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Code Issues Wiki Activity

Use striding loadDmaBuffer to avoid buffer copy

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This commit is contained in:
jflyper 2017-12-23 02:52:01 +09:00
parent 809a7d6b41
commit 9f04705130
5 changed files with 17 additions and 21 deletions
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11
src/main/drivers/pwm_output_dshot_hal.c
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@ -64,19 +64,16 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
uint16_t packet = prepareDshotPacket(motor, value);
uint8_t bufferSize = loadDmaBuffer(motor, packet);
uint8_t bufferSize;
#ifdef USE_DSHOT_DMAR
STATIC_ASSERT(TIM_CHANNEL_1==0, tim_channel_0_indexing);
uint8_t channel_index = motor->timerHardware->channel / TIM_CHANNEL_2;
// load channel data into burst buffer
for(int i = 0; i < bufferSize; i++) {
motor->timer->dmaBurstBuffer[channel_index + i * 4] = motor->dmaBuffer[i];
}
bufferSize = loadDmaBuffer(&motor->timer->dmaBurstBuffer[timerLookupChannelIndex(motor->timerHardware->channel)], 4, packet);
if(HAL_DMA_STATE_READY == motor->TimHandle.hdma[motor->timerDmaIndex]->State) {
HAL_DMA_Start_IT(motor->TimHandle.hdma[motor->timerDmaIndex], (uint32_t)motor->timer->dmaBurstBuffer, (uint32_t)&motor->TimHandle.Instance->DMAR, bufferSize * 4);
}
#else
bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
if (DMA_SetCurrDataCounter(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* DMA set error */
return;