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Code Issues Wiki Activity

rebase

Browse source 
Reduce code by supporting only GCR, fix serial_4way, fix f7 dshot bidir

fix ws and eliminate superfluous buffer

use GCR constant instead of 32

decode optimization

bump 4way prot version mumber

bump if version
This commit is contained in:
Thorsten Laux 2019-07-17 23:01:44 +02:00
parent 383ba1cd8e
commit 835a5cac0e
8 changed files with 192 additions and 175 deletions
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81
src/main/drivers/pwm_output_dshot.c
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@ -50,14 +50,6 @@
#ifdef USE_DSHOT_TELEMETRY
static void processInputIrq(motorDmaOutput_t * const motor)
{
motor->hasTelemetry = true;
xDMA_Cmd(motor->dmaRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
readDoneCount++;
}
void dshotEnableChannels(uint8_t motorCount)
{
for (int i = 0; i < motorCount; i++) {
@ -101,7 +93,12 @@ FAST_CODE void pwmDshotSetDirectionOutput(
#ifdef USE_DSHOT_TELEMETRY
if (!output) {
motor->isInput = true;
motor->timer->inputDirectionStampUs = micros();
if (!inputStampUs) {
inputStampUs = micros();
}
TIM_ARRPreloadConfig(timer, ENABLE);
timer->ARR = 0xffffffff;
TIM_ICInit(timer, &motor->icInitStruct);
#if defined(STM32F3)
@ -142,7 +139,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
}
xDMA_Init(dmaRef, pDmaInit);
xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
if (output) {
xDMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
}
}
@ -165,6 +164,9 @@ void pwmCompleteDshotMotorUpdate(void)
} else
#endif
{
TIM_ARRPreloadConfig(dmaMotorTimers[i].timer, DISABLE);
dmaMotorTimers[i].timer->ARR = dmaMotorTimers[i].outputPeriod;
TIM_ARRPreloadConfig(dmaMotorTimers[i].timer, ENABLE);
TIM_SetCounter(dmaMotorTimers[i].timer, 0);
TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
dmaMotorTimers[i].timerDmaSources = 0;
@ -178,32 +180,27 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
#ifdef USE_DSHOT_TELEMETRY
uint32_t irqStart = micros();
if (motor->isInput) {
processInputIrq(motor);
#endif
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
xDMA_Cmd(motor->timerHardware->dmaTimUPRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, TIM_DMA_Update, DISABLE);
} else
#endif
{
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
xDMA_Cmd(motor->timerHardware->dmaTimUPRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, TIM_DMA_Update, DISABLE);
} else
#endif
{
xDMA_Cmd(motor->dmaRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
}
xDMA_Cmd(motor->dmaRef, DISABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
}
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false);
xDMA_SetCurrDataCounter(motor->dmaRef, motor->dmaInputLen);
xDMA_Cmd(motor->dmaRef, ENABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, ENABLE);
setDirectionMicros = micros() - irqStart;
}
#endif
if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false);
xDMA_SetCurrDataCounter(motor->dmaRef, GCR_TELEMETRY_INPUT_LEN);
xDMA_Cmd(motor->dmaRef, ENABLE);
TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, ENABLE);
setDirectionMicros = micros() - irqStart;
}
#endif
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
}
}
@ -254,13 +251,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
}
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
#ifdef USE_DSHOT_TELEMETRY
motor->useProshot = (pwmProtocolType == PWM_TYPE_PROSHOT1000);
#endif
motor->timerHardware = timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
const IO_t motorIO = IOGetByTag(timerHardware->tag);
// Boolean configureTimer is always true when different channels of the same timer are processed in sequence,
// causing the timer and the associated DMA initialized more than once.
@ -269,6 +260,12 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
motor->timer = &dmaMotorTimers[timerIndex];
motor->index = motorIndex;
motor->timerHardware = timerHardware;
const IO_t motorIO = IOGetByTag(timerHardware->tag);
uint8_t pupMode = 0;
pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP;
#ifdef USE_DSHOT_TELEMETRY
@ -277,7 +274,8 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
}
#endif
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, pupMode), timerHardware->alternateFunction);
motor->iocfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, pupMode);
IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction);
if (configureTimer) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
@ -313,11 +311,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->icInitStruct.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
motor->icInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
motor->icInitStruct.TIM_Channel = timerHardware->channel;
motor->icInitStruct.TIM_ICFilter = 0; //2;
motor->icInitStruct.TIM_ICFilter = 2;
#endif
motor->timer = &dmaMotorTimers[timerIndex];
motor->index = motorIndex;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
@ -393,10 +389,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->dmaRef = dmaRef;
#ifdef USE_DSHOT_TELEMETRY
motor->dmaInputLen = motor->useProshot ? PROSHOT_TELEMETRY_INPUT_LEN : DSHOT_TELEMETRY_INPUT_LEN;
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
( 2 + (motor->useProshot ? 4 * MOTOR_NIBBLE_LENGTH_PROSHOT : 16 * MOTOR_BITLENGTH))
/ getDshotHz(pwmProtocolType);
(16 * MOTOR_BITLENGTH) / getDshotHz(pwmProtocolType);
motor->timer->outputPeriod = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
pwmDshotSetDirectionOutput(motor, true);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);