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Refactoring motor to simplify implementation on other platforms (#14156)

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Jay Blackman 2025-01-24 18:37:20 +11:00 • committed by GitHub
parent 7ed1b4b71f
commit c2768d0409
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GPG key ID: B5690EEEBB952194
62 changed files with 975 additions and 810 deletions
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18
src/platform/APM32/pwm_output_dshot_apm32.c
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@ -34,13 +34,13 @@
#include "drivers/dma.h"
#include "drivers/dma_reqmap.h"
#include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h"
#include "dshot_dpwm.h"
#include "drivers/dshot_command.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/motor.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_output_dshot_shared.h"
#include "pwm_output_dshot_shared.h"
#include "drivers/rcc.h"
#include "drivers/time.h"
#include "drivers/timer.h"
@ -48,9 +48,9 @@
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount)
void dshotEnableChannels(unsigned motorCount)
{
for (int i = 0; i < motorCount; i++) {
for (unsigned i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
DDL_TMR_CC_EnableChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel << 4);
} else {
@ -128,7 +128,7 @@ FAST_CODE static void pwmDshotSetDirectionInput(
FAST_CODE void pwmCompleteDshotMotorUpdate(void)
{
/* If there is a dshot command loaded up, time it correctly with motor update*/
if (!dshotCommandQueueEmpty() && !dshotCommandOutputIsEnabled(dshotPwmDevice.count)) {
if (!dshotCommandQueueEmpty() && !dshotCommandOutputIsEnabled(dshotMotorCount)) {
return;
}
@ -188,7 +188,7 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
}
}
bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorProtocolTypes_e pwmProtocolType, uint8_t output)
{
#ifdef USE_DSHOT_TELEMETRY
#define OCINIT motor->ocInitStruct
@ -276,7 +276,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
DDL_TMR_DisableCounter(timer);
init.Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
init.Autoreload = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH) - 1;
init.Autoreload = (pwmProtocolType == MOTOR_PROTOCOL_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH) - 1;
init.ClockDivision = DDL_TMR_CLOCKDIVISION_DIV1;
init.RepetitionCounter = 0;
init.CounterMode = DDL_TMR_COUNTERMODE_UP;
@ -356,7 +356,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
DMAINIT.FIFOMode = DDL_DMA_FIFOMODE_ENABLE;
DMAINIT.MemBurst = DDL_DMA_MBURST_SINGLE;
DMAINIT.PeriphBurst = DDL_DMA_PBURST_SINGLE;
DMAINIT.NbData = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
DMAINIT.NbData = pwmProtocolType == MOTOR_PROTOCOL_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
DMAINIT.PeriphOrM2MSrcIncMode = DDL_DMA_PERIPH_NOINCREMENT;
DMAINIT.MemoryOrM2MDstIncMode = DDL_DMA_MEMORY_INCREMENT;
DMAINIT.PeriphOrM2MSrcDataSize = DDL_DMA_PDATAALIGN_WORD;
@ -374,7 +374,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
( 16 * MOTOR_BITLENGTH) / getDshotHz(pwmProtocolType);
motor->timer->outputPeriod = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
motor->timer->outputPeriod = (pwmProtocolType == MOTOR_PROTOCOL_PROSHOT1000 ? (MOTOR_NIBBLE_LENGTH_PROSHOT) : MOTOR_BITLENGTH) - 1;
pwmDshotSetDirectionOutput(motor);
#else
pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);