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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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89
src/platform/STM32/dshot_bitbang.c
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@ -35,12 +35,11 @@
#include "drivers/dma_reqmap.h"
#include "drivers/dshot.h"
#include "drivers/dshot_bitbang.h"
#include "drivers/dshot_bitbang_impl.h"
#include "dshot_bitbang_impl.h"
#include "drivers/dshot_command.h"
#include "drivers/motor.h"
#include "drivers/nvic.h"
#include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring
#include "drivers/dshot_dpwm.h" // XXX for motorDmaOutput_t *getMotorDmaOutput(uint8_t index); should go away with refactoring
#include "pwm_output_dshot_shared.h"
#include "drivers/dshot_bitbang_decode.h"
#include "drivers/time.h"
#include "drivers/timer.h"
@ -57,17 +56,6 @@
// Maximum time to wait for telemetry reception to complete
#define DSHOT_TELEMETRY_TIMEOUT 2000
FAST_DATA_ZERO_INIT bbPacer_t bbPacers[MAX_MOTOR_PACERS]; // TIM1 or TIM8
FAST_DATA_ZERO_INIT int usedMotorPacers = 0;
FAST_DATA_ZERO_INIT bbPort_t bbPorts[MAX_SUPPORTED_MOTOR_PORTS];
FAST_DATA_ZERO_INIT int usedMotorPorts;
FAST_DATA_ZERO_INIT bbMotor_t bbMotors[MAX_SUPPORTED_MOTORS];
static FAST_DATA_ZERO_INIT int motorCount;
dshotBitbangStatus_e bbStatus;
// For MCUs that use MPU to control DMA coherency, there might be a performance hit
// on manipulating input buffer content especially if it is read multiple times,
// as the buffer region is attributed as not cachable.
@ -134,10 +122,9 @@ const timerHardware_t bbTimerHardware[] = {
#endif
};
static FAST_DATA_ZERO_INIT motorDevice_t bbDevice;
static FAST_DATA_ZERO_INIT timeUs_t lastSendUs;
static motorPwmProtocolTypes_e motorPwmProtocol;
static motorProtocolTypes_e motorProtocol;
// DMA GPIO output buffer formatting
@ -287,15 +274,15 @@ const resourceOwner_t *dshotBitbangTimerGetOwner(const timerHardware_t *timer)
// Return frequency of smallest change [state/sec]
static uint32_t getDshotBaseFrequency(motorPwmProtocolTypes_e pwmProtocolType)
static uint32_t getDshotBaseFrequency(motorProtocolTypes_e pwmProtocolType)
{
switch (pwmProtocolType) {
case(PWM_TYPE_DSHOT600):
case(MOTOR_PROTOCOL_DSHOT600):
return MOTOR_DSHOT600_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
case(PWM_TYPE_DSHOT300):
case(MOTOR_PROTOCOL_DSHOT300):
return MOTOR_DSHOT300_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
default:
case(PWM_TYPE_DSHOT150):
case(MOTOR_PROTOCOL_DSHOT150):
return MOTOR_DSHOT150_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
}
}
@ -408,7 +395,7 @@ static void bbFindPacerTimer(void)
}
}
static void bbTimebaseSetup(bbPort_t *bbPort, motorPwmProtocolTypes_e dshotProtocolType)
static void bbTimebaseSetup(bbPort_t *bbPort, motorProtocolTypes_e dshotProtocolType)
{
uint32_t timerclock = timerClock(bbPort->timhw->tim);
@ -426,7 +413,7 @@ static void bbTimebaseSetup(bbPort_t *bbPort, motorPwmProtocolTypes_e dshotProto
// it does not use the timer channel associated with the pin.
//
static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorProtocolTypes_e pwmProtocolType, uint8_t output)
{
// Return if no GPIO is specified
if (!io) {
@ -458,10 +445,6 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e p
}
if (!bbPort || !dmaAllocate(dmaGetIdentifier(bbPort->dmaResource), bbPort->owner.owner, bbPort->owner.resourceIndex)) {
bbDevice.vTable.write = motorWriteNull;
bbDevice.vTable.decodeTelemetry = motorDecodeTelemetryNull;
bbDevice.vTable.updateComplete = motorUpdateCompleteNull;
return false;
}
@ -559,7 +542,7 @@ static bool bbDecodeTelemetry(void)
SCB_InvalidateDCache_by_Addr((uint32_t *)bbPort->portInputBuffer, DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES);
}
#endif
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < dshotMotorCount; motorIndex++) {
#ifdef STM32F4
uint32_t rawValue = decode_bb_bitband(
bbMotors[motorIndex].bbPort->portInputBuffer,
@ -608,11 +591,6 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
return;
}
// fetch requestTelemetry from motors. Needs to be refactored.
motorDmaOutput_t * const motor = getMotorDmaOutput(motorIndex);
bbmotor->protocolControl.requestTelemetry = motor->protocolControl.requestTelemetry;
motor->protocolControl.requestTelemetry = false;
// If there is a command ready to go overwrite the value and send that instead
if (dshotCommandIsProcessing()) {
value = dshotCommandGetCurrent(motorIndex);
@ -647,7 +625,7 @@ static void bbUpdateComplete(void)
// If there is a dshot command loaded up, time it correctly with motor update
if (!dshotCommandQueueEmpty()) {
if (!dshotCommandOutputIsEnabled(bbDevice.count)) {
if (!dshotCommandOutputIsEnabled(dshotMotorCount)) {
return;
}
}
@ -685,7 +663,7 @@ static void bbUpdateComplete(void)
static bool bbEnableMotors(void)
{
for (int i = 0; i < motorCount; i++) {
for (int i = 0; i < dshotMotorCount; i++) {
if (bbMotors[i].configured) {
IOConfigGPIO(bbMotors[i].io, bbMotors[i].iocfg);
}
@ -703,7 +681,7 @@ static void bbShutdown(void)
return;
}
static bool bbIsMotorEnabled(uint8_t index)
static bool bbIsMotorEnabled(unsigned index)
{
return bbMotors[index].enabled;
}
@ -712,21 +690,17 @@ static void bbPostInit(void)
{
bbFindPacerTimer();
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < dshotMotorCount; motorIndex++) {
if (!bbMotorConfig(bbMotors[motorIndex].io, motorIndex, motorPwmProtocol, bbMotors[motorIndex].output)) {
if (!bbMotorConfig(bbMotors[motorIndex].io, motorIndex, motorProtocol, bbMotors[motorIndex].output)) {
return;
}
bbMotors[motorIndex].enabled = true;
// Fill in motors structure for 4way access (XXX Should be refactored)
motors[motorIndex].enabled = true;
}
}
static motorVTable_t bbVTable = {
static const motorVTable_t bbVTable = {
.postInit = bbPostInit,
.enable = bbEnableMotors,
.disable = bbDisableMotors,
@ -740,6 +714,8 @@ static motorVTable_t bbVTable = {
.convertExternalToMotor = dshotConvertFromExternal,
.convertMotorToExternal = dshotConvertToExternal,
.shutdown = bbShutdown,
.isMotorIdle = bbDshotIsMotorIdle,
.requestTelemetry = bbDshotRequestTelemetry,
};
dshotBitbangStatus_e dshotBitbangGetStatus(void)
@ -747,14 +723,19 @@ dshotBitbangStatus_e dshotBitbangGetStatus(void)
return bbStatus;
}
motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t count)
bool dshotBitbangDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig)
{
dbgPinLo(0);
dbgPinLo(1);
motorPwmProtocol = motorConfig->motorPwmProtocol;
bbDevice.vTable = bbVTable;
motorCount = count;
if (!device || !motorConfig) {
return false;
}
motorProtocol = motorConfig->motorProtocol;
device->vTable = &bbVTable;
dshotMotorCount = device->count;
bbStatus = DSHOT_BITBANG_STATUS_OK;
#ifdef USE_DSHOT_TELEMETRY
@ -763,12 +744,12 @@ motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t
memset(bbOutputBuffer, 0, sizeof(bbOutputBuffer));
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < dshotMotorCount; motorIndex++) {
const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
const timerHardware_t *timerHardware = timerGetConfiguredByTag(motorConfig->ioTags[reorderedMotorIndex]);
const IO_t io = IOGetByTag(motorConfig->ioTags[reorderedMotorIndex]);
uint8_t output = motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output;
uint8_t output = motorConfig->motorInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output;
bbPuPdMode = (output & TIMER_OUTPUT_INVERTED) ? BB_GPIO_PULLDOWN : BB_GPIO_PULLUP;
#ifdef USE_DSHOT_TELEMETRY
@ -779,11 +760,10 @@ motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t
if (!IOIsFreeOrPreinit(io)) {
/* not enough motors initialised for the mixer or a break in the motors */
bbDevice.vTable.write = motorWriteNull;
bbDevice.vTable.decodeTelemetry = motorDecodeTelemetryNull;
bbDevice.vTable.updateComplete = motorUpdateCompleteNull;
device->vTable = NULL;
dshotMotorCount = 0;
bbStatus = DSHOT_BITBANG_STATUS_MOTOR_PIN_CONFLICT;
return NULL;
return false;
}
int pinIndex = IO_GPIOPinIdx(io);
@ -804,12 +784,9 @@ motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t
} else {
IOHi(io);
}
// Fill in motors structure for 4way access (XXX Should be refactored)
motors[motorIndex].io = bbMotors[motorIndex].io;
}
return &bbDevice;
return true;
}
#endif // USE_DSHOT_BB