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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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4
src/main/drivers/dma.h
View file

@ -226,8 +226,8 @@ dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e ident
#define xLL_EX_DMA_DeInit(dmaResource) LL_EX_DMA_DeInit((DMA_ARCH_TYPE *)(dmaResource)) #define xLL_EX_DMA_DeInit(dmaResource) LL_EX_DMA_DeInit((DMA_ARCH_TYPE *)(dmaResource))
#define xLL_EX_DMA_Init(dmaResource, initstruct) LL_EX_DMA_Init((DMA_ARCH_TYPE *)(dmaResource), initstruct) #define xLL_EX_DMA_Init(dmaResource, initstruct) LL_EX_DMA_Init((DMA_ARCH_TYPE *)(dmaResource), initstruct)
#define xLL_EX_DMA_DisableStream(dmaResource) LL_EX_DMA_DisableStream((DMA_ARCH_TYPE *)(dmaResource)) #define xLL_EX_DMA_DisableResource(dmaResource) LL_EX_DMA_DisableResource((DMA_ARCH_TYPE *)(dmaResource))
#define xLL_EX_DMA_EnableStream(dmaResource) LL_EX_DMA_EnableStream((DMA_ARCH_TYPE *)(dmaResource)) #define xLL_EX_DMA_EnableResource(dmaResource) LL_EX_DMA_EnableResource((DMA_ARCH_TYPE *)(dmaResource))
#define xLL_EX_DMA_GetDataLength(dmaResource) LL_EX_DMA_GetDataLength((DMA_ARCH_TYPE *)(dmaResource)) #define xLL_EX_DMA_GetDataLength(dmaResource) LL_EX_DMA_GetDataLength((DMA_ARCH_TYPE *)(dmaResource))
#define xLL_EX_DMA_SetDataLength(dmaResource, length) LL_EX_DMA_SetDataLength((DMA_ARCH_TYPE *)(dmaResource), length) #define xLL_EX_DMA_SetDataLength(dmaResource, length) LL_EX_DMA_SetDataLength((DMA_ARCH_TYPE *)(dmaResource), length)
#define xLL_EX_DMA_EnableIT_TC(dmaResource) LL_EX_DMA_EnableIT_TC((DMA_ARCH_TYPE *)(dmaResource)) #define xLL_EX_DMA_EnableIT_TC(dmaResource) LL_EX_DMA_EnableIT_TC((DMA_ARCH_TYPE *)(dmaResource))

14
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -59,12 +59,12 @@ static void processInputIrq(motorDmaOutput_t * const motor)
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
xLL_EX_DMA_DisableStream(motor->timerHardware->dmaTimUPRef); xLL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim); LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim);
} else } else
#endif #endif
{ {
xLL_EX_DMA_DisableStream(motor->dmaRef); xLL_EX_DMA_DisableResource(motor->dmaRef);
LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource); LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
} }
readDoneCount++; readDoneCount++;
@ -139,7 +139,7 @@ FAST_CODE void pwmCompleteDshotMotorUpdate(void)
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
xLL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength); xLL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
xLL_EX_DMA_EnableStream(dmaMotorTimers[i].dmaBurstRef); xLL_EX_DMA_EnableResource(dmaMotorTimers[i].dmaBurstRef);
/* configure the DMA Burst Mode */ /* configure the DMA Burst Mode */
LL_TIM_ConfigDMABurst(dmaMotorTimers[i].timer, LL_TIM_DMABURST_BASEADDR_CCR1, LL_TIM_DMABURST_LENGTH_4TRANSFERS); LL_TIM_ConfigDMABurst(dmaMotorTimers[i].timer, LL_TIM_DMABURST_BASEADDR_CCR1, LL_TIM_DMABURST_LENGTH_4TRANSFERS);
@ -170,12 +170,12 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
{ {
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
xLL_EX_DMA_DisableStream(motor->timerHardware->dmaTimUPRef); xLL_EX_DMA_DisableResource(motor->timerHardware->dmaTimUPRef);
LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim); LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim);
} else } else
#endif #endif
{ {
xLL_EX_DMA_DisableStream(motor->dmaRef); xLL_EX_DMA_DisableResource(motor->dmaRef);
LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource); LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
} }
@ -183,7 +183,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
if (useDshotTelemetry) { if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false); pwmDshotSetDirectionOutput(motor, false);
xLL_EX_DMA_SetDataLength(motor->dmaRef, motor->dmaInputLen); xLL_EX_DMA_SetDataLength(motor->dmaRef, motor->dmaInputLen);
xLL_EX_DMA_EnableStream(motor->dmaRef); xLL_EX_DMA_EnableResource(motor->dmaRef);
LL_EX_TIM_EnableIT(motor->timerHardware->tim, motor->timerDmaSource); LL_EX_TIM_EnableIT(motor->timerHardware->tim, motor->timerDmaSource);
setDirectionMicros = micros() - irqStart; setDirectionMicros = micros() - irqStart;
} }
@ -311,7 +311,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->timer->timerDmaSources &= ~motor->timerDmaSource; motor->timer->timerDmaSources &= ~motor->timerDmaSource;
} }
xLL_EX_DMA_DisableStream(dmaRef); xLL_EX_DMA_DisableResource(dmaRef);
xLL_EX_DMA_DeInit(dmaRef); xLL_EX_DMA_DeInit(dmaRef);
LL_DMA_StructInit(&DMAINIT); LL_DMA_StructInit(&DMAINIT);

10
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -137,9 +137,9 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
{ {
bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet); bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
motor->timer->timerDmaSources |= motor->timerDmaSource; motor->timer->timerDmaSources |= motor->timerDmaSource;
#ifdef STM32F7 #ifdef USE_FULL_LL_DRIVER
xLL_EX_DMA_SetDataLength(motor->dmaRef, bufferSize); xLL_EX_DMA_SetDataLength(motor->dmaRef, bufferSize);
xLL_EX_DMA_EnableStream(motor->dmaRef); xLL_EX_DMA_EnableResource(motor->dmaRef);
#else #else
xDMA_SetCurrDataCounter(motor->dmaRef, bufferSize); xDMA_SetCurrDataCounter(motor->dmaRef, bufferSize);
xDMA_Cmd(motor->dmaRef, ENABLE); xDMA_Cmd(motor->dmaRef, ENABLE);
@ -212,7 +212,7 @@ uint16_t getDshotTelemetry(uint8_t index)
FAST_CODE void pwmDshotSetDirectionOutput( FAST_CODE void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY #ifndef USE_DSHOT_TELEMETRY
#ifdef STM32F7 #ifdef USE_FULL_LL_DRIVER
, LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit , LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit
#else #else
, TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit , TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit
@ -251,7 +251,7 @@ bool pwmStartDshotMotorUpdate(void)
#endif #endif
for (int i = 0; i < dshotPwmDevice.count; i++) { for (int i = 0; i < dshotPwmDevice.count; i++) {
if (dmaMotors[i].hasTelemetry) { if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7 #ifdef USE_FULL_LL_DRIVER
uint32_t edges = xLL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef); uint32_t edges = xLL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else #else
uint32_t edges = xDMA_GetCurrDataCounter(dmaMotors[i].dmaRef); uint32_t edges = xDMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
@ -291,7 +291,7 @@ bool pwmStartDshotMotorUpdate(void)
if (usSinceInput >= 0 && usSinceInput < dmaMotors[i].dshotTelemetryDeadtimeUs) { if (usSinceInput >= 0 && usSinceInput < dmaMotors[i].dshotTelemetryDeadtimeUs) {
return false; return false;
} }
#ifdef STM32F7 #ifdef USE_FULL_LL_DRIVER
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource); LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else #else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE); TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);

4
src/main/drivers/stm32f7xx_ll_ex.h
View file

@ -67,12 +67,12 @@ __STATIC_INLINE void LL_EX_DMA_SetChannelSelection(DMA_Stream_TypeDef *DMAx_Stre
MODIFY_REG(DMAx_Streamy->CR, DMA_SxCR_CHSEL, Channel); MODIFY_REG(DMAx_Streamy->CR, DMA_SxCR_CHSEL, Channel);
} }
__STATIC_INLINE void LL_EX_DMA_EnableStream(DMA_Stream_TypeDef *DMAx_Streamy) __STATIC_INLINE void LL_EX_DMA_EnableResource(DMA_Stream_TypeDef *DMAx_Streamy)
{ {
SET_BIT(DMAx_Streamy->CR, DMA_SxCR_EN); SET_BIT(DMAx_Streamy->CR, DMA_SxCR_EN);
} }
__STATIC_INLINE void LL_EX_DMA_DisableStream(DMA_Stream_TypeDef *DMAx_Streamy) __STATIC_INLINE void LL_EX_DMA_DisableResource(DMA_Stream_TypeDef *DMAx_Streamy)
{ {
CLEAR_BIT(DMAx_Streamy->CR, DMA_SxCR_EN); CLEAR_BIT(DMAx_Streamy->CR, DMA_SxCR_EN);
} }