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DMA bit banging Dshot, first cut
F405 working (OMNIBUSF4SD target) F411 not tested F722 working, needs testing (OMNINXT7 target) F74x not working NOX target (temporary) bb_dshot with telemetry on f4 bbshot f7 targets and fix crash due to missing debug pins remove empty line add empty lines remove OMNIBUSF4 specific debug pins add missing comma add missing comma Use separate bbTimerHardware array to fix unified targets eliminate now unneeded timerGetByUsage don't duplicate timer1 def Add auto mode, rename dshot_bbshot to dshot_bitbang remove newline renamve various files various changes to address feedback address feedback address feedback add pacer timers to timer show don't disable telemetry if dshot_bitbang is on or auto Address feedback, add faster decode implementation based on bit banding, modify dma parameters to reduce required memory bandwidth on half remove debug output remove NOINLINE Protect gpio direction change with critical sections FIXWS_SAVE_INDEX add static back in no forward typedef address review feedback disallow proshot1000 with dshot bitbang Extracted and plumbed up 'dbgPin'.
This commit is contained in:
jflyper
Michael Keller
parent
37b059532f
commit
adf6fd1764
33 changed files with 2065 additions and 77 deletions
217
src/main/drivers/dshot_bitbang_impl.h
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217
src/main/drivers/dshot_bitbang_impl.h
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "common/time.h"
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#include "drivers/motor.h"
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#define USE_DMA_REGISTER_CACHE
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#define DEBUG_COUNT_INTERRUPT
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#define DEBUG_MONITOR_PACER
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#define MAX_SUPPORTED_MOTOR_PORTS 4 // Max direct dshot port groups, limited by number of usable timer (TIM1 and TIM8) x number of channels per timer (4), 3 is enough to cover motor pins on GPIOA, GPIOB and GPIOC.
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#define DSHOT_BITBANG_TELEMETRY_OVER_SAMPLE 3
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#define DSHOT_BITBANG_DIRECTION_OUTPUT 0
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#define DSHOT_BITBANG_DIRECTION_INPUT 1
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#define DSHOT_BITBANG_INVERTED true
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#define DSHOT_BITBANG_NONINVERTED false
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// XXX MOTOR_xSHOTyyyy_HZ is not usable as generic frequency for timers.
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// XXX Trying to fiddle with constants here.
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// Symbol rate [symbol/sec]
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#define MOTOR_DSHOT1200_SYMBOL_RATE (1200 * 1000)
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#define MOTOR_DSHOT600_SYMBOL_RATE (600 * 1000)
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#define MOTOR_DSHOT300_SYMBOL_RATE (300 * 1000)
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#define MOTOR_DSHOT150_SYMBOL_RATE (150 * 1000)
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#define MOTOR_DSHOT_SYMBOL_TIME_NS(rate) (1000000000 / (rate))
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#define MOTOR_DSHOT_BIT_PER_SYMBOL 1
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#define MOTOR_DSHOT_STATE_PER_SYMBOL 3 // Initial high, 0/1, low
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#define MOTOR_DSHOT_FRAME_BITS 16
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#define MOTOR_DSHOT_FRAME_TIME_NS(rate) ((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_SYMBOL_TIME_NS(rate))
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#define MOTOR_DSHOT_TELEMETRY_WINDOW_US (30000 + MOTOR_DSHOT_FRAME_TIME_NS(rate) * (1.1)) / 1000
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#define MOTOR_DSHOT_CHANGE_INTERVAL_NS(rate) (MOTOR_DSHOT_SYMBOL_TIME_NS(rate) / MOTOR_DSHOT_STATE_PER_SYMBOL)
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#define MOTOR_DSHOT_GCR_CHANGE_INTERVAL_NS(rate) (MOTOR_DSHOT_CHANGE_INTERVAL_NS(rate) * 5 / 4)
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#define MOTOR_DSHOT_BUFFER_SIZE ((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL)
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#ifdef USE_HAL_DRIVER
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#define BB_GPIO_PULLDOWN GPIO_PULLDOWN
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#define BB_GPIO_PULLUP GPIO_PULLUP
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#else
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#define BB_GPIO_PULLDOWN GPIO_PuPd_DOWN
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#define BB_GPIO_PULLUP GPIO_PuPd_UP
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#endif
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#ifdef USE_DMA_REGISTER_CACHE
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typedef struct dmaRegCache_s {
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#if defined(STM32F4) || defined(STM32F7)
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uint32_t CR;
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uint32_t FCR;
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uint32_t NDTR;
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uint32_t PAR;
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uint32_t M0AR;
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#else
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#error No MCU dependent code here
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#endif
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} dmaRegCache_t;
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#endif
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// Per pacer timer
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typedef struct bbPacer_s {
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TIM_TypeDef *tim;
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uint16_t dmaSources;
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} bbPacer_t;
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// Per GPIO port and timer channel
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typedef struct bbPort_s {
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int portIndex;
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GPIO_TypeDef *gpio;
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const timerHardware_t *timhw;
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#ifdef USE_HAL_DRIVER
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uint32_t llChannel;
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#endif
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uint16_t dmaSource;
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dmaResource_t *dmaResource; // DMA resource for this port & timer channel
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uint32_t dmaChannel; // DMA channel or peripheral request
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uint8_t direction;
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#ifdef USE_DMA_REGISTER_CACHE
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// DMA resource register cache
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dmaRegCache_t dmaRegOutput;
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dmaRegCache_t dmaRegInput;
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#endif
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// For direct manipulation of GPIO_MODER register
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uint32_t gpioModeMask;
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uint32_t gpioModeInput;
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uint32_t gpioModeOutput;
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// Idle value
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uint32_t gpioIdleBSRR;
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#ifdef USE_HAL_DRIVER
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LL_TIM_InitTypeDef timeBaseInit;
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#else
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TIM_TimeBaseInitTypeDef timeBaseInit;
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#endif
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// Output
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uint16_t outputARR;
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#ifdef USE_HAL_DRIVER
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LL_DMA_InitTypeDef outputDmaInit;
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#else
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DMA_InitTypeDef outputDmaInit;
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#endif
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uint32_t *portOutputBuffer;
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uint32_t portOutputCount;
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// Input
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uint16_t inputARR;
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#ifdef USE_HAL_DRIVER
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LL_DMA_InitTypeDef inputDmaInit;
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#else
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DMA_InitTypeDef inputDmaInit;
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#endif
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uint16_t *portInputBuffer;
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uint32_t portInputCount;
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bool inputActive;
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// Misc
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#ifdef DEBUG_COUNT_INTERRUPT
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uint32_t outputIrq;
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uint32_t inputIrq;
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#endif
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} bbPort_t;
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// Per motor output
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typedef struct bbMotor_s {
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dshotProtocolControl_t protocolControl;
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int pinIndex; // pinIndex of this motor output within a group that bbPort points to
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int portIndex;
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IO_t io; // IO_t for this output
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uint8_t output;
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uint32_t iocfg;
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bbPort_t *bbPort;
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bool configured;
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bool enabled;
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} bbMotor_t;
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#define MAX_MOTOR_PACERS 4
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extern FAST_RAM_ZERO_INIT bbPacer_t bbPacers[MAX_MOTOR_PACERS]; // TIM1 or TIM8
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extern FAST_RAM_ZERO_INIT int usedMotorPacers;
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extern FAST_RAM_ZERO_INIT bbPort_t bbPorts[MAX_SUPPORTED_MOTOR_PORTS];
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extern FAST_RAM_ZERO_INIT int usedMotorPorts;
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extern FAST_RAM_ZERO_INIT bbMotor_t bbMotors[MAX_SUPPORTED_MOTORS];
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extern uint8_t bbPuPdMode;
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// DMA buffers
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// Note that we are not sharing input and output buffers,
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// as output buffer is only modified for middle bits
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// DMA output buffer:
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// DShot requires 3 [word/bit] * 16 [bit] = 48 [word]
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extern uint32_t bbOutputBuffer[MOTOR_DSHOT_BUFFER_SIZE * MAX_SUPPORTED_MOTOR_PORTS];
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// DMA input buffer
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// (30us + <frame time> + <slack>) / <input sampling clock perid>
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// <frame time> = <DShot symbol time> * 16
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// Temporary size for DS600
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// <frame time> = 26us
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// <sampling period> = 0.44us
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// <slack> = 10%
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// (30 + 26 + 3) / 0.44 = 134
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#define DSHOT_BITBANG_PORT_INPUT_BUFFER_LENGTH 134
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extern uint16_t bbInputBuffer[DSHOT_BITBANG_PORT_INPUT_BUFFER_LENGTH * MAX_SUPPORTED_MOTOR_PORTS];
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void bbGpioSetup(bbMotor_t *bbMotor);
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void bbTimerChannelInit(bbPort_t *bbPort);
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void bbDMAPreconfigure(bbPort_t *bbPort, uint8_t direction);
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void bbDMAIrqHandler(dmaChannelDescriptor_t *descriptor);
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void bbSwitchToOutput(bbPort_t * bbPort);
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void bbSwitchToInput(bbPort_t * bbPort);
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void bbTIM_TimeBaseInit(bbPort_t *bbPort, uint16_t period);
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void bbTIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState);
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void bbDMA_ITConfig(bbPort_t *bbPort);
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void bbDMA_Cmd(bbPort_t *bbPort, FunctionalState NewState);
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int bbDMA_Count(bbPort_t *bbPort);
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