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Merge pull request #3938 from mikeller/fix_dshot_command_all_motors

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Enable only DMA for channels that are used.
This commit is contained in:
Michael Keller 2017-10-10 00:35:24 +13:00 • committed by GitHub
commit 624e9b64b5
4 changed files with 6 additions and 4 deletions
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3
src/main/drivers/pwm_output.c
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@ -397,9 +397,6 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command)
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->requestTelemetry = true;
pwmWriteDshotInt(i, command);
} else {
// Needed to avoid DMA errors
pwmWriteDshotInt(i, DSHOT_CMD_MOTOR_STOP);
}
}

1
src/main/drivers/pwm_output.h
View file

@ -115,6 +115,7 @@ typedef struct {
const timerHardware_t *timerHardware;
uint16_t value;
uint16_t timerDmaSource;
motorDmaTimer_t *timer;
volatile bool requestTelemetry;
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];

5
src/main/drivers/pwm_output_dshot.c
View file

@ -66,6 +66,7 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
uint8_t bufferSize = loadDmaBuffer(motor, packet);
motor->timer->timerDmaSources |= motor->timerDmaSource;
DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, bufferSize);
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}
@ -77,6 +78,7 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
for (int i = 0; i < dmaMotorTimerCount; i++) {
TIM_SetCounter(dmaMotorTimers[i].timer, 0);
TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
dmaMotorTimers[i].timerDmaSources = 0;
}
}
@ -138,7 +140,8 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
timerOCInit(timer, timerHardware->channel, &TIM_OCInitStructure);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
motor->timer = &dmaMotorTimers[timerIndex];
motor->timer->timerDmaSources &= ~motor->timerDmaSource;
TIM_CCxCmd(timer, timerHardware->channel, TIM_CCx_Enable);

1
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -120,6 +120,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
}
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
motor->timer = &dmaMotorTimers[timerIndex];
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
/* Set the parameters to be configured */