT_TELEMETRY
 
 FAST_CODE void pwmDshotSetDirectionOutput(
-    motorDmaOutput_t * const motor, bool output
+    motorDmaOutput_t * const motor
 #ifndef USE_DSHOT_TELEMETRY
 #if defined(STM32F7) || defined(STM32H7)
     , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
@@ -67,6 +67,10 @@ FAST_CODE void pwmDshotSetDirectionOutput(
 #endif
 );
 
+#ifdef USE_DSHOT_TELEMETRY
+FAST_CODE void pwmDshotSetDirectionInput(motorDmaOutput_t * const motor);
+#endif
+
 bool pwmStartDshotMotorUpdate(void);
 
 #endif