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Code Issues Wiki Activity

DMA Stream/Channel unification on LL-DShot

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This commit is contained in:
jflyper 2019-07-31 11:34:11 +09:00
parent 4d41c361c4
commit a103de784e
4 changed files with 16 additions and 16 deletions
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10
src/main/drivers/pwm_output_dshot_shared.c
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@ -137,9 +137,9 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
motor->timer->timerDmaSources |= motor->timerDmaSource;
#ifdef STM32F7
#ifdef USE_FULL_LL_DRIVER
xLL_EX_DMA_SetDataLength(motor->dmaRef, bufferSize);
xLL_EX_DMA_EnableStream(motor->dmaRef);
xLL_EX_DMA_EnableResource(motor->dmaRef);
#else
xDMA_SetCurrDataCounter(motor->dmaRef, bufferSize);
xDMA_Cmd(motor->dmaRef, ENABLE);
@ -212,7 +212,7 @@ uint16_t getDshotTelemetry(uint8_t index)
FAST_CODE void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY
#ifdef STM32F7
#ifdef USE_FULL_LL_DRIVER
, LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
#else
, TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
@ -251,7 +251,7 @@ bool pwmStartDshotMotorUpdate(void)
#endif
for (int i = 0; i < dshotPwmDevice.count; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
#ifdef USE_FULL_LL_DRIVER
uint32_t edges = xLL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = xDMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
@ -291,7 +291,7 @@ bool pwmStartDshotMotorUpdate(void)
if (usSinceInput >= 0 && usSinceInput < dmaMotors[i].dshotTelemetryDeadtimeUs) {
return false;
}
#ifdef STM32F7
#ifdef USE_FULL_LL_DRIVER
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);