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Code Issues Wiki Activity

Fix dshot bidir on H7

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This commit is contained in:
Thorsten Laux 2019-09-24 13:34:51 +02:00 • committed by Dominic Clifton
parent 08e8afa090
commit 6b0bca4ef5
2 changed files with 21 additions and 0 deletions
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1
src/main/drivers/dshot_dpwm.h
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@ -116,6 +116,7 @@ typedef struct motorDmaOutput_s {
#ifdef STM32H7 #ifdef STM32H7
TIM_HandleTypeDef TimHandle; TIM_HandleTypeDef TimHandle;
DMA_HandleTypeDef hdma_tim; DMA_HandleTypeDef hdma_tim;
IO_t io;
#endif #endif
uint8_t output; uint8_t output;
uint8_t index; uint8_t index;

20
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -115,7 +115,17 @@ static void pwmDshotSetDirectionInput(
} }
LL_TIM_EnableARRPreload(timer); // Only update the period once all channels are done LL_TIM_EnableARRPreload(timer); // Only update the period once all channels are done
timer->ARR = 0xffffffff; timer->ARR = 0xffffffff;
#ifdef STM32H7
IOConfigGPIO(motor->io, GPIO_MODE_OUTPUT_PP);
#endif
LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct); LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
#ifdef STM32H7
IOConfigGPIOAF(motor->io, motor->iocfg, timerHardware->alternateFunction);
#endif
motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY; motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
xLL_EX_DMA_Init(motor->dmaRef, pDmaInit); xLL_EX_DMA_Init(motor->dmaRef, pDmaInit);
} }
@ -240,11 +250,21 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) { if (useDshotTelemetry) {
output ^= TIMER_OUTPUT_INVERTED; output ^= TIMER_OUTPUT_INVERTED;
#ifdef STM32H7
if (output & TIMER_OUTPUT_INVERTED) {
IOHi(motorIO);
} else {
IOLo(motorIO);
}
#endif
} }
#endif #endif
motor->timerHardware = timerHardware; motor->timerHardware = timerHardware;
motor->iocfg = IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, pupMode); motor->iocfg = IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, pupMode);
#ifdef STM32H7
motor->io = motorIO;
#endif
IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction); IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction);
if (configureTimer) { if (configureTimer) {