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Code Issues Wiki Activity

Unify DMA stream and channel handling

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This commit is contained in:
jflyper 2019-07-14 15:59:07 +09:00
parent e8125e57c9
commit 7ddfd7dea6
40 changed files with 421 additions and 446 deletions
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28
src/main/drivers/pwm_output_dshot.c
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@ -53,7 +53,7 @@
static void processInputIrq(motorDmaOutput_t * const motor)
{
motor->hasTelemetry = true;
DMA_Cmd(motor->dmaRef, DISABLE);
xDMA_Cmd(motor->dmaRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
readDoneCount++;
}
@ -88,7 +88,7 @@ FAST_CODE void pwmDshotSetDirectionOutput(
const timerHardware_t * const timerHardware = motor->timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
dmaStream_t *dmaRef = motor->dmaRef;
dmaResource_t *dmaRef = motor->dmaRef;
#if defined(USE_DSHOT_DMAR) && !defined(USE_DSHOT_TELEMETRY)
if (useBurstDshot) {
@ -96,7 +96,7 @@ FAST_CODE void pwmDshotSetDirectionOutput(
}
#endif
DMA_DeInit(dmaRef);
xDMA_DeInit(dmaRef);
#ifdef USE_DSHOT_TELEMETRY
if (!output) {
@ -141,8 +141,8 @@ FAST_CODE void pwmDshotSetDirectionOutput(
}
}
DMA_Init(dmaRef, pDmaInit);
DMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
xDMA_Init(dmaRef, pDmaInit);
xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
}
@ -158,8 +158,8 @@ void pwmCompleteDshotMotorUpdate(void)
for (int i = 0; i < dmaMotorTimerCount; i++) {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
DMA_SetCurrDataCounter(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
DMA_Cmd(dmaMotorTimers[i].dmaBurstRef, ENABLE);
xDMA_SetCurrDataCounter(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
xDMA_Cmd(dmaMotorTimers[i].dmaBurstRef, ENABLE);
TIM_DMAConfig(dmaMotorTimers[i].timer, TIM_DMABase_CCR1, TIM_DMABurstLength_4Transfers);
TIM_DMACmd(dmaMotorTimers[i].timer, TIM_DMA_Update, ENABLE);
} else
@ -185,20 +185,20 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
{
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
DMA_Cmd(motor->timerHardware->dmaTimUPRef, DISABLE);
xDMA_Cmd(motor->timerHardware->dmaTimUPRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, TIM_DMA_Update, DISABLE);
} else
#endif
{
DMA_Cmd(motor->dmaRef, DISABLE);
xDMA_Cmd(motor->dmaRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
}
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false);
DMA_SetCurrDataCounter(motor->dmaRef, motor->dmaInputLen);
DMA_Cmd(motor->dmaRef, ENABLE);
xDMA_SetCurrDataCounter(motor->dmaRef, motor->dmaInputLen);
xDMA_Cmd(motor->dmaRef, ENABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, ENABLE);
setDirectionMicros = micros() - irqStart;
}
@ -220,7 +220,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#define DMAINIT dmaInitStruct
#endif
dmaStream_t *dmaRef = NULL;
dmaResource_t *dmaRef = NULL;
#if defined(STM32F4)
uint32_t dmaChannel = 0;
#endif
@ -329,8 +329,8 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->timer->timerDmaSources &= ~motor->timerDmaSource;
}
DMA_Cmd(dmaRef, DISABLE);
DMA_DeInit(dmaRef);
xDMA_Cmd(dmaRef, DISABLE);
xDMA_DeInit(dmaRef);
DMA_StructInit(&DMAINIT);
#ifdef USE_DSHOT_DMAR