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Merge pull request #4843 from jflyper/bfdev-f4-dmar
F4 Dshot-DMAR first cut
This commit is contained in:
Michael Keller
GitHub
commit
809a7d6b41
7 changed files with 192 additions and 19 deletions
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@ -109,9 +109,14 @@ typedef enum {
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typedef struct {
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TIM_TypeDef *timer;
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uint16_t timerDmaSources;
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#ifdef USE_DSHOT_DMAR
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#if defined(USE_DSHOT_DMAR)
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#if !defined(USE_HAL_DRIVER)
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DMA_Stream_TypeDef *dmaBurstRef;
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uint16_t dmaBurstLength;
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#endif
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uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
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#else
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uint16_t timerDmaSources;
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#endif
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} motorDmaTimer_t;
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@ -119,7 +124,9 @@ typedef struct {
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ioTag_t ioTag;
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const timerHardware_t *timerHardware;
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uint16_t value;
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#if !defined(USE_DSHOT_DMAR)
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uint16_t timerDmaSource;
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#endif
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motorDmaTimer_t *timer;
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volatile bool requestTelemetry;
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#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
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@ -22,6 +22,8 @@
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#ifdef USE_DSHOT
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#include "build/debug.h"
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#include "drivers/io.h"
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#include "timer.h"
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#if defined(STM32F4)
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@ -58,17 +60,34 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
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{
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motorDmaOutput_t *const motor = &dmaMotors[index];
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#ifdef USE_DSHOT_DMAR
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if (!motor->timerHardware || !motor->timerHardware->dmaTimUPRef) {
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return;
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}
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#else
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if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
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return;
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}
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#endif
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uint16_t packet = prepareDshotPacket(motor, value);
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// XXX Replace this with striding loader in the next refactor
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uint8_t bufferSize = loadDmaBuffer(motor, packet);
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#ifdef USE_DSHOT_DMAR
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// Load channel data into burst buffer
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uint8_t channelIndex = timerLookupChannelIndex(motor->timerHardware->channel);
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// XXX This copy will be deleted once the striding loader is available
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for (int i = 0; i < bufferSize; i++) {
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motor->timer->dmaBurstBuffer[channelIndex + i * 4] = motor->dmaBuffer[i];
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}
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motor->timer->dmaBurstLength = bufferSize * 4;
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#else
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motor->timer->timerDmaSources |= motor->timerDmaSource;
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DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, bufferSize);
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DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
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#endif
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}
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void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
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@ -76,9 +95,16 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
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UNUSED(motorCount);
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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#ifdef USE_DSHOT_DMAR
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DMA_SetCurrDataCounter(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
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DMA_Cmd(dmaMotorTimers[i].dmaBurstRef, ENABLE);
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TIM_DMAConfig(dmaMotorTimers[i].timer, TIM_DMABase_CCR1, TIM_DMABurstLength_4Transfers);
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TIM_DMACmd(dmaMotorTimers[i].timer, TIM_DMA_Update, ENABLE);
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#else
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TIM_SetCounter(dmaMotorTimers[i].timer, 0);
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TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
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dmaMotorTimers[i].timerDmaSources = 0;
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#endif
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}
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}
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@ -86,14 +112,35 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
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{
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
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motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
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#ifdef USE_DSHOT_DMAR
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DMA_Cmd(motor->timerHardware->dmaTimUPRef, DISABLE);
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TIM_DMACmd(motor->timerHardware->tim, TIM_DMA_Update, DISABLE);
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#else
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DMA_Cmd(motor->timerHardware->dmaRef, DISABLE);
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TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
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#endif
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
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}
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}
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void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
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{
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#if defined(STM32F3)
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DMA_Channel_TypeDef *dmaRef = timerHardware->dmaRef;
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#elif defined(STM32F4)
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#ifdef USE_DSHOT_DMAR
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DMA_Stream_TypeDef *dmaRef = timerHardware->dmaTimUPRef;
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#else
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DMA_Stream_TypeDef *dmaRef = timerHardware->dmaRef;
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#endif
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#else
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#error "No MCU specified in DSHOT"
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#endif
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if (dmaRef == NULL) {
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return;
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}
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TIM_OCInitTypeDef TIM_OCInitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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@ -138,9 +185,6 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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timerOCInit(timer, timerHardware->channel, &TIM_OCInitStructure);
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timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
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motor->timerDmaSource = timerDmaSource(timerHardware->channel);
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motor->timer = &dmaMotorTimers[timerIndex];
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motor->timer->timerDmaSources &= ~motor->timerDmaSource;
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if (output & TIMER_OUTPUT_N_CHANNEL) {
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TIM_CCxNCmd(timer, timerHardware->channel, TIM_CCxN_Enable);
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@ -154,25 +198,47 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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TIM_Cmd(timer, ENABLE);
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}
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#if defined(STM32F3)
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DMA_Channel_TypeDef *dmaRef = timerHardware->dmaRef;
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#elif defined(STM32F4)
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DMA_Stream_TypeDef *dmaRef = timerHardware->dmaRef;
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#else
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#error "No MCU specified in DSHOT"
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#endif
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motor->timer = &dmaMotorTimers[timerIndex];
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if (dmaRef == NULL) {
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#ifdef USE_DSHOT_DMAR
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motor->timer->dmaBurstRef = dmaRef;
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if (!configureTimer) {
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return;
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}
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dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
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dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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#else
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motor->timerDmaSource = timerDmaSource(timerHardware->channel);
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motor->timer->timerDmaSources &= ~motor->timerDmaSource;
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#endif
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DMA_Cmd(dmaRef, DISABLE);
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DMA_DeInit(dmaRef);
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DMA_StructInit(&DMA_InitStructure);
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#ifdef USE_DSHOT_DMAR
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dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
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dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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DMA_InitStructure.DMA_Channel = timerHardware->dmaTimUPChannel;
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)motor->timer->dmaBurstBuffer;
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&timerHardware->tim->DMAR;
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DMA_InitStructure.DMA_BufferSize = (pwmProtocolType == PWM_TYPE_PROSHOT1000) ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE; // XXX
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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#else // !USE_DSHOT_DMAR
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dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
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dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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#if defined(STM32F3)
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)motor->dmaBuffer;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
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@ -194,6 +260,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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#endif // USE_DSHOT_DMAR
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// XXX Consolidate common settings in the next refactor
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DMA_Init(dmaRef, &DMA_InitStructure);
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DMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
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@ -193,11 +193,85 @@ TIM_TypeDef * const usedTimers[USED_TIMER_COUNT] = {
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#undef _DEF
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};
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// Map timer index to timer number (Straight copy of usedTimers array)
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const int8_t timerNumbers[USED_TIMER_COUNT] = {
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#define _DEF(i) i
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#if USED_TIMERS & TIM_N(1)
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_DEF(1),
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#endif
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#if USED_TIMERS & TIM_N(2)
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_DEF(2),
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#endif
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#if USED_TIMERS & TIM_N(3)
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_DEF(3),
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#endif
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#if USED_TIMERS & TIM_N(4)
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_DEF(4),
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#endif
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#if USED_TIMERS & TIM_N(5)
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_DEF(5),
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#endif
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#if USED_TIMERS & TIM_N(6)
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_DEF(6),
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#endif
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#if USED_TIMERS & TIM_N(7)
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_DEF(7),
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#endif
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#if USED_TIMERS & TIM_N(8)
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_DEF(8),
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#endif
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#if USED_TIMERS & TIM_N(9)
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_DEF(9),
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#endif
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#if USED_TIMERS & TIM_N(10)
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_DEF(10),
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#endif
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#if USED_TIMERS & TIM_N(11)
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_DEF(11),
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#endif
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#if USED_TIMERS & TIM_N(12)
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_DEF(12),
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#endif
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#if USED_TIMERS & TIM_N(13)
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_DEF(13),
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#endif
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#if USED_TIMERS & TIM_N(14)
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_DEF(14),
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#endif
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#if USED_TIMERS & TIM_N(15)
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_DEF(15),
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#endif
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#if USED_TIMERS & TIM_N(16)
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_DEF(16),
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#endif
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#if USED_TIMERS & TIM_N(17)
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_DEF(17),
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#endif
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#undef _DEF
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};
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int8_t timerGetTIMNumber(const TIM_TypeDef *tim)
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{
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uint8_t index = lookupTimerIndex(tim);
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if (index < USED_TIMER_COUNT) {
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return timerNumbers[index];
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} else {
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return 0;
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}
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}
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static inline uint8_t lookupChannelIndex(const uint16_t channel)
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{
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return channel >> 2;
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}
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uint8_t timerLookupChannelIndex(const uint16_t channel)
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{
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return lookupChannelIndex(channel);
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}
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rccPeriphTag_t timerRCC(TIM_TypeDef *tim)
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{
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for (int i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; i++) {
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@ -104,7 +104,7 @@ typedef struct timerHardware_s {
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DMA_Channel_TypeDef *dmaRef;
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#endif
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uint8_t dmaIrqHandler;
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#if defined(STM32F7)
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#if defined(STM32F4) || defined(STM32F7)
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// TIMUP
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DMA_Stream_TypeDef *dmaTimUPRef;
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uint32_t dmaTimUPChannel;
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@ -212,3 +212,4 @@ uint16_t timerGetPrescalerByDesiredMhz(TIM_TypeDef *tim, uint16_t mhz);
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uint16_t timerGetPeriodByPrescaler(TIM_TypeDef *tim, uint16_t prescaler, uint32_t hz);
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int8_t timerGetTIMNumber(const TIM_TypeDef *tim);
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uint8_t timerLookupChannelIndex(const uint16_t channel);
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@ -374,6 +374,11 @@
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DEF_TIM_DMA_STREAM(dmaopt, TCH_## tim ## _ ## chan), \
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DEF_TIM_DMA_CHANNEL(dmaopt, TCH_## tim ## _ ## chan), \
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DEF_TIM_DMA_HANDLER(dmaopt, TCH_## tim ## _ ## chan) \
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), \
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DEF_TIM_DMA_COND( \
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DEF_TIM_DMA_STREAM(0, TCH_## tim ## _UP), \
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DEF_TIM_DMA_CHANNEL(0, TCH_## tim ## _UP), \
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DEF_TIM_DMA_HANDLER(0, TCH_## tim ## _UP) \
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) \
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} \
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/**/
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@ -447,6 +452,22 @@
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#define DEF_TIM_DMA__BTCH_TIM14_CH1 NONE
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// TIM_UP table
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#define DEF_TIM_DMA__BTCH_TIM1_UP D(2, 5, 6)
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#define DEF_TIM_DMA__BTCH_TIM2_UP D(1, 7, 3)
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#define DEF_TIM_DMA__BTCH_TIM3_UP D(1, 2, 5)
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#define DEF_TIM_DMA__BTCH_TIM4_UP D(1, 6, 2)
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#define DEF_TIM_DMA__BTCH_TIM5_UP D(1, 0, 6)
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#define DEF_TIM_DMA__BTCH_TIM6_UP D(1, 1, 7)
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#define DEF_TIM_DMA__BTCH_TIM7_UP D(1, 4, 1)
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#define DEF_TIM_DMA__BTCH_TIM8_UP D(2, 1, 7)
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#define DEF_TIM_DMA__BTCH_TIM9_UP NONE
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#define DEF_TIM_DMA__BTCH_TIM10_UP NONE
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#define DEF_TIM_DMA__BTCH_TIM11_UP NONE
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#define DEF_TIM_DMA__BTCH_TIM12_UP NONE
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#define DEF_TIM_DMA__BTCH_TIM13_UP NONE
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#define DEF_TIM_DMA__BTCH_TIM14_UP NONE
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#elif defined(STM32F7)
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#define DEF_TIM(tim, chan, pin, flags, out, dmaopt) { \
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tim, \
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@ -46,6 +46,7 @@
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#ifdef STM32F4
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#define USE_DSHOT
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#define USE_DSHOT_DMAR
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#define USE_ESC_SENSOR
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#define I2C3_OVERCLOCK true
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#define USE_TELEMETRY_IBUS
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